WO2016137251A1 - Robot nettoyeur et procédé de commande associé - Google Patents

Robot nettoyeur et procédé de commande associé Download PDF

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Publication number
WO2016137251A1
WO2016137251A1 PCT/KR2016/001870 KR2016001870W WO2016137251A1 WO 2016137251 A1 WO2016137251 A1 WO 2016137251A1 KR 2016001870 W KR2016001870 W KR 2016001870W WO 2016137251 A1 WO2016137251 A1 WO 2016137251A1
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WO
WIPO (PCT)
Prior art keywords
driving
robot cleaner
rotation
cleaning
obstacle
Prior art date
Application number
PCT/KR2016/001870
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English (en)
Korean (ko)
Inventor
정우철
김봉윤
Original Assignee
에브리봇 주식회사
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Filing date
Publication date
Application filed by 에브리봇 주식회사 filed Critical 에브리봇 주식회사
Publication of WO2016137251A1 publication Critical patent/WO2016137251A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present invention relates to a robot cleaner and a control method thereof, and more particularly, to a robot cleaner and a control method thereof capable of performing wet cleaning while driving autonomously.
  • a robot cleaner is a device that automatically cleans an area to be cleaned by inhaling foreign substances such as dust from the surface to be cleaned or by wiping off the foreign materials from the surface to be cleaned while driving itself in the area to be cleaned without a user's operation. It is utilized.
  • such a robot cleaner may include a vacuum cleaner that performs cleaning using suction power using a power source such as electricity.
  • Robot cleaners including such vacuum cleaners have a limitation in that they cannot remove foreign substances stuck to the surface to be cleaned or when they are stuck. Recently, robot cleaners that can perform wet cleaning by attaching mops to the robot cleaners have emerged. .
  • a wet cleaning method using a general robot cleaner is a simple method of attaching a rag or the like to a lower part of a conventional vacuum cleaner, and thus has a disadvantage in that a foreign matter removal effect is low and efficient wet cleaning cannot be performed.
  • the vehicle is driven by using a conventional suction type vacuum cleaner moving method and an obstacle avoiding method, and thus, even if the dust scattered on the surface to be cleaned is removed, There is a problem that cannot be easily removed.
  • the mop attachment structure of the general robot cleaner the frictional force with the ground by the mop surface is in a state that the additional driving force is required to move the wheel, there is a problem that the battery consumption increases.
  • an object of the present invention is to use the rotational force itself of a pair of rotating members as a moving force source of the robot cleaner, and to allow the cleaner for wet cleaning to the rotating member to be fixed,
  • the present invention provides a robot cleaner capable of driving while cleaning and a control method thereof.
  • Robot cleaner for achieving the above object, the main body, a drive unit provided in the main body for supplying power for the driving of the robot cleaner, the first rotary shaft by the power of the drive unit, Determining a cleaning driving pattern of the first and second rotating members and the robot cleaner, each of which is rotatable about two axes of rotation to provide a moving power source for driving the robot cleaner, and which the cleaner for wet cleaning can be fixed, respectively, In order to travel while repeatedly repeating the first driving step of rotating forward in the first side direction and the second driving step of rotating forward in the second side direction opposite to the first side according to the determined cleaning driving pattern.
  • a control unit for controlling the drive unit.
  • a bumper formed around an outer circumference of the main body to protect the main body from an external shock and a sensing unit configured to detect an external shock applied to the bumper. If the driving unit is controlled to travel straight for a time and the external shock is not detected by the sensing unit while the robot cleaner travels straight, it is determined that no obstacle is located in the driving direction of the robot cleaner and the plurality of robot cleaners One cleaning driving pattern of the cleaning driving pattern may be determined.
  • the driving unit may include a first driving unit corresponding to the first rotating shaft and a second driving unit corresponding to the second rotating shaft, wherein the control unit rotates the first rotating member and rotates the second rotating unit.
  • the member performs the first driving step by controlling the first and second driving units to rotate in the opposite direction at a higher speed than the first rotating member, and the first rotating member rotates, and the second rotation is performed.
  • the member may perform the second driving step by controlling the first and second driving units to rotate in the opposite direction at a slower speed than the first rotating member.
  • the controller may control the first and second lateral rotation angles of the robot cleaner by controlling a difference in rotation speed between the first rotation member and the second rotation member.
  • the controller may control the driving unit to gradually increase each driving distance in sequential repetition of the first driving step and the second driving step.
  • the controller may select one of a first obstacle riding mode and a second obstacle riding mode according to a collision angle of the robot cleaner when the robot cleaner driving along the determined cleaning driving pattern collides with an obstacle.
  • the driving unit may be controlled to travel.
  • control method of the robot cleaner for achieving the above object, by rotating at least one of the first and second rotating members to rotate around the first and second rotation axis, respectively Controlling the robot cleaner to travel in a specific driving direction, determining a cleaning driving pattern of the robot cleaner while driving, and driving the robot cleaner to move forward in a first side direction according to the determined cleaning driving pattern Controlling rotation of at least one of the first and second rotating members so as to travel while sequentially repeating the first traveling step and the second traveling step of moving forward while rotating in the second side direction opposite to the first side;
  • the determining may include detecting an external shock applied to a bumper formed around an outer circumference of the main body of the robot cleaner to protect the main body from an external shock, and the robot cleaner proceeds at a predetermined distance or a predetermined time. If the external shock is not detected while driving, determining that the obstacle is not located in the driving direction of the robot cleaner and determining the cleaning driving pattern of one of the plurality of cleaning driving patterns of the robot cleaner when the obstacle is not determined. It may include the step.
