WO2022005189A1 - 로봇 청소기 및 로봇 청소기의 제어방법 - Google Patents
로봇 청소기 및 로봇 청소기의 제어방법 Download PDFInfo
- Publication number
- WO2022005189A1 WO2022005189A1 PCT/KR2021/008224 KR2021008224W WO2022005189A1 WO 2022005189 A1 WO2022005189 A1 WO 2022005189A1 KR 2021008224 W KR2021008224 W KR 2021008224W WO 2022005189 A1 WO2022005189 A1 WO 2022005189A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- line
- robot cleaner
- travel
- traveling
- rotating plate
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 53
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 35
- 238000012937 correction Methods 0.000 claims description 55
- 230000007423 decrease Effects 0.000 claims description 12
- 238000013459 approach Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 description 15
- 230000008859 change Effects 0.000 description 14
- 238000004140 cleaning Methods 0.000 description 13
- 238000004891 communication Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 7
- 239000007788 liquid Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000036962 time dependent Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Definitions
- the present invention relates to a robot cleaner and a control method of the robot cleaner, and more particularly, to a robot cleaner and a control method of the robot cleaner, which rotate the mop of the robot cleaner and drive and clean the floor through frictional force between the mop and the floor .
- Such a robot vacuum cleaner includes a sensor capable of recognizing a space to be cleaned, a mop capable of cleaning the floor, and the like, and can run while wiping the floor surface of the space recognized by the sensor with a mop.
- the wet robot vacuum cleaner has a water tank, and the water contained in the water tank is supplied to the mop, and the mop is configured to wipe the floor surface with moisture to effectively remove foreign substances strongly attached to the floor surface.
- the mop is formed in a circular shape, and it is rotated to come into contact with the floor to wipe the floor.
- the plurality of mops may be configured to run in a specific direction by using frictional force in contact with the floor while rotating.
- a pair of mops rotates in opposite directions and rotates at the same rotational speed while traveling straight.
- the friction force between the mop and the floor surface is not constant in many cases compared to the robot cleaner that can travel in a straight line by rotation of the wheels.
- Korean Patent Registration No. 10-1970995B1 discloses a robot cleaner for straight travel and a control method thereof.
- the load values of the first rotation member and the second rotation member are calculated, respectively, and a difference value of the load values is calculated using the same.
- the first rotation member and the second rotation member At least one of the rotation speeds is adjusted to drive the robot vacuum cleaner in a straight line.
- Korean Patent Registration No. 10-1903022B1 (September 20, 2018) discloses a robot cleaner that rotates a pair of spinmaps and travels in a straight line.
- the left spinmap rotates clockwise and the right spinmap rotates counterclockwise to move the robot cleaner in a straight line.
- Korean Patent Registration No. 10-1412143B1 (June 19, 2014) discloses a robot cleaner that detects a rotation angle of a caster wheel to control a rotation amount of a driving wheel for straight travel and a driving control method thereof.
- the present invention was created to improve the problems of the conventional robot cleaner and the control method of the robot cleaner as described above.
- Another object of the present invention is to provide a robot cleaner and a control method of the robot cleaner that can quickly determine that the robot cleaner deviated from a straight path and return to a straight path by changing the direction.
- Another object of the present invention is to provide a robot cleaner and a control method of the robot cleaner that can prevent the robot cleaner from wandering because it cannot find a driving direction after it deviates from a straight path.
- Another object of the present invention is to provide a robot cleaner capable of finding and moving a target point even when the robot cleaner deviates from a straight path, and a control method of the robot cleaner.
- Another object of the present invention is to provide a robot cleaner and a control method of the robot cleaner, in which the robot cleaner continuously travels and returns to a straight path to maintain cleaning performance in an area to be cleaned.
- the robot cleaner according to the present invention is a robot cleaner that travels along a virtual travel line connected in a straight line from a starting point to a predetermined target point, and includes a battery, a water bottle and a motor therein. body formed with space; and a pair of rotating plates coupled to the lower side of the mop facing the bottom and rotatably disposed on the bottom of the body.
- the rotational speeds of the pair of rotating plates may be different from each other.
- a rotation speed of a rotating plate located far away from the traveling line may be greater than a rotation speed of a rotating plate located close to the traveling line.
- the pair of rotating plates may increase the rotational speed of the rotating plate positioned close to the driving line when the shortest distance between the body and the traveling line is decreased.
- the pair of rotating plates, the first mop facing the bottom surface is coupled to the lower side, the first rotating plate is rotatably disposed on the bottom surface of the body; and a second rotating plate coupled to the lower side of the second mop facing the bottom and rotatably disposed on the bottom of the body.
- the rotation speed of the first rotary plate is the second rotary plate It can be greater than the rotation speed.
- the robot cleaner of the present invention includes a virtual connecting line connecting the rotation shafts of the pair of rotation plates to each other; and a virtual driving direction line that perpendicularly intersects with the connection line at a midpoint of the connection line and extends parallel to the floor surface.
- the driving direction line may include a forward driving direction line extending parallel to the floor surface in a direction in which the battery is disposed based on the connection line; and a rear running direction line extending parallel to the floor surface in the direction in which the water bottle is disposed based on the connection line.
- the body may rotate so that the front travel direction line and the travel line intersect.
- the rotation speed of the rotating plate located far away from the driving line may be greater than the rotation speed of the rotating plate located close to the driving line.
- the robot cleaner of the present invention includes: a virtual moving point located on the travel line and disposed at the shortest distance from the midpoint of the connecting line; and a virtual target crossing point located on the travel line and disposed at a predetermined distance from the moving point toward the target point.
- the target crossing point may be where the driving line and the forward driving direction line intersect.
- the rotation speed of the rotation plate having a distance from the target intersection point may be greater than the rotation speed of the rotation plate having a distance from the target intersection point close to the target intersection point.
- the relative movement speed with respect to the bottom surface of the mop located far from the travel line may be greater than the relative movement speed with respect to the floor surface of the mop located close to the travel line.
- the output of the motor located far from the traveling line may be greater than the output of the motor located close to the traveling line.
- the control method of a robot cleaner includes a pair of rotating plates to which a mop facing a floor is coupled to the lower side, and a robot that runs by rotating the pair of rotating plates
- a control method of a vacuum cleaner comprising: a straight traveling step of driving the robot cleaner straight along a virtual traveling line connecting a predetermined target point in a straight line from a starting point; and a straight-ahead correction step of rotating the robot cleaner to approach the travel line when the robot cleaner deviates from the travel line.
- the pair of rotating plates may be rotated at the same speed.
- the rotational directions of the pair of rotating plates may be opposite to each other.
- the straight-ahead correction step may include a first correction step of rotating the rotating plate located farther from the driving line than the rotating plate located close to the driving line.
- the straight-ahead correction step may further include, after the first correction step, a second correction step of increasing the rotational speed of a rotating plate located close to the traveling line among the pair of rotating plates.
- a virtual moving point disposed on the travel line and the shortest distance from the robot cleaner is generated, a target intersection is created at a predetermined distance from the moving point in the direction of the target point, and the target intersection is toward the robot cleaner.
- the rotation angle of the body of the robot cleaner may increase.
- the rotation angle of the body of the robot cleaner may increase.
- the rotational speed of the rotating plate located far from the travel line may be increased.
- the rotational speed of the rotating plate located close to the traveling line may be increased.
- a weight may be given to the increase/decrease in rotation speed of the pair of rotating plates according to a distance between the traveling line and the robot cleaner.
- the departure determination step when the shortest distance between the travel line and the front end of the robot cleaner is equal to or greater than a predetermined reference distance, it may be determined that the vehicle deviated from the travel line.
- the departure determination step when the shortest distance between the travel line and the front end of the robot cleaner is equal to or greater than a predetermined reference distance, it may be determined that the vehicle deviated from the travel line.
- the rotational speed of the rotating plate located far from the straight path is a straight line. As it becomes faster than the rotation speed of the rotating plate located close to the path, it has the effect of compensating for the distance deviated by the robot cleaner turning in a straight path.
