WO2021187696A1 - Recharging apparatus for robot cleaner - Google Patents

Recharging apparatus for robot cleaner Download PDF

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Publication number
WO2021187696A1
WO2021187696A1 PCT/KR2020/012130 KR2020012130W WO2021187696A1 WO 2021187696 A1 WO2021187696 A1 WO 2021187696A1 KR 2020012130 W KR2020012130 W KR 2020012130W WO 2021187696 A1 WO2021187696 A1 WO 2021187696A1
Authority
WO
WIPO (PCT)
Prior art keywords
guide
robot cleaner
recharging apparatus
guide signal
docking
Prior art date
Application number
PCT/KR2020/012130
Other languages
French (fr)
Inventor
Juno CHOI
Janghun CHEONG
Original Assignee
Lg Electronics Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lg Electronics Inc. filed Critical Lg Electronics Inc.
Publication of WO2021187696A1 publication Critical patent/WO2021187696A1/en

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Classifications

    • 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
    • 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
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2873—Docking units or charging stations
    • 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
    • A47L9/2805—Parameters or conditions being sensed
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/145—Illumination specially adapted for pattern recognition, e.g. using gratings
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
    • G06V10/225—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition based on a marking or identifier characterising the area
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • 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 disclosure relates to a recharging apparatus for a robot cleaner, and more particularly, to a recharging apparatus for a robot cleaner capable of calibrating depth cameras of the robot cleaner that employ two depth cameras.
  • a robot cleaner is a cleaning device configured to suck dust and foreign matter from the floor while autonomously traveling within a certain range of work area without user manipulation. To carry out the cleaning work, the robot cleaner determines the locations of obstacles or walls through sensors or cameras, and travels avoiding the obstacles or walls based on the determined information.
  • the robot cleaner is provided with a battery to supply power required for the traveling. After power is consumed, the battery is recharged for reuse.
  • the robot cleaner is provided to a consumer along with a recharging apparatus, and the recharging apparatus includes a function of generating a return guide signal such that the robot cleaner that is running out of battery may return to the recharging apparatus so as to be charged.
  • Korean Patent Application Publication No. 10-2003-0013010 which is directed to a recharging apparatus according to the prior art, merely discloses the function of charging the robot cleaner.
  • the present disclosure may provide a recharging apparatus for a robot cleaner capable of improving the traveling performance of the robot cleaner whenever the robot cleaner approaches the recharging apparatus.
  • the present disclosure may provide a recharging apparatus for a robot cleaner capable of calibrating depth cameras of the robot cleaner which employs two depth cameras.
  • a recharging apparatus for a robot cleaner including a body defining an outer appearance thereof and provided with a terminal portion for charging the robot cleaner, and a board portion photographed by two camera sensors provided in the robot cleaner, the two camera being spaced apart from each other.
  • the board portion has a repeated pattern, and accordingly the recognition rate may be increased such that the board portion may be differentiated from other parts in an image captured by a camera.
  • the board portion allows captured images to contain a lot of information in a repeated pattern, and accordingly the error recognition rate may be improved in the camera.
  • a recharging apparatus for a robot cleaner including a guide signal generation means provided in the body to transmit a return guide signal to the robot cleaner, and a guide signal guiding member provided in the guide signal generation means to improve straightness of the guide signal.
  • a recharging apparatus for a robot cleaner including a body provided with a terminal portion for charging the robot cleaner, a guide signal generation means provided in the body to transmit a return guide signal to the robot cleaner, and a board portion configured to receive a signal transmitted by the guide signal generation means and shift to a position in front of the body, the board portion being photographed at the position by two separated camera sensors provided in the robot cleaner.
  • a recharging apparatus for a robot cleaner including a body defining an exterior thereof, the body being provided with a terminal portion for charging the robot cleaner, a guide signal generation means provided in the body to transmit a return guide signal to the robot cleaner, and a board portion configured to receive a signal transmitted by the guide signal generation means and shift to a position in front of the body, the board portion being photographed at the position by two separated camera sensors provided in the robot cleaner, wherein the board portion has a repeated pattern.
  • the error of the depth cameras may be adjusted. Accordingly, as calibration of the depth cameras is enabled, the obstacle detection performance of the robot cleaner may be improved.
  • the recharging apparatus for the robot cleaner since the recharging apparatus for the robot cleaner is capable of providing functions other than the function of charging the robot cleaner, the recharging apparatus may be used in various ways.
  • FIG. 1 is a perspective view of a robot cleaner according to an embodiment.
  • FIG. 2 is a block diagram illustrating the components of the robot cleaner according to the embodiment.
  • FIG. 3 is a view showing the appearance of a recharging apparatus for a robot cleaner according to an embodiment.
  • FIG. 4 is an exploded perspective view of the recharging apparatus for a robot cleaner according to the embodiment.
  • FIG. 5 is a view showing the mounting state of a guide signal guiding member, seen from the lower side.
  • FIG. 6 is a view showing a generation area of a guide signal generated by the recharging apparatus for a robot cleaner according to an embodiment.
  • FIG. 7 is a view showing a board portion according to another embodiment.
  • a robot cleaner 100 performs a function of cleaning the floor while autonomously traveling in a certain area.
  • the cleaning of the floor includes sucking dust (including foreign matter) from the floor or mopping the floor.
  • the robot cleaner 100 includes a cleaner body 110, a suction unit 120, a sensing unit 130, and a dust bin 140.
  • the cleaner body 110 includes a controller (not shown) configured to control the robot cleaner 100 and a wheel unit 111 configured for traveling of the robot cleaner 100.
  • the robot cleaner 100 may be moved or rotated back and forth and left and right by the wheel unit 111.
  • the robot cleaner 100 is configured to autonomously travel on the floor by controlling driving of the wheel unit 111 by the controller.
  • a battery (not shown) to supply power to the robot cleaner 100 is mounted on the cleaner body 110.
  • the battery may be rechargeable, and may be detachably attached to the bottom of the cleaner body 110.