  • the controlling of the rotation of at least one of the first and second rotating members may include rotating the first rotating member and rotating the second rotating member in the opposite direction at a faster speed than the first rotating member. Control the movement so as to perform the first driving step, the first rotational member is rotated, and the second rotational member is controlled to rotate in the opposite direction at a slower speed than the first rotational member to drive the second The steps can be performed.
  • the controlling of the rotation of at least one of the first and second rotating members may include controlling a difference in rotation speed between the first and second rotating members to control the first and second side surfaces of the robot cleaner.
  • the angle of rotation can be controlled.
  • controlling the rotation of at least one of the first and second rotating members may control to gradually increase each driving distance in the sequential repetition of the first driving step and the second driving step.
  • the robot cleaner may select one of the first obstacle riding mode and the second obstacle riding mode to drive according to the collision angle of the robot cleaner. It may further comprise a step.
  • the robot cleaner may travel while performing wet cleaning using the rotational force of the pair of rotating members as a moving power source.
  • the robot cleaner may improve battery efficiency by using rotational force of a pair of rotating members as a moving force source.
  • the robot cleaner may be applied to the surface to be cleaned by friction between the first cleaner and the second cleaner, which are rotated by the respective rotary motions of the first and second rotary members.
  • the foreign matter stuck to it can be removed more effectively.
  • the robot cleaner may perform cleaning driving in various cleaning driving patterns, and may perform efficient wet cleaning by selecting a cleaning driving pattern suitable for a terrain.
  • the robot cleaner may reduce manufacturing cost by minimizing a sensor configuration for obstacle detection while driving.
  • FIG. 1 is an exploded perspective view of a robot cleaner according to an embodiment of the present invention.
  • FIG. 2 is a bottom view of the robot cleaner according to the embodiment of the present invention.
  • FIG. 3 is a front view of the robot cleaner according to an embodiment of the present invention.
  • FIG. 4 is a cross-sectional view of the robot cleaner according to an embodiment of the present invention.
  • FIG. 5 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention.
  • 6 to 7 are views for explaining the driving operation of the robot cleaner according to an embodiment of the present invention.
  • FIG. 8 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present invention.
  • FIG. 9 is a flowchart illustrating a pattern driving method of the robot cleaner according to an exemplary embodiment.
  • FIG. 10 is a view illustrating a cleaning driving pattern according to an embodiment of the present invention.
  • FIG. 11 is a flowchart illustrating a pattern driving method of the robot cleaner according to another embodiment of the present invention.
  • FIG. 12 is a view illustrating a cleaning driving pattern according to another embodiment of the present invention.
  • FIG. 13 to 14 are views illustrating a driving method during an obstacle collision of a robot cleaner according to an embodiment of the present invention.
  • components expressed as means for performing the functions described in the detailed description include all types of software including, for example, a combination of circuit elements or firmware / microcode, etc. that perform the functions. It is intended to include all methods of performing a function which are combined with appropriate circuitry for executing the software to perform the function.
  • the invention, as defined by these claims, is equivalent to what is understood from this specification, as any means capable of providing such functionality, as the functionality provided by the various enumerated means are combined, and in any manner required by the claims. It should be understood that.
  • FIG. 1 to 4 are views for explaining the structure of a robot cleaner according to an embodiment of the present invention. More specifically, Figure 1 is an exploded perspective view of a robot cleaner according to an embodiment of the present invention, Figure 2 is a bottom view of a robot cleaner according to an embodiment of the present invention, Figure 3 is according to an embodiment of the present invention 4 is a front view of the robot cleaner, and FIG. 4 is a cross-sectional view corresponding to the front view of FIG. 3.
  • the robot cleaner 100 of the present invention is structurally formed on the outer periphery of the main body 10 and the outer periphery of the main body 10 to form the exterior of the robot cleaner 100.
  • a bumper 20 to protect the 10 a sensing unit 130 for detecting an external shock applied to the bumper 20, and a driving unit installed at the main body 10 to supply power to drive the robot cleaner 100.
  • 150, a first rotating member 110 coupled to the driving unit 150, and a second rotating member 120, and a power supply unit 190 installed inside the main body 10, may be configured to include the driving unit 150. have.
  • the robot cleaner 100 may travel while performing wet cleaning using the cleaners 210 and 220 for wet cleaning.
  • the wet cleaning may mean cleaning cleaning the surface to be cleaned using the cleaners 210 and 220, and may include, for example, cleaning using a dry mop or the like.
  • the driving unit 150 is installed inside the main body 10 to be coupled to the first driving unit 151 and the first rotating member 110, and installed inside the main body 10 to couple with the second rotating member 120. It may include a first driver 152.
  • the driving unit 150 may be implemented including a motor, a gear assembly, and the like.
  • the first rotating member 110 is coupled to the first driving unit 151 to transmit power by the first driving unit 151, and a first transmission that rotates about the first rotating shaft 310 by the power.
  • the member 111 may be included.
  • the first cleaner 210 for wet cleaning may include a first fixing member 112 that can be fixed.
  • the second rotating member 120 is coupled to the second driving unit 152 to transmit power by the second driving unit 152, and rotates about the second rotation shaft 320 by the power.
  • 2 may include a transmission member 121.
  • the second cleaner 220 for wet cleaning may include a second fixing member 122 that can be fixed.