- the robot cleaner and the control method of the robot cleaner according to the present invention it is quickly determined whether the robot cleaner deviated from the straight path through a predetermined reference distance or a predetermined reference angle, and the direction of the robot cleaner is changed to a straight path. It has the effect of returning.
- the robot cleaner since the robot cleaner returns to a straight path while continuously traveling, it is possible to maintain cleaning performance in an area to be cleaned.
- FIG. 1A is a perspective view illustrating a robot cleaner according to an embodiment of the present invention.
- FIG. 1B is a diagram illustrating a partial configuration of the robot cleaner shown in FIG. 1A separated.
- FIG. 1C is a rear view illustrating the robot cleaner shown in FIG. 1A.
- 1D is a bottom view illustrating a robot cleaner according to an embodiment of the present invention.
- 1E is an exploded perspective view illustrating a robot cleaner.
- 1F is a cross-sectional view schematically illustrating a robot cleaner and its configurations according to an embodiment of the present invention.
- FIG. 2 is a schematic view of a robot cleaner according to an embodiment of the present invention as viewed from above.
- FIG. 3 is a block diagram of a robot cleaner according to an embodiment of the present invention.
- FIG. 4 is a flowchart of a method for controlling a robot cleaner according to an embodiment of the present invention.
- 5 to 9 are diagrams schematically illustrating a path along which the robot cleaner travels according to the control method of the robot cleaner according to an embodiment of the present invention.
- FIG. 10 is a flowchart of a control method of a robot cleaner according to another embodiment of the present invention.
- 11 to 14 are diagrams schematically illustrating a path along which a robot cleaner travels according to a control method of a robot cleaner according to another embodiment of the present invention.
- first, second, etc. may be used to describe various components, but the components may not be limited by the terms. The above terms are only for the purpose of distinguishing one component from another.
- a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.
- the term “and/or” may include a combination of a plurality of related listed items or any of a plurality of related listed items.
- FIG. 1A to 1F are structural diagrams for explaining the structure of the robot cleaner 1 controlled by the control device 5 of the present invention, and FIG. 2 shows a robot cleaner according to an embodiment of the present invention from the top A schematic view of the view is shown.
- FIG. 1A is a perspective view showing the robot cleaner 1
- FIG. 1B is a view showing some components separated from the robot cleaner 1
- FIG. 1C is a rear view of the robot cleaner 1
- FIG. 1D is a bottom view of the robot cleaner 1
- FIG. 1E is an exploded perspective view of the robot cleaner 1
- FIG. 1F is an internal cross-sectional view of the robot cleaner 1 .
- the robot cleaner 1 is placed on the floor and moved along the floor surface B to clean the floor using a mop. Accordingly, in the following description, the vertical direction is determined based on the state in which the robot cleaner 1 is placed on the floor.
- the side to which the first lower sensor 123, which will be described later, is coupled is set forward.
- the 'lowest part' of each configuration described in the present invention may be the lowest part in each configuration when the robot cleaner 1 is placed on the floor and used, or it may be a part closest to the floor.
- the robot cleaner 1 may include a body 50 , rotating plates 10 and 20 , and mops 30 and 40 .
- the rotating plates 10 and 20 may be made of a pair including the first rotating plate 10 and the second rotating plate 20
- the mops 30 and 40 are the first mops 30 and the second mops 40 . ) may be included.
- the body 50 may have the overall appearance of the robot cleaner 1 or may be formed in the form of a frame. Each component constituting the robot cleaner 1 may be coupled to the body 50 , and some components constituting the robot cleaner 1 may be accommodated in the body 50 .
- the body 50 may be divided into a lower body 50a and an upper body 50b, and a battery 135 and a water tank 141 in a space in which the lower body 50a and the upper body 50b are coupled to each other. And parts of the robot cleaner 1 including motors 56 and 57 may be provided (see FIG. 1E ).
- the first rotating plate 10 may be rotatably disposed on the bottom surface of the body 50, the first mop 30 may be coupled to the lower side.
- the first rotating plate 10 is made to have a predetermined area, and is formed in the form of a flat plate or a flat frame.
- the first rotating plate 10 is generally laid horizontally, and thus, the horizontal width (or diameter) is sufficiently larger than the vertical height.
- the first rotating plate 10 coupled to the body 50 may be parallel to the bottom surface (B), or may form an inclination with the bottom surface (B).
- the first rotating plate 10 may be formed in a circular plate shape, the bottom surface of the first rotating plate 10 may form a substantially circular shape, and the first rotating plate 10 may be formed in a rotationally symmetrical shape as a whole.
- the second rotating plate 20 may be rotatably disposed on the bottom surface of the body 50, and the second mop 40 may be coupled to the lower side.
- the second rotating plate 20 is made to have a predetermined area, and is formed in the form of a flat plate or a flat frame.
- the second rotating plate 20 is generally laid horizontally, and thus, the horizontal width (or diameter) is sufficiently larger than the vertical height.
- the second rotating plate 20 coupled to the body 50 may be parallel to the bottom surface (B), or may form an inclination with the bottom surface (B).
- the second rotating plate 20 may be formed in a circular plate shape, and the bottom surface of the second rotating plate 20 may have a substantially circular shape, and the second rotating plate 20 may have a rotationally symmetrical shape as a whole.
- the second rotating plate 20 may be formed identically to the first rotating plate 10 , or may be symmetrically formed. If the first rotating plate 10 is located on the left side of the robot cleaner 1, the second rotating plate 20 may be located on the right side of the robot cleaner 1, and in this case, the first rotating plate 10 and the second rotating plate ( 20) can be symmetrical to each other.
- the first mop 30 may be coupled to the lower side of the first rotating plate 10 to face the bottom surface (B).
- the first mop 30 has a bottom surface facing the floor to have a predetermined area, and the first mop 30 has a flat shape.
- the first mop 30 is formed in a form in which the width (or diameter) in the horizontal direction is sufficiently larger than the height in the vertical direction.
- the bottom surface of the first mop 30 may be parallel to the bottom surface (B), or may form an inclination with the bottom surface (B).
- the bottom surface of the first mop 30 may form a substantially circular shape, and the first mop 30 may be formed in a rotationally symmetrical shape as a whole.
- the first mop 30 may be detachably attached to the bottom surface of the first rotating plate 10 , and may be coupled to the first rotating plate 10 to rotate together with the first rotating plate 10 .
- the second mop 40 may be coupled to the lower side of the second rotating plate 20 to face the bottom surface (B).
- the second mop 40 has a bottom surface facing the floor to have a predetermined area, and the second mop 40 has a flat shape.
- the second mop 40 is formed in a form in which the width (or diameter) in the horizontal direction is sufficiently larger than the height in the vertical direction.
- the bottom surface of the second mop 40 may be parallel to the bottom surface (B), or may form an inclination with the bottom surface (B).
- the bottom surface of the second mop 40 may form a substantially circular shape, and the second mop 40 may have a rotationally symmetrical shape as a whole.
- the second mop 40 may be detachably attached to the bottom surface of the second rotating plate 20 , and may be coupled to the second rotating plate 20 to rotate together with the second rotating plate 20 .
- the robot cleaner 1 may move in a linear direction, and may move forward or backward.
- the robot cleaner 1 may move forward.
- the robot cleaner 1 may change the direction and rotate.
- the robot cleaner (1) can move while changing direction, and can move in a curved direction.
- the robot cleaner 1 may further include a first lower sensor 123 .
- the first lower sensor 123 is formed on the lower side of the body 50 and is configured to detect a relative distance to the floor B.
- the first lower sensor 123 may be formed in a variety of ways within a range capable of detecting the relative distance between the point where the first lower sensor 123 is formed and the bottom surface (B).
- the relative distance to the floor B, sensed by the first lower sensor 123 (may be a vertical distance from the floor, or an inclined distance from the floor), has a predetermined value. In the case of exceeding or exceeding the predetermined range, the bottom surface may be suddenly lowered, and accordingly, the first lower sensor 123 may detect the cliff.