  • the suction unit 120 is disposed to protrude from one side of the cleaner body 110 and is configured to suck air containing dust.
  • the one side may be a side on which the cleaner body 110 travels in the forward direction F, that is, the front of the cleaner body 110.
  • the suction unit 120 may be detachably coupled to the cleaner body 110.
  • a mop module (not shown) may be detachably coupled to the cleaner body 110 in place of the suction unit 120. Accordingly, the user may mount the suction unit 120 on the cleaner body 110 to remove dust from the floor, and mount the mop module on the cleaner body 110 to mop the floor.
  • the sensing unit 130 is disposed on the cleaner body 110. As shown in the figure, the sensing unit 130 may be disposed on one side of the cleaner body 110 where the suction unit 120 is located, that is, the front of the cleaner body 110.
  • the sensing unit 130 may be disposed to overlap the suction unit 120 in the vertical direction of the cleaner body 110.
  • the sensing unit 130 is disposed over the suction unit 120 and is configured to detect an obstacle or a geographic feature in front of the robot cleaner such that the suction unit 120 located at the front of the robot cleaner 100 does not collide with the obstacle.
  • the sensing unit 130 is configured to perform other sensing functions as well as the aforementioned sensing function. Related details will be described later.
  • the robot cleaner 100 may include at least one of a communication unit 1100, an input unit 1200, a driving unit 1300, a sensing unit 1400, an output unit 1500, a power supply 1600, and a memory 1700, or a controller 1800, or a combination thereof.
  • FIG. 2 the components shown in FIG. 2 are not essential, and it will be appreciated that a robot cleaner having more components or fewer components can be implemented. Hereinafter, each component will be described.
  • the power supply 1600 is provided with a battery rechargeable by external commercial power to supply power to the mobile robot.
  • the power supply 1600 may supply driving power to each of the components included in the mobile robot, thereby supplying operation power required for the mobile robot to travel or perform a specific function.
  • the controller 1800 may detect the remaining amount of power of the battery. When the remaining amount of power is insufficient, the controller may control the robot to move to a charging station connected to an external commercial power source to charge the battery with a charging current supplied from the charging station.
  • the battery may be connected to a battery detector, and thus the remaining amount of power of the battery and the charging status may be transmitted to the controller 1800.
  • the output unit 1500 may display the remaining amount of power of the battery on the screen by the controller.
  • the controller 1800 serves to process information based on artificial intelligence technology, and may include one or more modules configured to perform at least one of learning of information, inference of information, perception of information, or processing of natural language. Specifically, when a part of an image acquired through cameras provided in the cleaner is input to a learning engine in the controller 1800, the learning engine may recognize at least one object or living body included in the input image.
  • the driving unit 1300 may include a motor and may rotate or move the body by rotating the left and right main wheels in both directions by driving the motor.
  • the driving unit 1300 may cause the body of the mobile robot to move back and forth or left and right, travel along a curved path, or spin in place.
  • the input unit 1200 receives various control commands for the robot cleaner from a user.
  • the input unit 1200 may include one or more buttons.
  • the input unit 1200 may include a confirmation button and a setting button.
  • the confirmation button is a button for receiving, from the user, a command to confirm detection information, obstacle information, location information, and map information
  • the setting button is a button for receiving, from the user, a command to set the aforementioned information.
  • the output unit 1500 may be installed at an upper portion of the mobile robot. Of course, it may be installed at a different location or in a different form. For example, the output unit 1500 may display a battery status or a travel mode on the screen.
  • the output unit 1500 may include a sound output means configured to aurally output an operation of the mobile robot performed by the controller 1800 or a result to the operation.
  • the output unit 1500 may output a warning sound to the outside according to a warning signal generated by the controller 1800.
  • the communication unit 1100 is connected to a terminal device and/or another device located in a specific area according to one of communication schemes of wired communication, wireless communication, and satellite communication to transmit and receive signals and data (in this specification, the "device” and the term “home appliance” will be interchangeably used).
  • the memory 1700 stores a control program for controlling or driving the robot cleaner and data corresponding thereto.
  • the memory 1700 may store audio information, image information, obstacle information, location information, map information, and the like.
  • the memory 1700 may also store information related to a travel pattern.
  • the sensing unit 1400 may include an external signal detection sensor and a cliff detection sensor.
  • the external signal detection sensor may detect an external signal outside the mobile robot.
  • the external signal detection sensor may be, for example, an infrared ray sensor, an ultrasonic sensor, or a radio frequency sensor.
  • the mobile robot may identify the location and direction of the charging station upon receiving a guide signal generated from the charging station using the external signal detection sensor.
  • the charging station may transmit a guide signal indicating a direction and a distance to allow the mobile robot to return thereto. That is, the mobile robot may receive a signal sent from the charging station, determine a current location thereof and set a moving direction to return to the charging station.
  • the cliff detection sensor may detect obstacles on the floor supporting the body of the mobile robot, mainly using various types of optical sensors.
  • the sensing unit 1400 may include a depth camera.
  • the sensing unit 1400 may include a first camera 1402 and a second camera 1404.
  • the two cameras may be configured to acquire 2D images.
  • the controller 1800 may combine two or more images obtained from the two or more cameras using a stereo vision technique to generate 3D coordinate information. For example, the controller 1800 may generate 3D coordinate information using a time difference between the images received from the two cameras or other methods.
  • the controller 1800 may detect an obstacle by combining the images captured by the two cameras 1402 and 1404, and guide the robot cleaner to travel while avoiding the obstacle.
  • the first camera 1402 and the second camera 1404 are disposed so as to be spaced apart from each other, such that even when one object is photographed, the images captured by the two cameras have a slight difference.
  • FIG. 3 is a view showing the appearance of a recharging apparatus for a robot cleaner according to an embodiment
  • FIG. 4 is an exploded perspective view of the recharging apparatus for a robot cleaner according to the embodiment.
  • the recharging apparatus 200 for the robot cleaner includes a body 210 defining an external shape.
  • the body 210 includes a base 500, a front cover 400, a return guide unit cover 220, and a top cover 500.