  • the lower end regions of the first transfer member 111 and the second transfer member 112 may be implemented to protrude in the direction to be cleaned when coupled to the main body 10.
  • the first transfer member 111 and the second transfer member 112 may not be protruded in the direction of the surface to be cleaned.
  • first fixing member 112 and the second fixing member 122 when the first fixing member 112 and the second fixing member 122 are coupled to the main body 10, the first fixing member 112 and the second fixing member 122 may be implemented to protrude in the direction of the surface to be cleaned, for example, to protrude in the bottom surface direction.
  • the first cleaner 210 and the second cleaner 220 for cleaning may be formed to be fixed.
  • the first cleaner 210 and the second cleaner 220 may be a cloth for cleaning various cleaning surfaces, such as a microfiber cloth, a rag, a nonwoven fabric, a brush, and the like, so that the foreign matter adhered to the bottom surface can be removed through a rotary motion. It may be composed of the same fiber material.
  • the first cleaner 210 and the second cleaner 220 may have a circular shape as shown in FIG. 1, but may be implemented in various forms without any limitation.
  • the fixing of the first and second cleaners 210 and 220 may be performed by covering the first fixing member 112 and the second fixing member 122 or by using a separate attaching means.
  • the first cleaner 210 and the second cleaner 220 may be attached to and fixed to the first fixing member 112 and the second fixing member 122 by Velcro tape or the like.
  • the robot cleaner 100 rotates the first cleaner 210 and the second cleaner 220 by the rotational movement of the first rotating member 110 and the second rotating member 120.
  • the frictional force may be used as a moving force source of the robot cleaner 100.
  • the moving speed and direction of the robot cleaner 100 may be adjusted.
  • the first and second rotary shafts 310 and 320 of the first and second rotary members 110 and 120 by the power of the pair of driving units 151 and 152 may be robot cleaners. It may be tilted to have a predetermined angle with respect to the central axis 300 corresponding to the vertical axis of the (100). In this case, the first and second rotating members 110 and 120 may be inclined downward to the outside based on the central axis. That is, the region located far from the central axis 300 among the regions of the first and second rotating members 110 and 120 may be in close contact with the surface to be cleaned than the region located closer to the central axis 300.
  • the central axis 300 may mean a vertical direction with respect to the surface to be cleaned of the robot cleaner 100.
  • the central axis 300 is perpendicular to the surface to be cleaned of the robot cleaner 100. It can mean the Z axis.
  • the predetermined angle may include a first angle (a degree) corresponding to an angle at which the first rotation axis 310 is inclined with respect to the central axis 300 and the second rotation axis 320 with respect to the central axis 300. It may include a second angle (b degree) corresponding to the inclined angle.
  • the first angle and the second angle may be the same or different from each other.
  • each of the first angle and the second angle may be an angle within an angle range of preferably 1 degree or more and 3 degrees or less.
  • the above-described angle range may be a range capable of optimally maintaining the wet cleaning ability, the traveling speed, and the running performance of the robot cleaner 100.
  • Tilted angle Cleaning ability (three points indication) Travel speed (three points) Less than 1 degree All cleaning surfaces that rub against the cleaner can be cleaned (3) Very slow (0) 1 degree All cleaning surfaces that rub against the cleaner can be cleaned (3) Slow (1) 1.85 degrees All cleaning surfaces that rub against the cleaner can be cleaned except for a portion near the central axis (2) Medium (2) 3 degree All cleaning surfaces rubbed with the cleaner can be cleaned except for a part near the central axis (1) Fast (3) Greater than 3 degrees Cleaning is possible except for most areas near the central axis of the cleaning surface which rubs against the cleaner (0) Fast (3)
  • the pair of rotary shafts 310 and 320 of the robot cleaner 100 has a structure inclined so as to have a predetermined angle with respect to the central axis 300, so that the traveling speed of the robot cleaner 100 is reduced. And cleaning ability.
  • the predetermined angle in the range of 1 degree or more and 3 degrees or less, the wet cleaning ability and running speed of the robot cleaner can be optimally maintained.
  • various embodiments of the present disclosure may not be limited to the above-described angle range.
  • the moving speed and the direction of the robot cleaner 100 may be controlled by the relative friction force generated by controlling the rotation of the pair of rotating members 110 and 120, respectively.
  • the movement speed and the direction control of the robot cleaner 100 will be described later.
  • the robot cleaner 100 may collide with various obstacles existing on the surface to be cleaned.
  • the obstacle may include various obstacles that hinder the cleaning of the robot cleaner 100 such as low obstacles such as thresholds, carpets, obstacles floating on a certain height such as sofas or beds, and high obstacles such as walls.
  • the bumper 20 formed on the outer circumference of the main body 10 of the robot cleaner 100 may protect the main body 10 from an external shock due to a collision with an obstacle and may absorb an external shock.
  • the sensing unit 130 installed in the main body 10 may detect an impact applied to the bumper 10.
  • the bumper 20 includes a first bumper 21 formed around the first outer circumference of the body 10 and a second bumper 22 formed around the second outer circumference of the body 10 separately from the first bumper 21. can do.
  • the bumper 20 may be formed around the left and right sides of the main body 10 based on the direction F toward which the front side of the robot cleaner 10 faces.
  • the first bumper 21 may be formed at the left circumference of the main body 10 based on the direction F toward which the front side of the robot cleaner 10 faces
  • the second bumper Reference numeral 22 may be formed at the right circumference of the main body 10 with respect to the direction F facing the front side.