- the first lower sensor 123 may be formed of an optical sensor, and may include a light emitting unit for irradiating light and a light receiving unit through which the reflected light is incident.
- the first lower sensor 123 may be an infrared sensor.
- the first lower sensor 123 may be referred to as a cliff sensor.
- the robot cleaner 1 may further include a second lower sensor 124 and a third lower sensor 125 .
- the second lower sensor 124 and the third lower sensor 125 are aligned with the center of the first rotating plate 10 and the center of the second rotating plate 20 in a horizontal direction (a direction parallel to the bottom surface B).
- a connection line L1 it may be formed on the lower side of the body 50 on the same side as the first lower sensor 123 with respect to the connection line L1, and is relative to the floor B. It can be made to sense the distance (see Fig. 1d).
- the third lower sensor 125 may be formed opposite to the second lower sensor 124 with respect to the first lower sensor 123 .
- Each of the second lower sensor 124 and the third lower sensor 125 may be formed in various ways within a range capable of detecting a relative distance from the bottom surface (B).
- Each of the second lower sensor 124 and the third lower sensor 125 may be formed in the same manner as the above-described first lower sensor 123 , except for the positions where they are formed.
- the robot cleaner 1 may further include a first motor 56 , a second motor 57 , a battery 135 , a water tank 141 and a water supply tube 142 .
- the first motor 56 is coupled to the body 50 to rotate the first rotating plate 10 .
- the first motor 56 may be made of an electric motor coupled to the body 50 , and one or more gears may be connected to the first motor 56 to transmit rotational force to the first rotating plate 10 .
- the second motor 57 is coupled to the body 50 to rotate the second rotating plate 20 .
- the second motor 57 may include an electric motor coupled to the body 50 , and one or more gears may be connected to the second motor 57 to transmit rotational force to the second rotating plate 20 .
- the first rotating plate 10 and the first mop 30 may be rotated by the operation of the first motor 56
- the second rotating plate may be rotated by the operation of the second motor 57 . (20) and the second mop 40 can be rotated.
- the second motor 57 may form a symmetry (left and right symmetry) with the first motor 56 .
- the battery 135 is coupled to the body 50 to supply power to other components constituting the robot cleaner 1 .
- the battery 135 may supply power to the first motor 56 and the second motor 57 .
- the battery 135 may be charged by an external power source, and for this purpose, a charging terminal for charging the battery 135 may be provided on one side of the body 50 or the battery 135 itself.
- the battery 135 may be coupled to the body 50 .
- the bucket 141 is made in the form of a container having an internal space so that a liquid such as water is stored therein.
- the bucket 141 may be fixedly coupled to the body 50 , or may be removably coupled from the body 50 .
- the water supply tube 142 is made in the form of a tube or pipe, and is connected to the water tank 141 so that the liquid inside the water tank 141 flows through the inside.
- the water supply tube 142 is made such that the opposite end connected to the water tank 141 is located above the first rotary plate 10 and the second rotary plate 20, and accordingly, the liquid inside the water tank 141 is removed. 1 so that it can be supplied to the mop 30 and the second mop (40).
- the water supply tube 142 may be formed in a form in which one tube is branched into two, at this time, one branched end is located above the first rotating plate 10, and the other branched one is located above the first rotating plate 10.
- the end of the second rotating plate 20 may be located above the.
- the robot cleaner 1 may include a separate water pump 143 to move the liquid through the water supply tube 142 .
- the robot cleaner 1 may further include a bumper 58 , a first sensor 121 , and a second sensor 122 .
- the bumper 58 is coupled along the rim of the body 50 , and is made to move relative to the body 50 .
- the bumper 58 may be coupled to the body 50 to be reciprocally movable along a direction approaching the center of the body 50 .
- the bumper 58 may be coupled along a portion of the rim of the body 50 , or may be coupled along the entire rim of the body 50 .
- the first sensor 121 is coupled to the body 50 and may be configured to detect a movement (relative movement) of the bumper 58 with respect to the body 50 .
- the first sensor 121 may be formed using a microswitch, a photo interrupter, or a tact switch.
- the second sensor 122 may be coupled to the body 50 and configured to detect a relative distance to an obstacle.
- the second sensor 122 may be a distance sensor.
- the robot cleaner 1 may further include a displacement sensor 126 .
- the displacement sensor 126 is disposed on the bottom surface (rear surface) of the body 50, and may measure a distance moving along the bottom surface.
- the displacement sensor 126 may use an optical flow sensor (OFS) that acquires image information of the floor using light.
- OFS optical flow sensor
- the optical flow sensor (OFS) is configured to include an image sensor for acquiring image information of the floor surface by photographing an image of the floor surface, and one or more light sources for controlling the amount of light.
- the operation of the displacement sensor 126 will be described using the optical flow sensor as an example.
- the optical flow sensor is provided on the bottom surface (rear surface) of the robot cleaner 1, and takes pictures of the lower surface, that is, the floor surface during movement.
- the optical flow sensor converts a downward image input from the image sensor to generate downward image information in a predetermined format.
- the displacement sensor 126 can detect the relative position of the robot cleaner 1 with a predetermined point irrespective of slippage. That is, by observing the lower side of the robot cleaner 1 using the optical flow sensor, it is possible to correct the position by sliding.
- the robot cleaner 1 may further include an angle sensor 127 .
- the angle sensor 127 is disposed inside the body 50 and may measure a movement angle of the body 50 .
- the angle sensor 127 may use a gyro sensor that measures the rotation speed of the body 50 .
- the gyro sensor may detect the direction of the robot cleaner 1 by using the rotation speed.
- the angle sensor 127 may detect an angle with the direction in which the robot cleaner 1 moves based on a predetermined virtual line.
- a virtual connection line L1 connecting the rotation shafts of the pair of rotation plates 10 and 20 to each other may be further included.
- the connecting line L1 may mean a virtual line connecting the rotation axis of the first rotation plate 10 and the rotation axis of the second rotation plate 20 .
- the connecting line L1 may be a criterion for dividing the front and rear of the robot cleaner 1 .
- the direction in which the first lower sensor 123 is disposed based on the connection line L1 may be referred to as the front of the robot cleaner 1, and the direction in which the water container 141 is disposed based on the connection line L1 It can be called the rear of the robot cleaner (1).
- the first lower sensor 123 , the second lower sensor 124 , and the third lower sensor 125 may be disposed on the lower front side of the body 50 based on the connection line L1 , and the body 50 .
- the first sensor 121 may be disposed on the inner side of the front outer circumferential surface of the
- the second sensor 122 may be disposed on the front upper side of the body 50 .
- the battery 135 may be inserted and coupled to the front of the body 50 with respect to the connection line L1 in a direction perpendicular to the bottom surface B.
- a displacement sensor 126 may be disposed at the rear of the body 50 with respect to the connection line L1.
- a virtual driving direction line (H) that perpendicularly intersects with the connection line (L1) at the midpoint (C) of the connection line (L1) and extends parallel to the floor surface (B) may be further included.
- the driving direction line H is a forward driving direction line Hf extending parallel to the floor B in the direction in which the battery 135 is disposed based on the connecting line L1 and the connecting line L1.
- it may include a rear running direction line (Hb) extending parallel to the floor surface (B) toward the direction in which the bucket 141 is disposed.
- the battery 135 and the first lower sensor 123 may be disposed on the forward driving direction line Hf, and the displacement sensor 126 and the water tank 141 may be disposed on the rear driving direction line Hb. have.
- the first rotating plate 10 and the second rotating plate 20 may be disposed symmetrically (line symmetrical) with the driving direction line H as the center (reference).
- the traveling direction line H may mean a direction in which the robot cleaner 1 travels.
- the front end of the robot cleaner 1 of the present invention may mean a point at which the distance protruding forward in the horizontal direction with respect to the connection line L1 is the furthest.
- the front end of the robot cleaner 1 may mean a point through which the forward driving direction line Hf passes among the outer peripheral surface of the bumper 58 .