  • the base 500 defines a rear surface and a bottom surface of the recharging apparatus 200 and provides a mounting space for a terminal portion 212 and a board portion 300, which will be described below.
  • the base 500 may be provided with a fastening part to which at least the board portion 300 and the terminal portion 212 may be connected or temporarily connected.
  • a part of the board portion 300 or the terminal portion 212 may be coupled to the fastening part in a fitting manner or using a separate fastening member.
  • the terminal portion 212 converts power into a voltage available to the robot cleaner as necessary using a power supply source such as a commercial power source or a battery, and then supplies the voltage to the robot cleaner.
  • the terminal portion 212 is brought into contact with the power terminal of the robot cleaner to supply charging power to the robot cleaner, and is formed by curving a conductor having low electrical resistance such as copper a plurality of times.
  • terminal portion 212 formed by curving as described above is mounted such that at least a portion thereof is exposed to the outside of the front cover 400, which is coupled to the front side of the base 500.
  • the guide signal generation means 260 includes a plurality of infrared sensors, and thus guides the robot cleaner to return to the recharging apparatus following a transmitted infrared signal.
  • the guide signal generation means is fitted into a printed circuit board 280 between the base 500 and the front cover 400, and is positioned at the rear side of the return guide unit cover 220.
  • a guide signal guiding member 240 is disposed in front of the guide signal generation means 260.
  • the guide signal guiding member 240 may improve the straightness of the signal generated by the guide signal generation means 260.
  • the board portion 300 that may be photographed by the cameras provided in the robot cleaner is provided between the printed circuit board 280 and the front cover 400.
  • the board portion 300 is provided inside the body 210. Since the front of the body, that is, the front of the front cover 400 is made of a transparent material, the board portion 300 may be photographed by the cameras provided in the robot cleaner.
  • the board portion 300 includes a panel 310 arranged perpendicular to the floor, and a pattern 320 is provided at the center thereof.
  • the pattern 320 refers to a specific shape, a specific color, or a specific pattern that is repeatedly formed.
  • the pattern 320 may include a first color part 322 formed in a dark color and a second color part 324 formed in a light color.
  • the first color part 322 may be represented in black, and the second color part 324 may be represented in white, such that the difference between the first color part 322 and the second color part 324 is easily recognized by the cameras.
  • the first color part and the second color part may be arranged alternately in vertical and horizontal directions. That is, the two color parts may be arranged in a manner that the second color part is adjacent to the first color part.
  • the panel 310 may be disposed to be spaced apart from the front surface of the body 210, that is, the front cover 400. Since there is a space between the front surface and the panel 310, the panel 310 may be prevented from being damaged when the panel 310 is installed on the body 210.
  • FIG. 5 is a view showing the mounting state of a guide signal guiding member, seen from the lower side.
  • the guide signal generation means 260 includes an approach guide sensor 262 configured to transmit an infrared signal to guide the robot cleaner located in a remote place to the recharging apparatus 200, and a docking guide sensor 264 configured to guide the robot cleaner approaching the recharging apparatus 200 by the approach guide sensor 262 to a docking position.
  • At least one approach guide sensor 262 may be provided on both left and right sides, and at least one docking guide sensor 264 may be provided between the approach guide sensors 262.
  • the guide signal guiding member 240 is formed in an approximately "T" shape to limit the transmission angle of signals transmitted from the docking guide sensor 264 and the approach guide sensor 262. As shown in FIG. 5, when mounted on the printed circuit board 280, the guide signal guiding member 240 protrudes forward, that is, in the travel direction of the guide signal transmitted from the guide signal generation means 260. The protrusion length thereof corresponds to a distance from the printed circuit board 280 to the return guide unit cover 220 mounted on the front cover 400.
  • a guide 242 is provided at a central portion of the guide signal guiding member 240.
  • the guide is open to the front side and is configured to surround the docking guide sensor 264.
  • a docking guide signal sent from the docking guide sensor 264 to the outside may be transmitted only through the opening of the guide 242. That is, the guide signal guiding member is positioned in front of the guide signal generation means with respect to the emission direction of light emitted from the guide signal generation means to improve straightness of the light emitted by the guide signal generation means.
  • a plurality of reflectors 244 is provided inside the guide 242 to limit the transmission angle of the docking guide signal transmitted through the opening as described above to further improve the straightness.
  • the reflectors may be formed in the form of a plurality of plates or protrusions protruding inward.
  • the reflectors 244 are formed to protrude inward from the left and right inner surfaces of the guide 242, and are formed in a plurality of layers including at least the end and center of the guide 242 and the vicinity of the docking guide sensor 264.
  • the reflectors 244 are formed to protrude inward from the left and right inner surfaces of the guide 242, respectively.
  • the protruding reflectors 244 are arranged such that the ends thereof face each other and are spaced apart from each other by a predetermined distance.
  • each layer is formed by a pair of reflectors 244 facing each other, and the layers formed in this way provide a path for light transmitted from the docking guide sensor 264 through the opening provided in the central portion.
  • the opening between the reflectors 244 formed as described above is aligned with the docking guide sensor 264 on a straight line.
  • a signal transmitted to the outside of the guide 242 is a relatively small transmission angle.
  • the robot cleaner moves to an overlapping area of *?*the return signals transmitted from the approach guide sensors 262, and then receives the docking guide signal.
  • FIG. 6 is a view showing a generation area of a guide signal generated by the recharging apparatus for a robot cleaner according to an embodiment.
  • the signals transmitted from the body 210 to the robot cleaner includes a return guide signal for guiding, by the approach guide sensor 262, the robot cleaner to move toward the recharging apparatus 200 and a docking guide signal for guiding, by the docking guide sensor 264, the docking of the robot cleaner and the recharging apparatus 200.
  • the return guide signal controls rotation of the driving wheels of the robot cleaner according to the transmission direction to reduce the left/right movement distance of the robot cleaner moving left or right, thereby guiding movement to the recharging apparatus.