  • the first bumper 21 and the second bumper 22 may be implemented as physically separate different bumpers. Accordingly, the bumpers of the robot cleaner can operate separately from each other. That is, when the first bumper 21 collides with an obstacle while the robot cleaner 100 runs, the first bumper 21 absorbs the external shock and the absorbed external shock corresponds to the first bumper 21. 1 can be delivered to the detector. However, since the second bumper 22 is implemented as a physically separate bumper from the first bumper 21, the second bumper 22 is not affected by the collision, and the second sensing unit installed in correspondence with the second bumper 22 may receive an external shock. It may not be delivered.
  • the robot cleaner 100 can detect a variety of obstacles encountered while driving. This will be described in detail with reference to FIG. 4.
  • lower ends of the first bumper 21 and the second bumper 22 may be formed to be as close as possible to the surface to be cleaned.
  • the distance between the lower ends of the first bumpers 21 and the second bumpers 22 and the surface to be cleaned may be the same as or smaller than the thickness of the cleaners 210 and 220. Accordingly, the first bumper 21 and the second bumper 22 also collide with a low obstacle such as a shallow threshold, a carpet, and the like, and the robot cleaner 100 may detect and avoid the low obstacle.
  • the upper ends of the first bumper 21 and the second bumper 22 may be formed to prevent the obstacle from being caught only by the main body 10 without colliding with the bumpers 21 and 22.
  • the heights of the upper ends of the first bumper 21 and the second bumper 22 may be the same as the height of the main body 10 or higher than the height of the main body 10. Accordingly, the first bumper 21 and the second bumper 22 also collide with an obstacle floating on a predetermined height such as a sofa or a bed, so that only the main body 10 does not collide with the bumpers 21 and 22. It can prevent the jam.
  • the robot cleaner 100 may include guide parts 113 and 123 for guiding the cleaners 210 and 220 to be fixed at an optimal position.
  • the robot cleaner 100 may not perform a desired driving.
  • the robot cleaner 100 in the straight driving mode may not perform the straight driving, and may be curved to travel.
  • the guides 113 and 123 may be formed to guide the cleaners 210 and 220 to be fixed at optimal positions. Accordingly, the user of the robot cleaner 100 may fix the cleaners 210 and 220 at an optimal position.
  • the sensing unit 130 may detect an external shock applied to the bumper 10.
  • the sensing unit 130 may include a plurality of sensing units installed at positions corresponding to each of the plurality of bumpers.
  • the detector 130 may include at least one first detector and a second bumper 22 installed corresponding to the first bumper 21. It may include a second sensing unit of, may be implemented as a contact sensor, an optical sensor.
  • the detection unit 130 may transmit the detection result to the control unit 170.
  • the controller 170 determines a collision location in which a collision with an obstacle occurs in the bumper 20 area by using the detection result of the detection unit 130, and based on the first driving unit 151, the first driver to avoid the obstacle.
  • the two driver 152 may be controlled.
  • the robot cleaner 100 may be configured to drive the sensing unit 130, the communication unit 140, the first rotating member 110, and the second rotating member 120.
  • the driving unit 150 may include a driving unit 150, a storage unit 160, a control unit 170, an input unit 180, an output unit 185, and a power supply unit 190.
  • the detector 130 may detect various information necessary for the operation of the robot cleaner 100 and transmit a detection signal to the controller 170.
  • the sensing unit 130 may include an external shock sensing unit for sensing an external shock applied to the bumper 20 and transmitting a detection signal to the control unit 170.
  • the external shock detection unit may be implemented as a contact sensor, an optical sensor, or the like.
  • the communication unit 140 may include one or more modules that enable wireless communication between the robot cleaner 100 and another wireless terminal or between the robot cleaner 100 and a network in which the other wireless terminal is located.
  • the communication unit 140 may communicate with a wireless terminal as a remote control device, and may include a short range communication module or a wireless internet module for this purpose.
  • the robot cleaner 100 may control an operation state or an operation method by the control signal received by the communication unit 140.
  • the terminal for controlling the robot cleaner 100 may include, for example, a smartphone, a tablet, a personal computer, a remote controller (remote control device), and the like, which can communicate with the robot cleaner 100.
  • the driving unit 150 may supply power for rotating the first and second rotating members 110 and 120 under the control of the controller 170.
  • the driving unit 150 may include a first driving unit 151 and a second driving unit 152, and may be implemented to include a motor and / or a gear assembly.
  • the storage unit 160 may store a program for the operation of the controller 170, and may temporarily store input / output data.
  • the storage unit 160 may include a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg, SD or XD memory), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Programmable Read-Only Memory (PROM), Magnetic Memory, It may include a storage medium of at least one type of magnetic disk, optical disk.
  • the input unit 180 may receive a user input for operating the robot cleaner 100.
  • the input unit 180 may receive a user input for selecting an operation mode of the robot cleaner 100.
  • the input unit 180 may include a key pad dome switch, a touch pad (static pressure / capacitance), a jog wheel, a jog switch, and the like.
  • the output unit 185 is used to generate an output related to vision, hearing, and the like.
  • the output unit 185 may include a display unit, a sound output module, an alarm unit, and the like.
  • the display unit displays (outputs) information processed by the robot cleaner 100.
  • a UI User Interface
  • GUI Graphical User Interface
  • the power supply unit 190 supplies power to the robot cleaner 100.
  • the power supply unit 190 supplies power to each of the functional units constituting the robot cleaner 100, and when the remaining power is insufficient, the power supply unit 190 may be charged by receiving a charging current.