- the rear end of the robot cleaner 1 may mean a point with the longest distance protruding backward in the horizontal direction with respect to the connection line L1.
- the rear end of the robot cleaner 1 may mean a point through which the rear travel direction line Hb passes among the outer surface of the bucket 141 .
- FIG. 3 is a block diagram of the robot cleaner shown in FIG. 1 of the present invention.
- the robot cleaner 1 includes a control unit 110 , a sensor unit 120 , a power supply unit 130 , a water supply unit 140 , a driving unit 150 , a communication unit 160 , a display unit 170 , and a memory. (180).
- the components shown in the block diagram of FIG. 2 are not essential for implementing the robot cleaner 1, so the robot cleaner 1 described herein has more or fewer components than those listed above. can have
- control unit 110 may be disposed inside the body 50 and may be connected to a control device (not shown) through wireless communication through a communication unit 160 to be described later.
- the controller 110 may transmit various data about the robot cleaner 1 to a connected control device (not shown).
- data may be received from the connected control device and stored.
- the data input from the control device may be a control signal for controlling at least one function of the robot cleaner 1 .
- the robot cleaner 1 may receive a control signal based on a user input from the control device and operate according to the received control signal.
- controller 110 may control the overall operation of the robot cleaner 1 .
- the controller 110 controls the robot cleaner 1 to autonomously drive the surface to be cleaned and perform a cleaning operation according to setting information stored in the memory 180 to be described later.
- the sensor unit 120 includes the first lower sensor 123, the second lower sensor 124, the third lower sensor 125, the first sensor 121 and the second sensor ( 122) may be included.
- the sensor unit 120 may include a plurality of different sensors capable of detecting the environment around the robot cleaner 1 , and the sensor unit 120 detects the environment around the robot cleaner 1 .
- the information about may be transmitted to the control device by the control unit 110 .
- the information on the surrounding environment may be, for example, whether an obstacle exists, whether a cliff is detected, or whether a collision is detected.
- the control unit 110 may be configured to control the operation of the first motor 56 and/or the second motor 57 according to the information from the first sensor 121 . For example, when the bumper 58 comes into contact with an obstacle while the robot cleaner 1 is driving, the position where the bumper 58 comes into contact may be detected by the first sensor 121, and the controller 110 may The operation of the first motor 56 and/or the second motor 57 may be controlled to leave this contact position.
- the control unit 110 when the distance between the robot cleaner 1 and the obstacle is less than or equal to a predetermined value, the running direction of the robot cleaner 1 is switched, or the robot cleaner ( The operation of the first motor 56 and/or the second motor 57 may be controlled so that 1) moves away from the obstacle.
- the control unit 110 controls the robot cleaner 1 to stop or change the driving direction. , the operation of the first motor 56 and/or the second motor 57 may be controlled.
- the controller 110 controls the operation of the first motor 56 and/or the second motor 57 so that the driving direction of the robot cleaner 1 is switched. can do.
- the displacement sensor 126 may measure a distance deviating from the input travel path or travel pattern, and the controller 110 may control the operation of the first motor 56 and/or the second motor 57 to compensate for this.
- the controller 110 controls the operation of the first motor 56 and/or the second motor 57 so that the driving direction of the robot cleaner 1 is switched. can do.
- the angle sensor 127 can measure the angle deviating from the input driving direction, and the control unit 110 may control the operation of the first motor 56 and/or the second motor 57 to compensate for this.
- the power supply unit 130 receives external power and internal power under the control of the control unit 110 to supply power necessary for operation of each component.
- the power supply unit 130 may include the battery 135 of the robot cleaner 1 described above.
- the water supply unit 140 may include the water tank 141, the water supply tube 142, and the water pump 143 of the robot cleaner 1 described above.
- the water supply unit 140 is formed to adjust the water supply amount of the liquid (water) supplied to the first mop 30 and the second mop 40 during the cleaning operation of the robot cleaner 1 according to the control signal of the controller 110 .
- the controller 110 may control the driving time of the motor for driving the water pump 143 to adjust the water supply amount.
- the driving unit 150 may include the first motor 56 and the second motor 57 of the robot cleaner 1 described above.
- the driving unit 150 may be formed so that the robot cleaner 1 rotates or moves in a straight line according to a control signal from the control unit 110 .
- the communication unit 160 may be disposed inside the body 50, between the robot cleaner 1 and the wireless communication system, or between the robot cleaner 1 and a preset peripheral device, or the robot cleaner 1 and at least one module that enables wireless communication between the and a preset external server.
- the at least one module may include at least one of an IR (Infrared) module for infrared communication, an ultrasonic module for ultrasonic communication, or a short-range communication module such as a WiFi module or a Bluetooth module.
- IR Infrared
- ultrasonic for ultrasonic communication
- short-range communication module such as a WiFi module or a Bluetooth module.
- WiFi Wireless Fidelity
- Bluetooth a short-range communication module
- a wireless Internet module it may be configured to transmit/receive data to/from a preset device through various wireless technologies such as wireless LAN (WLAN) and wireless-fidelity (Wi-Fi).
- WLAN wireless LAN
- Wi-Fi wireless-fidelity
- the display unit 170 displays information to be provided to the user.
- the display unit 170 may include a display for displaying a screen.
- the display may be exposed on the upper surface of the body 50 .
- the display unit 170 may include a speaker for outputting sound.
- the speaker may be built into the body 50 . At this time, it is preferable that a hole through which a sound can pass is formed in the body 50 corresponding to the position of the speaker.
- the source of the sound output by the speaker may be sound data pre-stored in the robot cleaner 1 .
- the pre-stored sound data may be about voice guidance corresponding to each function of the robot cleaner 1 or a warning sound for notifying an error.
- the display unit 170 may include any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED). It can be formed as an element of
- the memory 180 may include various data for driving and operating the robot cleaner 1 .
- the memory 180 may include an application program for autonomous driving of the robot cleaner 1 and various related data.
- each data sensed by the sensor unit 120 may be stored, and various settings (values) selected or input by the user (eg, cleaning reservation time, cleaning mode, water supply amount, LED brightness level, notification sound) volume size, etc.) may be included.
- the memory 180 may include information on the surface to be cleaned currently given to the robot cleaner 1 .
- the information on the surface to be cleaned may be map information mapped by the robot cleaner 1 by itself.
- the map information, that is, the map (Map) may include a variety of information set by the user for each area constituting the surface to be cleaned.
- FIG. 4 is a flowchart for a method for controlling a robot cleaner according to an embodiment of the present invention
- FIGS. 5 to 9 show the robot cleaner 1 according to the method for controlling a robot cleaner according to an embodiment of the present invention.
- FIG. 4 is a flowchart for a method for controlling a robot cleaner according to an embodiment of the present invention
- FIGS. 5 to 9 show the robot cleaner 1 according to the method for controlling a robot cleaner according to an embodiment of the present invention.
- FIG. 4 is a flowchart for a method for controlling a robot cleaner according to an embodiment of the present invention
- FIGS. 5 to 9 show the robot cleaner 1 according to the method for controlling a robot cleaner according to an embodiment of the present invention.
- FIGS. 1D, 1E, and 4 to 9 A method of controlling a robot cleaner according to an embodiment of the present invention will be described with reference to FIGS. 1D, 1E, and 4 to 9 .
- the control method of the robot cleaner according to an embodiment of the present invention may include a straight traveling step (S10).
- the controller 110 drives the robot cleaner 1 straight from the starting point P1 to a predetermined target point P2 .
- the user may input the coordinates of a specific location in the cleaning area or a specific structure through a terminal (not shown) or the like.
- the user may instruct the robot cleaner 1 to continue going straight until a special obstacle appears through a terminal (not shown) or the like.
- the controller 110 may control the traveling direction line H of the robot cleaner 1 to face the target point P2 . That is, the controller 110 calculates the angular difference between the traveling direction line H and the target point P2, rotates the robot cleaner 1 by the angular difference, and thus the traveling direction line H and the target point P2. ) may drive the first motor 56 and/or the second motor 57 to match.