  • the approach guide sensors 262 are provided on both left and right sides of the docking guide sensor 264, and transmit a return guide signal at a relatively wide angle. Accordingly, the approach guide area 262' in which the robot cleaner is guided to return by the approach guide sensors 262 may partially overlap each other as shown in FIG. 6.
  • the transmission angle of the docking guide signal transmitted to the outside by the guide signal guiding member 240 is limited.
  • the guide 242 and the reflectors 244 block a docking guide signal having a relatively large transmission angle, and only the docking guide signal having a relatively small transmission angle is exposed to the outside. Accordingly, the docking guide area 164' is relatively very narrow.
  • the docking guide sensor 264 and the guide 242 are positioned between the approach guide sensors 262, the docking guide area 264' may face the overlapping portion of the approach guide areas 262'.
  • the robot cleaner returns to the charging station toward the overlapping portion of the approach guide areas 262', the robot cleaner approaches the docking guide area 264'.
  • the robot cleaner approaching the docking guide area 164' is guided by the docking guide signal to move to the recharging apparatus.
  • the robot cleaner When the battery is exhausted and recharging is required during a cleaning operation performed by the robot cleaner traveling inside the cleaning area or the cleaning operation is completed, the robot cleaner returns to the recharging apparatus 200 and charges the consumed battery.
  • the robot cleaner transmits a return guide request signal to the recharging apparatus 200 when the battery is exhausted or the cleaning operation is completed.
  • the signal is received by the return guide unit 202 of the recharging apparatus 200.
  • the recharging apparatus 200 Upon receiving the return guide request signal from the robot cleaner, the recharging apparatus 200 transmits a return guide signal through the approach guide sensor 262, which is a component of the guide signal generation means 260. Upon detecting this signal, the robot cleaner moves toward the recharging apparatus 200 along the return guide signal. Here, the signal transmitted from the approach guide sensor 262 is received by the sensing unit 1400 provided in the robot cleaner.
  • rotation of the driving wheels is controlled according to the direction in which the return guide signal is received, that is, the positions of the approach guide sensors 262 forming the corresponding approach guide areas 262'.
  • movement continues to the overlapping portion of the approach guide areas 262' formed by the multiple approach guide sensors 262.
  • the robot cleaner moves to the recharging apparatus 200 along a docking guide signal transmitted from the docking guide sensor 264.
  • the transmission angle of the docking guide signal transmitted from the docking guide sensor 264 is limited by the guide signal guiding member 240, and thus the width of the docking guide region 264' is narrowed.
  • the robot cleaner Before the robot cleaner docks to the recharging apparatus 200, the robot cleaner is disposed in front of the recharging apparatus 200. Then, the board portion 300 may be photographed by two cameras provided in the robot cleaner. Since the position to which the robot cleaner moves in front of the recharging apparatus 200 to be docked to the recharging apparatus 200 is almost the same, an image captured by the cameras of the robot cleaner should be obtained constantly. However, in various situations, such as increase in usage time of the robot cleaner or collision between the robot cleaner and an obstacle, the positions of the cameras may be changed. In this embodiment, every time the robot cleaner moves to be docked to the recharging apparatus 200, the cameras may photograph the board portion 300 and perform correction, thereby preventing an increase or occurrence of an error in the cameras. Accordingly, when the information obtained by photographing the board portion 300 by the cameras is different from the previous correct information, the controller 1800 may correct the errors of the cameras 1402 and 1404, or inform the user that an error has occurred through the output unit 1500.
  • the robot cleaner 100 when the robot cleaner 100 moves to be docked to the recharging apparatus 200, the robot cleaner 100 move straight toward the front of the recharging apparatus 200 while facing the front. Accordingly, the cameras of the robot cleaner 100 may compare an image photographed under the same conditions with a previous image photographed under a correct condition.
  • FIG. 7 is a view showing a board portion according to another embodiment.
  • the board portion of FIG. 7 may be replaced with the board portion provided in FIG. 4, and the robot cleaner may also photograph the board portion of the embodiment of FIG. 7. Accordingly, a description of the same content will be omitted.
  • a pattern 320 of another embodiment may include a protruding portion 332 formed to protrude and a recessed portion 334 formed to be recessed.
  • the protruding portion 332 and the recessed portion 334 may be arranged alternately in the vertical and horizontal directions.

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  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Disclosed herein is a recharging apparatus for a robot cleaner, including a body defining an outer appearance thereof and provided with a terminal portion for charging the robot cleaner, a guide signal generation means provided in the body to transmit a return guide signal to the robot cleaner, and a board portion photographed by two camera sensors provided in the robot cleaner when the robot cleaner receives the signal transmitted by the guide signal generation means and moves to a front of the body, the two camera being spaced apart from each other, wherein the board portion has a repeated pattern.

Description

RECHARGING APPARATUS FOR ROBOT CLEANER
The present disclosure relates to a recharging apparatus for a robot cleaner, and more particularly, to a recharging apparatus for a robot cleaner capable of calibrating depth cameras of the robot cleaner that employ two depth cameras.
In general, a robot cleaner is a cleaning device configured to suck dust and foreign matter from the floor while autonomously traveling within a certain range of work area without user manipulation. To carry out the cleaning work, the robot cleaner determines the locations of obstacles or walls through sensors or cameras, and travels avoiding the obstacles or walls based on the determined information.
To perform such traveling, the robot cleaner is provided with a battery to supply power required for the traveling. After power is consumed, the battery is recharged for reuse.
Accordingly, the robot cleaner is provided to a consumer along with a recharging apparatus, and the recharging apparatus includes a function of generating a return guide signal such that the robot cleaner that is running out of battery may return to the recharging apparatus so as to be charged. In Korean Patent Application Publication No. 10-2003-0013010, which is directed to a recharging apparatus according to the prior art, merely discloses the function of charging the robot cleaner.
Since the robot cleaner tends to frequently connect to the recharging apparatus, various functions may be applied to the recharging apparatus.