  • the power supply unit 190 may be implemented as a rechargeable battery.
  • the controller 170 typically controls the overall operation of the robot cleaner 100.
  • the controller 170 may control the driving unit 150 to rotate the at least one of the first rotating member 110 and the second rotating member 120 so that the robot cleaner 100 travels in a specific travel direction. .
  • the robot cleaner 100 may perform a rotational motion in place.
  • the robot cleaner 100 may rotate in place according to the speed at which the first rotating member 110 and the second rotating member 120 rotate.
  • the frictional force acting on the robot cleaner 100 may act as a rotational force with respect to the robot cleaner 100 while being opposite to each other.
  • the controller 170 may control the first rotation member 110 and the second rotation member 120 to rotate in different directions and at the same speed.
  • the direction in which one end moves with respect to the surface to be cleaned by the frictional force of the first rotating member 110 based on the body 10 of the robot cleaner 100 is the surface to be cleaned by the frictional force of the second rotating member 110. It may be the same as the direction in which the other end with respect to. Accordingly, the robot cleaner 100 may travel straight in a specific direction. This will be described in detail with reference to FIGS. 6 to 7.
  • 6 to 7 are views for explaining the driving operation of the robot cleaner according to an embodiment of the present invention.
  • the controller 170 may control the driving unit 150 based on the rotation control table value stored in the storage 160 to perform rotation control of each of the rotating members 110 and 120.
  • the rotation control table may include at least one of a direction value, a speed value, and a time value assigned to each of the rotation members 110 and 120 for each movement mode. As shown in FIG. 6, the rotation direction of the first rotation member 110 and the rotation direction of the second rotation member 120 may be different. In addition, the rotation speed and time of each of the rotating members 110 and 120 may have the same value.
  • the rotation direction of the rotating member may be described based on the direction viewed from the top of the robot cleaner 100.
  • the first direction may refer to a direction in which the robot cleaner 100 rotates counterclockwise in a state viewed from the top with the traveling direction 300 at 12 o'clock.
  • the second direction may be a direction different from the first direction, and may mean a direction in which the traveling direction 300 is rotated clockwise at 12 o'clock.
  • the robot cleaner 100 may travel straight as shown in FIG. 7.
  • the robot cleaner 100 according to an embodiment of the present invention rotates the first rotating member 110 in a first direction, and makes the second rotating member 120 different from the first direction. By rotating in two directions, it is possible to generate a relative moving force in accordance with the frictional force and to carry out a straight run in the travel direction.
  • the inclination directions of the rotation shafts 310 and 320 in FIGS. 1 to 7 are just examples, and may be implemented by inclining in different directions according to embodiments.
  • the first rotation axis 310 and the second rotation axis 320 of each of the first and second rotation members 110 and 120 may have a central axis 300 corresponding to a vertical axis of the robot cleaner 100. It may be inclined at an angle as opposed to the case of FIGS. In this case, the first and second rotating members 110 and 120 may be inclined upwardly based on the central axis 300.
  • a region located closer to the center axis 300 among the regions of the first and second rotating members 110 and 120 may be in close contact with the surface to be cleaned than the region positioned far from the central axis 300.
  • the relative frictional force generated between the surface to be cleaned may be greater at the center of the body 10 than at the outside.
  • the moving speed and the direction of the robot cleaner 100 may be controlled by controlling the rotation of the pair of rotating members 110 and 120, respectively.
  • the robot cleaner 100 rotates the first rotating member 110 in a second direction and rotates the second rotating member 120 in a first direction different from the second direction, thereby moving relative to the frictional force. Force can be generated and a straight run in the direction of travel can be performed.
  • the robot cleaner 100 may be provided with a plurality of cleaning driving patterns.
  • the complex cleaning driving pattern means a shape of a trajectory drawn while the robot cleaner 100 runs for wet cleaning, a pattern in which the robot cleaner 100 runs in an S shape, and the robot cleaner 100 moves forward and It may include a pattern for repeatedly driving backwards and the like.
  • the controller 170 determines the cleaning driving pattern of one of the plurality of cleaning driving patterns of the robot cleaner 100, and performs the cleaning driving with the determined pattern by the first driving unit 151 and the second driving unit 152. At least one of the rotation can be controlled.
  • the controller 170 may generate a cleaning driving pattern corresponding to the user input from among the plurality of cleaning driving patterns.
  • the cleaning driving pattern of 100 may be determined.
  • the controller 170 determines whether an obstacle is located in the driving direction of the robot cleaner 100 that is being cleaned, and when it is determined that there is no obstacle, the controller 170 determines one cleaning driving pattern among the plurality of cleaning driving patterns of the robot cleaner 100. Can be determined. This will be described in detail with reference to FIG. 8.
  • the robot cleaner 100 may include at least one of a first rotation member 110 and a second rotation member 120 each of which rotates about the first rotation shaft 310 and the second rotation shaft 320.
  • One can rotate to travel in a specific driving direction (S101).
  • the robot cleaner 100 may determine whether the obstacle is located in the driving direction (S102).
  • the sensing unit 130 of the robot cleaner 100 may include a plurality of obstacle detecting sensors, and the controller 170 may determine whether the obstacle is located in the driving direction based on the detection signal of the obstacle detecting sensor.
  • the obstacle detection sensor may include an obstacle detection sensor or a camera sensor that transmits an infrared or ultrasonic signal to the outside, and receives a signal reflected from the obstacle.