- the controller 110 may drive the first motor 56 and the second motor 57 in the same rotational direction and the same rotational speed to rotate the robot cleaner 1 in place. That is, while the first rotating plate 10 and the second rotating plate 20 are rotated in the same rotational direction and at the same rotational speed, the robot cleaner 1 may be rotated in place.
- the controller 110 may control to compensate for slippage when the robot cleaner 1 rotates in place.
- the controller 110 may start traveling in a straight line.
- the control unit 110 rotates the first motor 56 and the second motor 57 in opposite directions, and rotates the first motor 56 and the second motor 57 at the same speed. can be rotated That is, the first rotating plate 10 and the second rotating plate 20 are rotated in opposite directions to each other and rotated at the same rotational speed to allow the robot cleaner 1 to travel in a straight line.
- the robot cleaner 1 may move forward.
- the robot cleaner 1 when the robot cleaner 1 performs straight travel, the robot cleaner 1 may deviate from the travel line LD due to a difference in frictional force with the floor B.
- the robot cleaner 1 it is determined whether the robot cleaner 1 is separated based on the driving line LD connecting the starting point P1 and the target point P2, and the robot cleaner 1 is moved to the driving line LD. ), it is possible to perform a control to compensate for it.
- the control method of the robot cleaner 1 of the present invention may include a departure determination step (S20) of determining whether the robot cleaner 1 deviated from the travel line LD.
- the control unit 110 when the shortest distance (d) between the traveling line (LD) and the robot cleaner 1 is equal to or greater than a predetermined reference distance (D) (d ⁇ D), in the traveling line (LD) can be judged to be out.
- the control unit 110 may measure the shortest distance between the position of each component of the robot cleaner 1 and the travel line LD through the displacement sensor 126 .
- the controller 110 may receive information on the distance between the displacement sensor 126 and the reference point (the starting point P1 or a predetermined point on the driving line LD), and based on this, the driving line LD and The distance between the displacement sensors 126 may be calculated.
- the control unit 110 uses the relative position information between the displacement sensor 126 and other components of the robot cleaner 1 to determine the shortest distance between the position of each component of the robot cleaner 1 and the travel line LD. It is also possible to calculate.
- the controller 110 controls the shortest distance d1 between the front end of the robot cleaner 1 and the traveling line LD, the shortest distance d2 between the rear end of the robot cleaner 1 and the traveling line LD, and the connecting line L1. It is possible to measure the shortest distance between the midpoint C and the driving line LD and the shortest distance d between the body 50 and the driving line LD.
- the controller 110 determines that the vehicle has deviated from the traveling line LD.
- the reference distance D may be 3 cm.
- the shortest distance d1 between the front end of the robot cleaner 1 and the travel line LD is greater than or equal to a predetermined reference distance D (d1 ⁇ D)
- the reference distance D may be 3 cm.
- a virtual departure reference line LR disposed in parallel with the travel line LD and spaced apart by a predetermined reference distance D is drawn, and the robot cleaner 1 is disposed between the travel line LD and the departure reference mountain LR. If it is not located in between, it is also possible to determine that it has deviated from the driving line LD.
- a straight-ahead correction step of rotating the body 50 so that the robot cleaner 1 approaches the travel line LD may be performed. have.
- the controller 110 may control the robot cleaner 1 to run close to the travel line LD by differentiating the rotational speeds of the pair of rotating plates 10 and 20 from each other.
- the straight-line correction step may include a first correction step (S30) of rotating a rotating plate located farther from the driving line LD among the pair of rotating plates 10 and 20 faster than a rotating plate located close to the driving line.
- the controller 110 may control the output of the motor located far from the driving line LD to be greater than the output of the motor located close to the driving line LD.
- control unit 110 is the relative movement speed with respect to the bottom surface (B) of the mop located far from the running line (LD) is located close to the running line (LD) to the bottom surface (B) of the mop It can be controlled larger than the relative movement speed.
- the control unit 110 transmits the output of the first motor 56 located far from the travel line LD to the second motor ( 57) can be operated larger than the output.
- the rotation speed w1 of the first rotary plate 10 located far from the travel line LD may be faster than the rotation speed w2 of the second rotary plate 20 located close to the travel line LD (w1>w2).
- the relative movement speed with respect to the bottom surface (B) of the first mop 30 may be greater than the relative movement speed with respect to the bottom surface (B) of the second mop 40 .
- the robot cleaner 1 slides to the right symmetrically to FIG. 6 and departs from the travel line LD, and the control unit 110 outputs the output of the second motor 57 located far from the travel line LD. can be operated to be greater than the output of the first motor 56 .
- the rotation speed w2 of the second rotary plate 20 located far from the travel line LD may be rotated faster than the rotation speed w1 of the first rotary plate 10 located close to the travel line LD (w2> w1).
- the relative movement speed with respect to the bottom surface (B) of the second mop 40 may be greater than the relative movement speed with respect to the bottom surface (B) of the first mop (30).
- the first rotating plate 10 and the second rotating plate 20 rotate in opposite directions to each other, but there may be a difference in rotation speed. That is, in the present embodiment, it is preferable that the robot cleaner 1 changes the direction while maintaining the traveling (moving).
- the angle at which the robot cleaner 1 is rotated may increase.
- the angle at which the robot cleaner 1 is rotated may increase.
- the controller 110 controls the speed between the rotational speed of the rotating plate located far from the traveling line LD and the rotational speed of the rotating plate located close to the traveling line LD.
- the first motor 56 and/or the second motor 57 may be driven to increase the difference ⁇ w.
- the angle at which the robot cleaner 1 is rotated increases.
- the change amount ⁇ d1/ ⁇ t of the shortest distance d1 between the traveling line LD and the front end of the robot cleaner 1 increases, the angle at which the robot cleaner 1 rotates may increase.
- the controller 110 controls the rotation speed of the rotary plate located far from the travel line LD and the rotation speed of the rotary plate located close to the travel line LD.
- the first motor 56 and/or the second motor 57 may be driven to increase the speed difference ⁇ w.
- control output for rotating the robot cleaner 1 to return to the travel line LD direction in the first correction step S30 is as follows.
- the control unit 110 performs a proportional operation Pr proportional to the shortest distance d1 between the traveling line LD and the front end of the robot cleaner 1 and the traveling line LD and the robot cleaner ( 1) It is possible to output a differential operation Dr that is proportional to the amount of change per time ( ⁇ d1/ ⁇ t) of the shortest distance d1 between shears.
- the robot cleaner 1 may turn toward the travel line LD, and the robot cleaner 1 may travel to approach the travel line LD.
- the control unit 110 continuously measures the shortest distance between the robot cleaner 1 and the traveling line LD, and the shortest distance between the robot cleaner 1 and the traveling line LD decreases. If not, the process proceeds to a second correction step (S50), which will be described later (S40).
- the straight-line correction step may include a second correction step (S50) of increasing the rotation speed of a rotating plate located close to the driving line LD among the pair of rotating plates after the first correction step (S30).
- the rotational speed of the rotating plate located close to the traveling line LD may be increased. In this case, the rotational speed of the rotating plate located far from the traveling line LD may be gradually reduced.
- the control unit 110 controls the second located close to the traveling line LD.
- the rotation speed w2 of the rotating plate 20 may be gradually increased. That is, the controller 110 may gradually increase the rotation speed of the second motor 57 .
- the control unit 110 may gradually decrease the rotation speed w1 of the first rotating plate 10 located far from the travel line LD. That is, the controller 110 may gradually decrease the rotation speed of the first motor 56 . Accordingly, the relative speed of the second mop 40 with respect to the bottom plate B can be gradually increased, and the relative speed of the first mop 30 with respect to the bottom plate B can be gradually decreased.
- the controller 110 when the robot cleaner 1 symmetrically with FIG. 8 slides to the right and departs from the traveling line LD and then turns and moves toward the traveling line LD, the controller 110 is located close to the traveling line LD.