The present disclosure may provide a recharging apparatus for a robot cleaner capable of improving the traveling performance of the robot cleaner whenever the robot cleaner approaches the recharging apparatus.
The present disclosure may provide a recharging apparatus for a robot cleaner capable of calibrating depth cameras of the robot cleaner which employs two depth cameras.
In one aspect of the present invention, provided herein is a recharging apparatus for a robot cleaner including a body defining an outer appearance thereof and provided with a terminal portion for charging the robot cleaner, and a board portion photographed by two camera sensors provided in the robot cleaner, the two camera being spaced apart from each other.
The board portion has a repeated pattern, and accordingly the recognition rate may be increased such that the board portion may be differentiated from other parts in an image captured by a camera. In addition, the board portion allows captured images to contain a lot of information in a repeated pattern, and accordingly the error recognition rate may be improved in the camera.
In another aspect of the present invention, provided herein is a recharging apparatus for a robot cleaner, including a guide signal generation means provided in the body to transmit a return guide signal to the robot cleaner, and a guide signal guiding member provided in the guide signal generation means to improve straightness of the guide signal.
In another aspect of the present invention, provided herein is a recharging apparatus for a robot cleaner, including a body provided with a terminal portion for charging the robot cleaner, a guide signal generation means provided in the body to transmit a return guide signal to the robot cleaner, and a board portion configured to receive a signal transmitted by the guide signal generation means and shift to a position in front of the body, the board portion being photographed at the position by two separated camera sensors provided in the robot cleaner.
In another aspect of the present invention, provided herein is a recharging apparatus for a robot cleaner, including a body defining an exterior thereof, the body being provided with a terminal portion for charging the robot cleaner, a guide signal generation means provided in the body to transmit a return guide signal to the robot cleaner, and a board portion configured to receive a signal transmitted by the guide signal generation means and shift to a position in front of the body, the board portion being photographed at the position by two separated camera sensors provided in the robot cleaner, wherein the board portion has a repeated pattern.
According to the present disclosure, each time a robot cleaner connects to the recharging apparatus, the error of the depth cameras may be adjusted. Accordingly, as calibration of the depth cameras is enabled, the obstacle detection performance of the robot cleaner may be improved.
In addition, according to the present disclosure, since the recharging apparatus for the robot cleaner is capable of providing functions other than the function of charging the robot cleaner, the recharging apparatus may be used in various ways.
FIG. 1 is a perspective view of a robot cleaner according to an embodiment.
FIG. 2 is a block diagram illustrating the components of the robot cleaner according to the embodiment.
FIG. 3 is a view showing the appearance of a recharging apparatus for a robot cleaner according to an embodiment.
FIG. 4 is an exploded perspective view of the recharging apparatus for a robot cleaner according to the embodiment.
FIG. 5 is a view showing the mounting state of a guide signal guiding member, seen from the lower side.
FIG. 6 is a view showing a generation area of a guide signal generated by the recharging apparatus for a robot cleaner according to an embodiment.
FIG. 7 is a view showing a board portion according to another embodiment.
Hereinafter, exemplary embodiments of the present disclosure that may specifically realize the above-mentioned objects will be described with reference to the accompanying drawings.
The sizes and shapes of the components shown in the drawings may be exaggerated for clarity and brevity. In addition, terms defined in consideration of the configuration and operation of the present invention may be changed depending on the intention of a user or an operator, or practices. Definitions of such terms should be based on the content of this specification.
Referring to FIG. 1, a robot cleaner 100 performs a function of cleaning the floor while autonomously traveling in a certain area. Here, the cleaning of the floor includes sucking dust (including foreign matter) from the floor or mopping the floor.
The robot cleaner 100 includes a cleaner body 110, a suction unit 120, a sensing unit 130, and a dust bin 140.
The cleaner body 110 includes a controller (not shown) configured to control the robot cleaner 100 and a wheel unit 111 configured for traveling of the robot cleaner 100. The robot cleaner 100 may be moved or rotated back and forth and left and right by the wheel unit 111.
The robot cleaner 100 is configured to autonomously travel on the floor by controlling driving of the wheel unit 111 by the controller.
A battery (not shown) to supply power to the robot cleaner 100 is mounted on the cleaner body 110. The battery may be rechargeable, and may be detachably attached to the bottom of the cleaner body 110.
The suction unit 120 is disposed to protrude from one side of the cleaner body 110 and is configured to suck air containing dust. The one side may be a side on which the cleaner body 110 travels in the forward direction F, that is, the front of the cleaner body 110.
The suction unit 120 may be detachably coupled to the cleaner body 110. When the suction unit 120 is removed from the cleaner body 110, a mop module (not shown) may be detachably coupled to the cleaner body 110 in place of the suction unit 120. Accordingly, the user may mount the suction unit 120 on the cleaner body 110 to remove dust from the floor, and mount the mop module on the cleaner body 110 to mop the floor.
The sensing unit 130 is disposed on the cleaner body 110. As shown in the figure, the sensing unit 130 may be disposed on one side of the cleaner body 110 where the suction unit 120 is located, that is, the front of the cleaner body 110.
The sensing unit 130 may be disposed to overlap the suction unit 120 in the vertical direction of the cleaner body 110. The sensing unit 130 is disposed over the suction unit 120 and is configured to detect an obstacle or a geographic feature in front of the robot cleaner such that the suction unit 120 located at the front of the robot cleaner 100 does not collide with the obstacle.
The sensing unit 130 is configured to perform other sensing functions as well as the aforementioned sensing function. Related details will be described later.
Hereinafter, an embodiment related to the components of the robot cleaner 100 will be described with reference to FIG. 2.
The robot cleaner 100 according to an embodiment of the present disclosure may include at least one of a communication unit 1100, an input unit 1200, a driving unit 1300, a sensing unit 1400, an output unit 1500, a power supply 1600, and a memory 1700, or a controller 1800, or a combination thereof.
Here, the components shown in FIG. 2 are not essential, and it will be appreciated that a robot cleaner having more components or fewer components can be implemented. Hereinafter, each component will be described.