  • the controller 170 controls the driving unit 150 so that the robot cleaner 100 travels straight for a predetermined distance or time, and the external shock is detected by the sensor 130 while the robot cleaner 100 travels straight. It can be determined whether it is detected. If the bumper 20 does not collide with the obstacle and the external shock is not detected by the detector 130, the controller 170 may determine that the obstacle is not located in the driving direction of the robot cleaner 100. In this case, the robot cleaner 100 may reduce manufacturing cost by minimizing a sensor configuration for obstacle detection while driving.
  • the robot cleaner 100 determines one pattern among the plurality of cleaning driving patterns of the robot cleaner 100 (S103), and performs the cleaning driving with the determined pattern. It may be (S104).
  • the controller 170 may control at least one of the rotation direction and the rotation speed of at least one of the first rotation member 110 and the second rotation member 120 to perform a cleaning run in a determined pattern.
  • the robot cleaner 100 may switch to the direction of avoiding the obstacle (S105), and travel in the changed direction to determine whether the obstacle is located (S102). .
  • the controller 170 controls the rotation of at least one of the first rotating member 110 and the second rotating member 120 to avoid obstacles located in the driving direction of the robot cleaner 100, and to drive straight. Can be controlled to perform.
  • the rotation control in which the control unit 170 is switched in the direction of avoiding obstacles may be several ways.
  • the controller 170 controls the rotation direction and the rotation speed of the first rotation member 110 and the second rotation member 120 in the same manner to rotate in place for a predetermined time in a direction away from the direction in which the obstacle is detected. Can be controlled.
  • the controller 170 stops the rotation of the second rotating member 110 in a first state.
  • the rotation direction of the rotation member 110 may be controlled to rotate in a direction away from the obstacle by rotating for a predetermined time in a direction opposite to the current direction.
  • the controller 170 rotates the first rotating member 110 and the second rotating member 120. It is also possible to reverse the direction of travel by rotating the directions all in opposite directions different from the present.
  • the controller 170 may select a specific direction except for the direction in which the obstacle is detected and reset the moving direction.
  • the specific direction may be a random direction except the direction in which the obstacle is detected or a direction determined according to the predetermined movement path according to the direction change result.
  • the controller 170 may move forward while the robot cleaner 100 rotates in the first side direction.
  • the driving unit 150 may be controlled to travel while repeatedly repeating the first driving step and the second driving step of moving forward while rotating in the second side direction opposite to the first side. This will be described in detail with reference to FIGS. 9 to 12.
  • 9 is a flowchart illustrating a pattern driving method of the robot cleaner according to an exemplary embodiment.
  • 10 is a view illustrating a cleaning driving pattern according to an embodiment of the present invention.
  • the robot cleaner 100 may travel straight for a predetermined distance to determine whether an obstacle is located in a driving direction (S201). If it is determined that no obstacle is located in the driving direction of the robot cleaner 100, the robot cleaner 100 may start the cleaning driving patterns illustrated in S202 to S204.
  • the robot cleaner 100 may perform a first driving step of rotating forward in a left direction (S202).
  • the controller 100 controls the first rotation member 110 to rotate in a counterclockwise direction, and the second rotation member 120 to rotate in a clockwise direction at a faster speed than the first rotation member 110.
  • the first driving step can be performed.
  • the robot cleaner 100 may perform a second driving step of driving forward while rotating in the right direction (S203).
  • the controller 100 controls the first rotation member 110 to rotate in a counterclockwise direction, and the second rotation member 120 to rotate in a clockwise direction at a slower speed than the first rotation member 110.
  • the second driving step can be performed.
  • the robot cleaner 100 may perform the cleaning driving while drawing the S shape by sequentially repeating the above-described first traveling step and the second traveling step.
  • the robot cleaner 100 may perform a first driving step of rotating forward in a left direction (S204), and then perform a second driving step of rotating forward in a right direction. .
  • the controller 170 rotates the first rotating member 110 and the second rotating member 120 through the driving unit 150.
  • the robot cleaner 100 may control a leftward rotation angle and a rightward rotation angle.
  • the controller 170 may control the driving unit 150 to control a difference in rotational speeds of the first and second rotational members 110 and 120.
  • the robot cleaner 100 may be controlled.
  • the rotational direction a of the left direction relative to the travel distance (a) and the rotational direction (b) of the right direction relative to the driving distance can be increased. Accordingly, the robot cleaner 100 may travel while performing wet cleaning of a wider area by increasing the curvature of the S shape.
  • the controller 170 may control the driving unit 150 to control the difference in the rotational speed of the first and second rotational members 110 and 120 to decrease, and the driving distance of the robot cleaner 100 may be reduced.
  • the contrast leftward rotation angle a and the rightward rotation angle b relative to the travel distance may be reduced. Accordingly, the robot cleaner 100 may perform a wet cleaning while traveling forward faster by reducing the curvature of the S shape.
  • the controller 170 may determine at least one of the driving state and the cleaning state of the robot cleaner 100 to perform the control.
  • the driving state means a driving state such as a driving distance, a traveling speed, a driving acceleration, and the like of the robot cleaner 100, and may be measured using an acceleration sensor.
  • the cleaning state means a cleaning state of the surface to be cleaned, and may be measured using a dust sensor that detects an amount of dust on the surface to be cleaned.
  • the controller 170 may control the difference in the rotational speed of the first rotation member 110 and the second rotation member 120 to be smaller.
  • the control unit 170 may control to increase the difference in the rotational speed of the first rotating member 110 and the second rotating member 120.