- the rotation speed w1 of the first rotating plate 10 may be gradually increased. That is, the controller 110 may gradually increase the rotation speed of the first motor 56 .
- the controller 110 may gradually decrease the rotation speed w2 of the second rotating plate 20 located far from the travel line LD. That is, the controller 110 may gradually decrease the rotation speed of the second motor 57 . Accordingly, the relative speed of the first mop 30 with respect to the bottom plate B can be gradually increased, and the relative speed of the second mop 40 with respect to the bottom plate B can be gradually decreased.
- the controller 110 controls the traveling line LD. It is possible to increase the rotation speed of the rotating plate located close to In addition, the control unit 110 may gradually decrease the rotation speed of the rotating plate located far from the travel line LD.
- the distance difference d1-d2 between the front end of the robot cleaner 1 and the rear end of the robot cleaner 1 based on the travel line LD has a negative value, and the negative value As this increases, the rotational speed of the rotating plate positioned close to the travel line LD may be increased. In addition, the control unit 110 may gradually decrease the rotation speed of the rotating plate located far from the travel line LD.
- the controller 110 may increase the rotational speed of the rotating plate located close to the traveling line LD.
- the control unit 110 may gradually decrease the rotation speed of the rotating plate located far from the travel line LD.
- the control output for rotating the robot cleaner 1 to make it parallel to the traveling line LD is as follows.
- the control unit 110 is proportional to the distance difference (d1-d2) between the front end of the robot cleaner 1 and the rear end of the robot cleaner 1 based on the travel line LD.
- the amount of change over time ( ⁇ (d1-d2)/ ⁇ t) of the distance difference (d1-d2) between the front end of the robot cleaner 1 and the rear end of the robot cleaner 1 It is possible to output a proportional differential operation (Dp).
- a weight may be given to the increase/decrease in the rotational speed of the pair of rotating plates according to the distance between the traveling line LD and the robot cleaner 1 .
- the rotation control output of the robot cleaner 1 in the second correction step S50 including the weight is as follows.
- the weight ⁇ may mean a ratio of the shortest distance d1 between the driving line LD and the front end of the robot cleaner 1 to the reference distance D. For example, if it is assumed that the reference distance D is 3 cm, and the shortest distance d1 between the front ends of the robot cleaner 1 is 1 cm, the weight ⁇ may be 1/3.
- the rotational speed of the mop that has passed through the traveling line LD passes through the traveling line LD. It may be greater than the rotation speed of a mop that has not been used.
- the controller 110 reduces the rotational speed of the rotating plate located far from the traveling line LD, and the rotational speed of the rotating plate located close to the traveling line LD. By increasing the , the robot cleaner 1 can be rotated so that it can gently converge to the traveling line LD.
- the control unit 110 may use the displacement sensor 126 to determine whether the robot cleaner 1 is positioned on the travel line LD and travels ( S60 ). That is, the distance between the front end of the robot cleaner 1 and the travel line LD becomes 0, and the distance difference d1 between the front end of the robot cleaner 1 and the rear end of the robot cleaner 1 with respect to the travel line LD as a reference When -d2) becomes 0, the controller 110 may determine that the robot cleaner 1 is traveling toward the target point P2 on the travel line LD.
- the control unit 110 may rotate the pair of rotating plates 10 and 20 at the same speed to perform straight travel again (S70). . That is, when determining that the robot cleaner 1 has returned to the target traveling line LD, the controller 110 may drive the first motor 56 and the second motor 57 at the same rotational speed. At this time, the rotation directions of the first motor 56 and the second motor 57 are opposite to each other. As an example, the rotation speed of the first rotating plate 10 and the second rotating plate 20 is the same, but if the first rotating plate 10 rotates in a counterclockwise direction, the second rotating plate 20 can rotate in a clockwise direction. have.
- the controller 110 may detect whether the robot cleaner 1 moves away from the travel line LD again using the displacement sensor 126 ( S80 ).
- the control unit 110 returns the robot cleaner 1 to the traveling line LD regardless of whether the shortest distance d1 between the front end of the robot cleaner 1 and the traveling line LD is equal to or greater than the reference distance D. can do it That is, when the front end of the robot cleaner 1 moves away from the traveling line LD, the control unit 110 controls the rotational speed of the rotating plate located far from the traveling line LD to be greater than the rotational speed of the rotating plate located close to the traveling line LD. can
- the process after the departure determination step S20 may be repeatedly performed.
- the robot cleaner 1 even if the robot cleaner 1 slips and departs from the travel line LD, it is sensed and the robot cleaner 1 quickly returns to the travel line LD and performs straight travel.
- FIG. 10 is a flowchart for a control method of a robot cleaner according to another embodiment of the present invention
- FIGS. 11 to 14 show a robot cleaner 1 according to a control method of a robot cleaner according to another embodiment of the present invention.
- a drawing for schematically explaining the route the traveling is disclosed.
- FIGS. 1D, 1E, and 10 to 14 A method of controlling a robot cleaner according to another embodiment of the present invention will be described with reference to FIGS. 1D, 1E, and 10 to 14 .
- the control method of the robot cleaner according to the present embodiment may include a straight traveling step (S110).
- the controller 110 drives the robot cleaner 1 straight from the starting point P1 to a predetermined target point P2 .
- the user may input the coordinates of a specific location in the cleaning area or a specific structure through a terminal (not shown) or the like.
- the user may instruct the robot cleaner 1 to continue going straight until a special obstacle appears through a terminal (not shown) or the like.
- the controller 110 may control the forward driving direction line Hf of the robot cleaner 1 to face the target point P2 . That is, the controller 110 calculates the angular difference between the forward driving direction line Hf and the target point P2, rotates the robot cleaner 1 by the angle difference, and thus the forward driving direction line Hf and the target point
- the first motor 56 and/or the second motor 57 may be driven to match (P2).
- the controller 110 may drive the first motor 56 and the second motor 57 in the same rotational direction and the same rotational speed to rotate the robot cleaner 1 in place. That is, while the first rotating plate 10 and the second rotating plate 20 are rotated in the same rotational direction and at the same rotational speed, the robot cleaner 1 may be rotated in place.
- the controller 110 may control to compensate for slippage when the robot cleaner 1 rotates in place.
- the controller 110 may start traveling in a straight line.
- the control unit 110 rotates the first motor 56 and the second motor 57 in opposite directions, and rotates the first motor 56 and the second motor 57 at the same speed. can be rotated That is, the first rotating plate 10 and the second rotating plate 20 are rotated in opposite directions to each other and rotated at the same rotational speed to allow the robot cleaner 1 to travel in a straight line.
- the robot cleaner 1 may move forward.
- the control method of the robot cleaner 1 may further include a departure determination step S120 of determining whether the robot cleaner 1 deviated from the travel line LD.
- the controller 110 may determine that the robot cleaner 1 has departed from the traveling line LD. . Specifically, when the angle formed by the intersection of the rear travel direction line Hb and the travel line LD is equal to or greater than a predetermined reference angle, the controller 110 may determine that the robot cleaner 1 has departed from the travel line LD.
- the reference angle at this time may be an angle of 30 degrees or more and 60 degrees or less.
- the controller 110 may perform straight-line correction steps S130 and S140 .
- the controller 110 may rotate the body 50 so that the robot cleaner 1 approaches the travel line LD. Specifically, the control unit 110 sets a virtual target intersection point P4 on the travel line LD (S130), and causes the forward traveling direction line Hf of the robot cleaner 1 to coincide with the target intersection point P4. It is possible to control the rotation speed of the pair of rotation plates (10, 20) (S140).
- the control unit 110 may form a virtual moving point P3 corresponding to the midpoint C of the robot cleaner 1 on the travel line LD.
- the moving point P3 may be disposed at the shortest distance from the midpoint C. That is, the virtual line connecting the moving point P3 and the midpoint C may be perpendicular to the driving line LD. With this configuration, the moving point P3 may indicate a position on the travel line LD of the robot cleaner 1 .
- control unit 110 may form a virtual target crossing point P4 disposed at a predetermined distance from the moving point P3 to the target point P2 on the travel line LD.