First, the power supply 1600 is provided with a battery rechargeable by external commercial power to supply power to the mobile robot.
The power supply 1600 may supply driving power to each of the components included in the mobile robot, thereby supplying operation power required for the mobile robot to travel or perform a specific function.
In this case, the controller 1800 may detect the remaining amount of power of the battery. When the remaining amount of power is insufficient, the controller may control the robot to move to a charging station connected to an external commercial power source to charge the battery with a charging current supplied from the charging station. The battery may be connected to a battery detector, and thus the remaining amount of power of the battery and the charging status may be transmitted to the controller 1800. The output unit 1500 may display the remaining amount of power of the battery on the screen by the controller.
The controller 1800 serves to process information based on artificial intelligence technology, and may include one or more modules configured to perform at least one of learning of information, inference of information, perception of information, or processing of natural language. Specifically, when a part of an image acquired through cameras provided in the cleaner is input to a learning engine in the controller 1800, the learning engine may recognize at least one object or living body included in the input image.
Next, the driving unit 1300 may include a motor and may rotate or move the body by rotating the left and right main wheels in both directions by driving the motor. The driving unit 1300 may cause the body of the mobile robot to move back and forth or left and right, travel along a curved path, or spin in place.
Next, the input unit 1200 receives various control commands for the robot cleaner from a user. The input unit 1200 may include one or more buttons. For example, the input unit 1200 may include a confirmation button and a setting button. The confirmation button is a button for receiving, from the user, a command to confirm detection information, obstacle information, location information, and map information, and the setting button is a button for receiving, from the user, a command to set the aforementioned information.
Next, the output unit 1500 may be installed at an upper portion of the mobile robot. Of course, it may be installed at a different location or in a different form. For example, the output unit 1500 may display a battery status or a travel mode on the screen.
The output unit 1500 may include a sound output means configured to aurally output an operation of the mobile robot performed by the controller 1800 or a result to the operation. For example, the output unit 1500 may output a warning sound to the outside according to a warning signal generated by the controller 1800.
Next, the communication unit 1100 is connected to a terminal device and/or another device located in a specific area according to one of communication schemes of wired communication, wireless communication, and satellite communication to transmit and receive signals and data (in this specification, the "device" and the term "home appliance" will be interchangeably used).
Next, the memory 1700 stores a control program for controlling or driving the robot cleaner and data corresponding thereto. The memory 1700 may store audio information, image information, obstacle information, location information, map information, and the like. The memory 1700 may also store information related to a travel pattern.
Next, the sensing unit 1400 may include an external signal detection sensor and a cliff detection sensor.
The external signal detection sensor may detect an external signal outside the mobile robot. The external signal detection sensor may be, for example, an infrared ray sensor, an ultrasonic sensor, or a radio frequency sensor.
The mobile robot may identify the location and direction of the charging station upon receiving a guide signal generated from the charging station using the external signal detection sensor. The charging station may transmit a guide signal indicating a direction and a distance to allow the mobile robot to return thereto. That is, the mobile robot may receive a signal sent from the charging station, determine a current location thereof and set a moving direction to return to the charging station.
The cliff detection sensor (or cliff sensor) may detect obstacles on the floor supporting the body of the mobile robot, mainly using various types of optical sensors.
The sensing unit 1400 may include a depth camera. The sensing unit 1400 may include a first camera 1402 and a second camera 1404. The two cameras may be configured to acquire 2D images. The controller 1800 may combine two or more images obtained from the two or more cameras using a stereo vision technique to generate 3D coordinate information. For example, the controller 1800 may generate 3D coordinate information using a time difference between the images received from the two cameras or other methods. The controller 1800 may detect an obstacle by combining the images captured by the two cameras 1402 and 1404, and guide the robot cleaner to travel while avoiding the obstacle.
Next, the first camera 1402 and the second camera 1404 are disposed so as to be spaced apart from each other, such that even when one object is photographed, the images captured by the two cameras have a slight difference.
FIG. 3 is a view showing the appearance of a recharging apparatus for a robot cleaner according to an embodiment, and FIG. 4 is an exploded perspective view of the recharging apparatus for a robot cleaner according to the embodiment.
The recharging apparatus 200 for the robot cleaner includes a body 210 defining an external shape. The body 210 includes a base 500, a front cover 400, a return guide unit cover 220, and a top cover 500. The base 500 defines a rear surface and a bottom surface of the recharging apparatus 200 and provides a mounting space for a terminal portion 212 and a board portion 300, which will be described below.
The base 500 may be provided with a fastening part to which at least the board portion 300 and the terminal portion 212 may be connected or temporarily connected. A part of the board portion 300 or the terminal portion 212 may be coupled to the fastening part in a fitting manner or using a separate fastening member.
The terminal portion 212 converts power into a voltage available to the robot cleaner as necessary using a power supply source such as a commercial power source or a battery, and then supplies the voltage to the robot cleaner. The terminal portion 212 is brought into contact with the power terminal of the robot cleaner to supply charging power to the robot cleaner, and is formed by curving a conductor having low electrical resistance such as copper a plurality of times.
In addition, the terminal portion 212 formed by curving as described above is mounted such that at least a portion thereof is exposed to the outside of the front cover 400, which is coupled to the front side of the base 500.
The guide signal generation means 260 includes a plurality of infrared sensors, and thus guides the robot cleaner to return to the recharging apparatus following a transmitted infrared signal. The guide signal generation means is fitted into a printed circuit board 280 between the base 500 and the front cover 400, and is positioned at the rear side of the return guide unit cover 220.
A guide signal guiding member 240 is disposed in front of the guide signal generation means 260. The guide signal guiding member 240 may improve the straightness of the signal generated by the guide signal generation means 260.
The board portion 300 that may be photographed by the cameras provided in the robot cleaner is provided between the printed circuit board 280 and the front cover 400.
The board portion 300 is provided inside the body 210. Since the front of the body, that is, the front of the front cover 400 is made of a transparent material, the board portion 300 may be photographed by the cameras provided in the robot cleaner.