  • the controller 170 may control the driver 150 to gradually increase each driving distance in the sequential repetition of the first driving step and the second driving step. For example, when driving the first distance in the first driving step, the controller 170 may control the driving unit 150 to travel a distance greater than the first distance in the second driving step, and then gradually drive The driving unit 150 may be controlled to increase the distance.
  • controller 170 may control the driving unit 150 to perform a combination of the above-described driving distance control and rotation angle control.
  • 11 is a flowchart illustrating a pattern driving method of the robot cleaner according to another embodiment of the present invention.
  • 12 is a view illustrating a cleaning driving pattern according to another embodiment of the present invention. 11 to 12, the robot cleaner 100 may travel straight for a predetermined distance to determine whether an obstacle is located in a driving direction (S301). If it is determined that no obstacle is located in the driving direction of the robot cleaner 100, the robot cleaner 100 may start the cleaning driving patterns illustrated in S302 to S304.
  • the robot cleaner 100 may rotate in a left direction and perform a forward driving (S302).
  • the controller 100 controls the first rotation member 110 to rotate in a counterclockwise direction, and the second rotation member 120 to rotate in a clockwise direction at a faster speed than the first rotation member 110. Rotational forward driving can be performed.
  • the robot cleaner 100 may perform a rotational movement to rotate in place in the counterclockwise direction (S303).
  • the controller 100 controls the first rotation member 110 to rotate in a clockwise direction, and the second rotation member 120 to rotate in a clockwise direction at the same speed as the first rotation member 110. In situ rotational motion can be performed.
  • the robot cleaner 100 may perform forward driving (S304).
  • the controller 100 controls the first rotation member 110 to rotate in the counterclockwise direction, and the second rotation member 120 to rotate in the clockwise direction at the same speed as the first rotation member 110. Forward driving can be performed.
  • the robot cleaner 100 may perform a rotational movement that rotates in place in a clockwise direction (S305).
  • the control unit 100 rotates the first rotating member 110 in a counterclockwise direction, and the second rotating member 120 rotates in a counterclockwise direction at the same speed as the first rotating member 110. It can be controlled to perform the in-situ rotational motion.
  • the robot cleaner 100 may perform forward driving (S306).
  • the controller 100 controls the first rotation member 110 to rotate in the counterclockwise direction, and the second rotation member 120 to rotate in the clockwise direction at the same speed as the first rotation member 110. Forward driving can be performed.
  • the robot cleaner 100 may repeat the above-described operation to perform a cleaning run while drawing an S shape.
  • the controller 170 controls the driving unit 150 to control the rotation angles a and b of the robot cleaner 100. can do.
  • the controller 170 may increase the rotation angle of the robot cleaner 100 by controlling the driving unit 150 to increase the curvature of the S shape to enable wet cleaning of a wider area.
  • controller 170 may control the driving unit 150 to reduce the in-situ rotation angle of the robot cleaner 100 so that the curvature of the S-shape is reduced to travel faster and wet cleaning may be performed.
  • the controller 170 may control the driving unit 150 to control the driving distance in the above-described forward driving step. For example, when driving the first distance in the first forward step, the control unit 170 may control the drive unit 150 to travel a distance greater than the first distance in the second forward step, and then gradually drive The driving unit 150 may be controlled to increase the distance.
  • controller 170 may control the driving unit 150 to perform a combination of the above-described driving distance control and rotation angle control.
  • the controller 170 may operate in the first obstacle riding mode and the second obstacle riding mode according to the collision angle between the robot cleaner 100 and the obstacle.
  • the driving unit 150 may be controlled to travel by selecting one of the modes. This will be described in detail with reference to FIGS. 13 to 14.
  • 13 to 14 are views illustrating a driving method during an obstacle collision of a robot cleaner according to an embodiment of the present invention.
  • the controller 170 may determine a collision angle between the robot cleaner 100 and the obstacle 800 based on the detection signal of the external shock sensor. If the collision angle a between the robot cleaner 100 and the obstacle 800 is smaller than the preset angle, as shown in FIG. 13, the first obstacle riding mode may be started.
  • the controller 170 controls at least one of a rotation direction and a rotation speed of at least one of the first driving unit 151 and the second driving unit 152 so that the robot cleaner 100 blocks the obstacle ( It may be controlled to be parallel to (S402) 800. That is, the controller 170 may control the front of the robot cleaner 100 to face the obstacle 800.
  • the controller 170 may determine the driving direction 1100 of the first obstacle riding mode.
  • the driving direction 1100 may be determined in one of two directions parallel to the obstacle 800.
  • the controller 170 may determine the rotation directions of the rotating members 110 and 120 of the robot cleaner 100 according to the driving direction 1100. As illustrated in FIG. 13, a rotation direction of the first rotating member 110 and the second rotating member 120 for traveling in the driving direction 1100 may be determined in a clockwise direction, that is, in a second direction.
  • controller 170 selects the first rotating member 110 to control the second rotating member 120 to rotate in the rotational direction at a higher speed than the other rotating member 120, so that the robot cleaner 100 rotates and the rear surface of the obstacle is obstructed. It may be controlled to face (800) (S403).
  • the controller 170 selects the second rotating member 120 to control the second rotating member 120 to rotate in the rotational direction at a higher speed than that of the other first rotating member 110, so that the robot cleaner 100 rotates and the front face is rotated. It may be controlled to face the obstacle 800 again (S404).
  • the robot cleaner 100 may travel along the obstacle 800 and perform wet cleaning by controlling the rotation direction and the rotation speed of at least one of the first rotation member 110 and the second rotation member 120. have.