- the target crossing point P4 may be disposed at a distance of 50 cm from the moving point P3 toward the target point P2 ( S130 ).
- the control unit 110 controls the rotation speeds (outputs) of the first motor 56 and the second motor 57 to control the forward travel direction line Hf ) to the target intersection point P4.
- the controller 110 may drive toward the target intersection P4 while making the forward driving direction line Hf coincide with the target intersection P4 ( S140 ).
- control output for rotating the robot cleaner 1 to converge on the travel line LD in the straight line correction steps S130 and S140 is as follows.
- control output for convergence of the robot cleaner 1 on the traveling line LD is a control output for aligning the robot cleaner 1 with the traveling line LD and a control for returning the robot cleaner 1 close to the traveling line LD. It can contain output.
- the controller 110 aligns the robot cleaner 1 with the travel line LD, based on the midpoint C, the angle difference ⁇ between the forward travel direction line Hf and the target intersection point P4.
- a proportional operation (Ps) proportional to , an integral operation (Is) proportional to the integral value of the angular difference ( ⁇ ), and a differential operation (Ds) proportional to the time-dependent change amount ( ⁇ / ⁇ t) of the angular difference ( ⁇ ) can be printed out.
- the control unit 110 performs a proportional operation Pr proportional to the shortest distance d of the reference line LR based on the midpoint C and the An integral operation Ir proportional to the integral value of the shortest distance d and a differential operation Dr proportional to the time-dependent change amount ⁇ d/ ⁇ t of the shortest distance d may be output.
- the controller 110 may control the rotation speed of the motor far from the target intersection point P4 to be faster than the rotation speed of the motor having a distance from the target intersection point P4 close. Accordingly, the rotation speed of the rotating plate far from the target intersection point P4 may be faster than the rotation speed of the rotation plate having a close distance to the target intersection point P4. And, the relative movement speed with respect to the bottom surface (B) of the mop far from the target intersection point (P4) may be faster than the relative movement speed for the floor surface (B) of the mop having a distance from the target intersection point (P4).
- the controller 110 may rotate the first motor 56 located relatively far from the target intersection point P4 faster than the second motor 57 located close to the target intersection point P4 .
- the first rotating plate 10 can be rotated faster than the second rotating plate 20 .
- the relative movement speed with respect to the bottom surface (B) of the first mop 30 may be faster than the relative movement speed with respect to the bottom surface (B) of the second mop 40 .
- the control unit 110 adjusts the rotation speed of the second rotating plate 20 to that of the first rotating plate 10 . It can be controlled larger than the rotation speed.
- the traveling line LD and the forward traveling direction line Hf may intersect each other at the target intersection P4 (refer to FIG. 12 ).
- the moving point P3 linked to the position movement of the intermediate point C may also be moved toward the target point P2 .
- the target crossing point P4 located at a predetermined distance X from the moving point P3 may also be moved toward the target point P2 (refer to FIG. 13 ).
- the target intersection P4, the robot cleaner 1, and the forward running direction line Hf may gradually converge toward the target point P2 (refer to FIG. 14).
- the driving line LD and the forward driving direction line Hf may be maintained to intersect each other at the target intersection point P4 ( S150 ).
- control unit 110 may maintain the straight travel while repeating the above process until the robot cleaner 1 arrives at the target point P2 ( S160 ).
- the robot cleaner 1 even if the robot cleaner 1 slips and departs from the travel line LD, it can quickly return to the travel line LD and perform straight travel.
- the robot cleaner 1 since the robot cleaner 1 does not change direction abruptly and turns while drawing a natural curve, energy efficiency and lifespan of the robot cleaner 1 can be extended.
Landscapes
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
Description
Claims (20)
- 출발 지점에서 소정 목표 지점까지 직선으로 연결되는 가상의 주행선을 따라 주행하는 로봇 청소기에 있어서,내부에 배터리, 물통 및 모터를 수용하는 공간이 형성된 바디; 및바닥면과 마주하는 걸레가 하측에 결합되고, 상기 바디의 저면에 회전 가능하게 배치되는 한 쌍의 회전판;을 포함하고,상기 바디와 상기 주행선 사이의 최단 거리가 소정 기준 거리 이상인 경우, 상기 한 쌍의 회전판의 회전 속도가 서로 달라지는 것을 특징으로 하는 로봇 청소기.
- 제1항에 있어서,상기 한 쌍의 회전판은,상기 주행선을 기준으로 멀리 위치한 회전판의 회전 속도가 상기 주행선에 가깝게 위치한 회전판의 회전 속도보다 커지는 것을 특징으로 하는 로봇 청소기.
- 제1항에 있어서,상기 한 쌍의 회전판은,상기 바디와 상기 주행선 사이의 최단 거리가 감소하는 경우, 상기 주행선에 가깝게 위치한 회전판의 회전 속도를 증가시키는 것을 특징으로 하는 로봇 청소기.
- 제1항에 있어서,상기 한 쌍의 회전판은,바닥면과 마주하는 제1 걸레가 하측에 결합되고, 상기 바디의 저면에 회전 가능하게 배치되는 제1 회전판; 및바닥면과 마주하는 제2 걸레가 하측에 결합되고, 상기 바디의 저면에 회전 가능하게 배치되는 제2 회전판;을 포함하고,상기 제1 걸레가 상기 주행선을 통과한 후, 상기 제1 회전판의 회전축과 상기 제2 회전판의 회전축의 중간점이 상기 주행선 상에 위치되면, 상기 제1 회전판의 회전 속도가 상기 제2 회전판의 회전 속도보다 커지는 것을 특징으로 하는 로봇 청소기.
- 제1항에 있어서,상기 한 쌍의 회전판의 회전축을 서로 연결하는 가상의 연결선; 및상기 연결선의 중간점에서 상기 연결선과 수직하게 교차하고, 바닥면에 평행하게 연장되는 가상의 주행 방향선;을 더 포함하고,상기 주행 방향선은,상기 연결선을 기준으로 상기 배터리가 배치된 방향을 향하여 바닥면과 평행하게 연장되는 전방 주행 방향선; 및상기 연결선을 기준으로 상기 물통이 배치된 방향을 향하여 바닥면과 평행하게 연장되는 후방 주행 방향선;을 포함하며,상기 바디는,상기 후방 주행 방향선과 상기 주행선이 교차하여 이루는 각도가 소정 기준 각도 이상인 경우, 상기 전방 주행 방향선과 상기 주행선이 교차하도록 회전하는 것을 특징으로 하는 로봇 청소기.
- 제1항에 있어서,상기 한 쌍의 회전판의 회전축을 서로 연결하는 가상의 연결선; 및상기 연결선의 중간점에서 상기 연결선과 수직하게 교차하고, 바닥면에 평행하게 연장되는 가상의 주행 방향선;을 더 포함하고,상기 주행 방향선은,상기 연결선을 기준으로 상기 배터리가 배치된 방향을 향하여 바닥면과 평행하게 연장되는 전방 주행 방향선; 및상기 연결선을 기준으로 상기 물통이 배치된 방향을 향하여 바닥면과 평행하게 연장되는 후방 주행 방향선;을 포함하며,상기 한 쌍의 회전판은,상기 후방 주행 방향선과 상기 주행선이 교차하여 이루는 각도가 소정 기준 각도 이상인 경우, 상기 주행선을 기준으로 멀리 위치한 회전판의 회전 속도가 상기 주행선에 가깝게 위치한 회전판의 회전 속도보다 커지는 것을 특징으로 하는 로봇 청소기.
- 제5항에 있어서,상기 주행선 상에 위치하고, 상기 연결선의 중간점과 최단 거리에 배치되는 가상의 이동점; 및상기 주행선 상에 위치하고, 상기 이동점에서 상기 목표 지점을 향하여 소정 거리를 두고 배치되는 가상의 목표 교차점;을 더 포함하고,상기 목표 교차점은,상기 주행선과 상기 전방 주행 방향선이 교차하는 것을 특징으로 하는 로봇 청소기.