The board portion 300 includes a panel 310 arranged perpendicular to the floor, and a pattern 320 is provided at the center thereof. The pattern 320 refers to a specific shape, a specific color, or a specific pattern that is repeatedly formed.
The pattern 320 may include a first color part 322 formed in a dark color and a second color part 324 formed in a light color. The first color part 322 may be represented in black, and the second color part 324 may be represented in white, such that the difference between the first color part 322 and the second color part 324 is easily recognized by the cameras. The first color part and the second color part may be arranged alternately in vertical and horizontal directions. That is, the two color parts may be arranged in a manner that the second color part is adjacent to the first color part.
The panel 310 may be disposed to be spaced apart from the front surface of the body 210, that is, the front cover 400. Since there is a space between the front surface and the panel 310, the panel 310 may be prevented from being damaged when the panel 310 is installed on the body 210.
FIG. 5 is a view showing the mounting state of a guide signal guiding member, seen from the lower side.
As shown in the figure, the guide signal generation means 260 includes an approach guide sensor 262 configured to transmit an infrared signal to guide the robot cleaner located in a remote place to the recharging apparatus 200, and a docking guide sensor 264 configured to guide the robot cleaner approaching the recharging apparatus 200 by the approach guide sensor 262 to a docking position.
At least one approach guide sensor 262 may be provided on both left and right sides, and at least one docking guide sensor 264 may be provided between the approach guide sensors 262.
The guide signal guiding member 240 is formed in an approximately "T" shape to limit the transmission angle of signals transmitted from the docking guide sensor 264 and the approach guide sensor 262. As shown in FIG. 5, when mounted on the printed circuit board 280, the guide signal guiding member 240 protrudes forward, that is, in the travel direction of the guide signal transmitted from the guide signal generation means 260. The protrusion length thereof corresponds to a distance from the printed circuit board 280 to the return guide unit cover 220 mounted on the front cover 400.
In addition, a guide 242 is provided at a central portion of the guide signal guiding member 240. The guide is open to the front side and is configured to surround the docking guide sensor 264.
Accordingly, a docking guide signal sent from the docking guide sensor 264 to the outside may be transmitted only through the opening of the guide 242. That is, the guide signal guiding member is positioned in front of the guide signal generation means with respect to the emission direction of light emitted from the guide signal generation means to improve straightness of the light emitted by the guide signal generation means.
In addition, a plurality of reflectors 244 is provided inside the guide 242 to limit the transmission angle of the docking guide signal transmitted through the opening as described above to further improve the straightness. The reflectors may be formed in the form of a plurality of plates or protrusions protruding inward.
The reflectors 244 are formed to protrude inward from the left and right inner surfaces of the guide 242, and are formed in a plurality of layers including at least the end and center of the guide 242 and the vicinity of the docking guide sensor 264.
That is, the reflectors 244 are formed to protrude inward from the left and right inner surfaces of the guide 242, respectively. The protruding reflectors 244 are arranged such that the ends thereof face each other and are spaced apart from each other by a predetermined distance.
Accordingly, each layer is formed by a pair of reflectors 244 facing each other, and the layers formed in this way provide a path for light transmitted from the docking guide sensor 264 through the opening provided in the central portion. In addition, the opening between the reflectors 244 formed as described above is aligned with the docking guide sensor 264 on a straight line.
Accordingly, among the docking guide signals transmitted from the docking guide sensor 264, only signals having a relatively small transmission angle with respect to the opening of the reflectors 244 may pass through the opening, and signals having a relatively large transmission angle with respect to the opening are blocked by the reflectors 244 from being transmitted to the outside.
A signal transmitted to the outside of the guide 242 is a relatively small transmission angle. In order to receive this signal, the robot cleaner moves to an overlapping area of *?*the return signals transmitted from the approach guide sensors 262, and then receives the docking guide signal.
Regarding a more detailed description, FIG. 6 is a view showing a generation area of a guide signal generated by the recharging apparatus for a robot cleaner according to an embodiment.
The signals transmitted from the body 210 to the robot cleaner includes a return guide signal for guiding, by the approach guide sensor 262, the robot cleaner to move toward the recharging apparatus 200 and a docking guide signal for guiding, by the docking guide sensor 264, the docking of the robot cleaner and the recharging apparatus 200.
The return guide signal controls rotation of the driving wheels of the robot cleaner according to the transmission direction to reduce the left/right movement distance of the robot cleaner moving left or right, thereby guiding movement to the recharging apparatus.
To this end, the approach guide sensors 262 are provided on both left and right sides of the docking guide sensor 264, and transmit a return guide signal at a relatively wide angle. Accordingly, the approach guide area 262' in which the robot cleaner is guided to return by the approach guide sensors 262 may partially overlap each other as shown in FIG. 6.
For the docking guide sensor 264 configured for the purpose described above, the transmission angle of the docking guide signal transmitted to the outside by the guide signal guiding member 240 is limited.
That is, the guide 242 and the reflectors 244 block a docking guide signal having a relatively large transmission angle, and only the docking guide signal having a relatively small transmission angle is exposed to the outside. Accordingly, the docking guide area 164' is relatively very narrow.
In addition, since the docking guide sensor 264 and the guide 242 are positioned between the approach guide sensors 262, the docking guide area 264' may face the overlapping portion of the approach guide areas 262'.
Accordingly, as the robot cleaner returns to the charging station toward the overlapping portion of the approach guide areas 262', the robot cleaner approaches the docking guide area 264'. The robot cleaner approaching the docking guide area 164' is guided by the docking guide signal to move to the recharging apparatus.
Hereinafter, a process in which the robot cleaner returns to the recharging apparatus 200 configured as described above will be described.
When the battery is exhausted and recharging is required during a cleaning operation performed by the robot cleaner traveling inside the cleaning area or the cleaning operation is completed, the robot cleaner returns to the recharging apparatus 200 and charges the consumed battery.
To this end, the robot cleaner transmits a return guide request signal to the recharging apparatus 200 when the battery is exhausted or the cleaning operation is completed. The signal is received by the return guide unit 202 of the recharging apparatus 200.