  • the second obstacle riding mode may be started.
  • the controller 170 controls at least one of a rotation direction and a rotation speed of at least one of the first driver 151 and the second driver 152 so that the robot cleaner 100 may block the obstacle ( It may be controlled so as to be perpendicular to the extension line corresponding to 800 (S502). That is, the controller 170 may control the side of the robot cleaner 100 to face the obstacle 800.
  • the controller 170 may determine the driving direction 1200 of the second obstacle riding mode.
  • the driving direction 1200 may be determined in one of two directions parallel to the obstacle 800.
  • controller 170 controls the first rotation member 110 to rotate in the first direction and the second rotation member 120 to rotate in a second direction different from the first direction, thereby driving the direction 1200. It is possible to control to perform the straight travel to the (S503).
  • the robot cleaner 100 may travel along the obstacle 800 and perform wet cleaning.
  • the robot cleaner 100 has a symmetrical structure in the front and the rear, the forward driving may be a backward driving according to the reference direction setting, or the reverse driving may be a forward driving have.
  • the robot cleaner 100 according to an embodiment of the present invention has a symmetrical structure of the left side and the right side, and the left turn driving may be the right turn driving according to the reference direction setting, or the right turn driving may be the left turn driving. It may be. Therefore, in the above examples, the direction is only one example and may be interpreted as a symmetrical direction depending on the implementation.
  • control method may be implemented in program code and provided to each server or devices in a state of being stored in various non-transitory computer readable mediums.
  • the non-transitory readable medium refers to a medium that stores data semi-permanently and is readable by a device, not a medium storing data for a short time such as a register, a cache, a memory, and the like.
  • a non-transitory readable medium such as a CD, a DVD, a hard disk, a Blu-ray disk, a USB, a memory card, a ROM, or the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un robot nettoyeur. Ledit robot nettoyeur comprend les éléments suivants : un corps principal; une unité d'entraînement, qui est prévue sur le corps principal et fournit de l'énergie pour entraîner le robot nettoyeur; des premier et second éléments de rotation, qui pivotent respectivement autour de premier et second axes de rotation par le biais de l'énergie provenant de l'unité d'entraînement et fournissent ainsi une source d'alimentation locomotrice pour entraîner le robot nettoyeur, et auxquels des nettoyeurs respectifs pour nettoyage humide peuvent être fixés; et une unité de commande destinée à déterminer un modèle d'entraînement de nettoyage pour le robot nettoyeur et à commander l'entraînement de l'unité d'entraînement, tout en répétant séquentiellement une première étape d'entraînement pour entraînement vers l'avant en pivotant dans une première direction latérale, et une seconde étape d'entraînement pour entraînement vers l'avant en pivotant dans une seconde direction latérale, qui est opposée à la première direction latérale, selon le modèle d'entraînement de nettoyage déterminé.
PCT/KR2016/001870 2015-02-26 2016-02-25 Robot nettoyeur et procédé de commande associé WO2016137251A1 (fr)

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KR1020150027467A KR101602790B1 (ko) 2015-02-26 2015-02-26 로봇 청소기 및 그의 제어 방법

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KR101968127B1 (ko) * 2017-01-12 2019-04-11 국방과학연구소 군집 무인체계 자율탐색 및 지도생성 방법
KR102033936B1 (ko) 2017-08-07 2019-10-18 엘지전자 주식회사 로봇청소기
KR102024089B1 (ko) 2017-08-07 2019-09-23 엘지전자 주식회사 로봇 청소기
KR102014141B1 (ko) 2017-08-07 2019-10-21 엘지전자 주식회사 로봇청소기
KR102021828B1 (ko) 2017-08-07 2019-09-17 엘지전자 주식회사 청소기
KR102000068B1 (ko) 2017-08-07 2019-07-15 엘지전자 주식회사 청소기
KR102014140B1 (ko) 2017-08-07 2019-08-26 엘지전자 주식회사 청소기
KR102014142B1 (ko) * 2017-08-07 2019-08-26 엘지전자 주식회사 로봇 청소기
KR102011827B1 (ko) 2017-08-07 2019-08-19 엘지전자 주식회사 로봇청소기 및 그 제어방법
KR102045003B1 (ko) 2018-01-25 2019-11-14 엘지전자 주식회사 로봇청소기의 제어방법
KR102021824B1 (ko) 2018-09-17 2019-09-17 엘지전자 주식회사 로봇 청소기
WO2021020680A1 (fr) 2019-07-31 2021-02-04 엘지전자 주식회사 Aspirateur
KR20210015592A (ko) 2019-07-31 2021-02-10 엘지전자 주식회사 청소기
KR102308775B1 (ko) 2019-07-31 2021-10-01 엘지전자 주식회사 청소기
CN114173628B (zh) 2019-07-31 2023-06-16 Lg电子株式会社 吸尘器
KR20210015602A (ko) 2019-07-31 2021-02-10 엘지전자 주식회사 청소기
KR20210015594A (ko) 2019-07-31 2021-02-10 엘지전자 주식회사 청소기
US20210030232A1 (en) 2019-07-31 2021-02-04 Lg Electronics Inc. Cleaner
KR102303546B1 (ko) 2020-02-06 2021-09-17 엘지전자 주식회사 로봇 청소기 및 그 제어 방법
KR20210100518A (ko) 2020-02-06 2021-08-17 엘지전자 주식회사 로봇 청소기 및 그 제어 방법

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