Upon receiving the return guide request signal from the robot cleaner, the recharging apparatus 200 transmits a return guide signal through the approach guide sensor 262, which is a component of the guide signal generation means 260. Upon detecting this signal, the robot cleaner moves toward the recharging apparatus 200 along the return guide signal. Here, the signal transmitted from the approach guide sensor 262 is received by the sensing unit 1400 provided in the robot cleaner.
In the process of returning of the robot cleaner as described above, rotation of the driving wheels is controlled according to the direction in which the return guide signal is received, that is, the positions of the approach guide sensors 262 forming the corresponding approach guide areas 262'. Thus, movement continues to the overlapping portion of the approach guide areas 262' formed by the multiple approach guide sensors 262.
When the robot cleaner reaches the overlapping portion of the approach guide areas 262', the robot cleaner moves to the recharging apparatus 200 along a docking guide signal transmitted from the docking guide sensor 264.
The transmission angle of the docking guide signal transmitted from the docking guide sensor 264 is limited by the guide signal guiding member 240, and thus the width of the docking guide region 264' is narrowed.
Accordingly, movement of the robot cleaner to the left/right according to the reception direction of the docking guide signal is reduced, and as the robot cleaner approaches the recharging apparatus 200, the robot cleaner makes almost linear movement without moving to the left or right to dock to the recharging apparatus 200.
Before the robot cleaner docks to the recharging apparatus 200, the robot cleaner is disposed in front of the recharging apparatus 200. Then, the board portion 300 may be photographed by two cameras provided in the robot cleaner. Since the position to which the robot cleaner moves in front of the recharging apparatus 200 to be docked to the recharging apparatus 200 is almost the same, an image captured by the cameras of the robot cleaner should be obtained constantly. However, in various situations, such as increase in usage time of the robot cleaner or collision between the robot cleaner and an obstacle, the positions of the cameras may be changed. In this embodiment, every time the robot cleaner moves to be docked to the recharging apparatus 200, the cameras may photograph the board portion 300 and perform correction, thereby preventing an increase or occurrence of an error in the cameras. Accordingly, when the information obtained by photographing the board portion 300 by the cameras is different from the previous correct information, the controller 1800 may correct the errors of the cameras 1402 and 1404, or inform the user that an error has occurred through the output unit 1500.
In most cases, when the robot cleaner 100 moves to be docked to the recharging apparatus 200, the robot cleaner 100 move straight toward the front of the recharging apparatus 200 while facing the front. Accordingly, the cameras of the robot cleaner 100 may compare an image photographed under the same conditions with a previous image photographed under a correct condition.
FIG. 7 is a view showing a board portion according to another embodiment.
The board portion of FIG. 7 may be replaced with the board portion provided in FIG. 4, and the robot cleaner may also photograph the board portion of the embodiment of FIG. 7. Accordingly, a description of the same content will be omitted.
A pattern 320 of another embodiment may include a protruding portion 332 formed to protrude and a recessed portion 334 formed to be recessed. Next, the protruding portion 332 and the recessed portion 334 may be arranged alternately in the vertical and horizontal directions.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present disclosure without departing from the spirit and scope of the disclosure. Thus, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

Claims (15)

  1. A recharging apparatus for a robot cleaner, comprising:
    a body defining an outer appearance thereof and provided with a terminal portion for charging the robot cleaner;
    a guide signal generation means provided in the body to transmit a return guide signal to the robot cleaner; and
    a board portion photographed by two camera sensors provided in the robot cleaner when the robot cleaner receives the signal transmitted by the guide signal generation means and moves to a front of the body, the two camera being spaced apart from each other,
    wherein the board portion has a repeated pattern.
  2. The recharging apparatus of claim 1, wherein the board portion is provided inside the body,
    wherein a front surface of the body is formed of a transparent material.
  3. The recharging apparatus of claim 1, wherein the board portion comprises a panel arranged perpendicular to a floor,
    wherein the pattern is disposed at a center of the panel.
  4. The recharging apparatus of claim 3, wherein the panel is disposed in front of the body so as to be spaced apart from the body.
  5. The recharging apparatus of claim 1, wherein the pattern comprises:
    a first color part formed in a dark color; and
    a second color part formed in a light color.
  6. The recharging apparatus of claim 5, wherein the first color part and the second color part are arranged alternately in vertical and horizontal directions.
  7. The recharging apparatus of claim 1, wherein the pattern comprises:
    a protruding portion formed to protrude; and
    a recessed portion formed to be recessed.
  8. The recharging apparatus of claim 7, wherein the protruding portion and the recessed portion are arranged alternately in vertical and horizontal directions.
  9. The recharging apparatus of claim 1, further comprising:
    a guide signal guiding member provided in the guide signal generation means to improve straightness of the guide signal.
  10. The recharging apparatus of claim 9, wherein the guide signal generation means comprises a docking guide sensor configured to transmit a docking guide signal to guide the robot cleaner to a docking position.
  11. The recharging apparatus of claim 10, wherein the guide signal guiding member is located in front of the guide signal generation means with respect to a radiation direction of light radiated by the docking guide sensor.
  12. The recharging apparatus of claim 11, wherein the guide signal guiding member comprises:
    an opening provided at a front thereof; and
    a guide formed to surround at least both left and right sides of the docking guide sensor.
  13. The recharging apparatus of claim 12, wherein the guide comprises a plurality of reflectors provided therein to guide a direction of the guide signal.
  14. The recharging apparatus of claim 10, wherein the guide signal guiding member limits a transmission angle of a signal transmitted from the docking guide sensor to improve straightness.
  15. The recharging apparatus of claim 1, wherein the guide signal generation means comprises an approach guide sensor configured to transmit a signal for guiding the robot cleaner to a return position.
PCT/KR2020/012130 2020-03-17 2020-09-09 Recharging apparatus for robot cleaner WO2021187696A1 (en)

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KR10-2020-0032446 2020-03-17

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