- 제1항에 있어서,상기 한 쌍의 회전판의 회전축을 서로 연결하는 가상의 연결선;상기 연결선의 중간점에서 상기 연결선과 수직하게 교차하고, 바닥면에 평행하게 연장되는 가상의 주행 방향선;상기 주행선 상에 위치하고, 상기 연결선의 중간점과 최단 거리에 배치되는 가상의 이동점; 및상기 주행선 상에 위치하고, 상기 이동점에서 상기 목표 지점을 향하여 소정 거리를 두고 배치되는 가상의 목표 교차점;을 더 포함하고,상기 한 쌍의 회전판은,상기 목표 교차점과 거리가 먼 회전판의 회전 속도가 상기 목표 교차점과의 거리가 가까운 회전판의 회전 속도보다 커지는 것을 특징으로 하는 로봇 청소기.
- 제1항에 있어서,상기 주행선에 멀게 위치한 걸레의 바닥면에 대한 상대 이동 속도가 상기 주행선에 가깝게 위치한 걸레의 바닥면에 대한 상대 이동 속도보다 커지는 것을 특징으로 하는 로봇 청소기.
- 제1항에 있어서,상기 주행선에 멀게 위치한 모터의 출력이 상기 주행선에 가깝게 위치한 모터의 출력보다 커지는 것을 특징으로 하는 로봇 청소기.
- 바닥면과 마주하는 걸레가 하측에 결합되는 한 쌍의 회전판을 포함하고, 상기 한 쌍의 회전판을 회전시켜 주행하는 로봇 청소기의 제어방법에 있어서,출발 지점에서 소정 목표 지점을 직선으로 연결하는 가상의 주행선을 따라 상기 로봇 청소기를 직진 주행시키는 직진 주행 단계; 및상기 로봇 청소기가 상기 주행선에서 벗어난 경우, 상기 주행선에 가까워지도록 상기 로봇 청소기의 바디를 회전시키는 직진 보정 단계;를 포함하는 로봇 청소기의 제어방법.
- 제11항에 있어서,상기 직진 주행 단계에서는,상기 한 쌍의 회전판을 동일한 속도로 회전시키는 것을 특징으로 하는 로봇 청소기의 제어방법.
- 제11항에 있어서,상기 직진 주행 단계에서는,상기 한 쌍의 회전판의 회전 방향은 서로 반대인 것을 특징으로 하는 로봇 청소기의 제어방법.
- 제11항에 있어서,상기 직진 보정 단계는,상기 주행선을 기준으로 멀리 위치한 회전판을 상기 주행선에 가깝게 위치한 회전판보다 빠르게 회전시키는 제1 보정 단계;를 포함하는 로봇 청소기의 제어방법.
- 제14항에 있어서,상기 직진 보정 단계는,상기 제1 보정 단계 후, 상기 주행선을 기준으로 가까이 위치한 회전판의 회전 속도를 증가시키는 제2 보정 단계;를 더 포함하는 로봇 청소기의 제어방법.
- 제11항에 있어서,상기 직진 보정 단계에서는,상기 주행선 상에 상기 로봇 청소기와 최단 거리에 배치되는 가상의 이동점을 생성하고, 상기 이동점에서 상기 목표 지점 방향으로 소정 거리를 두고 목표 교차점을 생성하며, 상기 목표 교차점을 향하여 상기 로봇 청소기를 주행시키는 것을 특징으로 하는 로봇 청소기의 제어방법.
- 제14항에 있어서,상기 제1 보정 단계에서는,상기 주행선과 상기 로봇 청소기의 바디의 최단 거리가 멀어질수록 상기 로봇 청소기의 바디의 회전 각도가 커지는 것을 특징으로 하는 로봇 청소기의 제어방법.
- 제15항에 있어서,상기 제2 보정 단계에서는,상기 주행선과 상기 로봇 청소기의 바디의 최단 거리가 가까워질수록 상기 주행선에 가까이 위치한 회전판의 회전 속도를 증가시키는 것을 특징으로 하는 로봇 청소기의 제어방법.
- 제11항에 있어서,상기 로봇 청소기가 상기 주행선에서 벗어났는지 여부를 판단하는 이탈 판단 단계;를 더 포함하는 로봇 청소기의 제어방법.
- 제19항에 있어서,상기 이탈 판단 단계에서는,상기 주행선과 상기 로봇 청소기의 전단 사이의 최단 거리가 소정 기준 거리 이상인 경우, 상기 주행선에서 벗어났다고 판단하는 것을 특징으로 하는 로봇 청소기의 제어방법.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2021303009A AU2021303009B2 (en) | 2020-07-01 | 2021-06-30 | Robot vacuum and robot vacuum control method |
CN202180046622.6A CN115916020A (zh) | 2020-07-01 | 2021-06-30 | 真空机器人以及真空机器人控制方法 |
US18/014,246 US20230255435A1 (en) | 2020-07-01 | 2021-06-30 | Robot cleaner and method of controlling the same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020200081010A KR20220003339A (ko) | 2020-07-01 | 2020-07-01 | 로봇 청소기 및 로봇 청소기의 제어방법 |
KR10-2020-0081010 | 2020-07-01 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022005189A1 true WO2022005189A1 (ko) | 2022-01-06 |
Family
ID=79316682
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2021/008224 WO2022005189A1 (ko) | 2020-07-01 | 2021-06-30 | 로봇 청소기 및 로봇 청소기의 제어방법 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20230255435A1 (ko) |
KR (1) | KR20220003339A (ko) |
CN (1) | CN115916020A (ko) |
AU (1) | AU2021303009B2 (ko) |
TW (1) | TWI804908B (ko) |
WO (1) | WO2022005189A1 (ko) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005346477A (ja) * | 2004-06-03 | 2005-12-15 | Toshiba Tec Corp | 自律走行体 |
KR20150057959A (ko) * | 2013-11-20 | 2015-05-28 | 삼성전자주식회사 | 청소 로봇 및 그 제어 방법 |
JP2017189481A (ja) * | 2016-04-15 | 2017-10-19 | 日立アプライアンス株式会社 | 自律走行型掃除機 |
KR101970995B1 (ko) * | 2017-02-09 | 2019-04-22 | 에브리봇 주식회사 | 로봇 청소기 및 그의 제어 방법 |
KR102023966B1 (ko) * | 2015-02-10 | 2019-09-23 | 에브리봇 주식회사 | 로봇 청소기 및 그의 제어 방법 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101566207B1 (ko) * | 2011-06-28 | 2015-11-13 | 삼성전자 주식회사 | 로봇 청소기 및 그 제어방법 |
US9504367B2 (en) * | 2013-11-20 | 2016-11-29 | Samsung Electronics Co., Ltd. | Cleaning robot and method for controlling the same |
KR101918228B1 (ko) * | 2016-07-14 | 2019-01-29 | 엘지전자 주식회사 | 이동로봇 및 그 제어방법 |
CN108888187A (zh) * | 2018-05-31 | 2018-11-27 | 四川斐讯信息技术有限公司 | 一种基于深度相机的扫地机器人 |
-
2020
- 2020-07-01 KR KR1020200081010A patent/KR20220003339A/ko unknown
-
2021
- 2021-06-30 WO PCT/KR2021/008224 patent/WO2022005189A1/ko active Application Filing
- 2021-06-30 US US18/014,246 patent/US20230255435A1/en active Pending
- 2021-06-30 TW TW110124173A patent/TWI804908B/zh active
- 2021-06-30 CN CN202180046622.6A patent/CN115916020A/zh active Pending
- 2021-06-30 AU AU2021303009A patent/AU2021303009B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005346477A (ja) * | 2004-06-03 | 2005-12-15 | Toshiba Tec Corp | 自律走行体 |
KR20150057959A (ko) * | 2013-11-20 | 2015-05-28 | 삼성전자주식회사 | 청소 로봇 및 그 제어 방법 |
KR102023966B1 (ko) * | 2015-02-10 | 2019-09-23 | 에브리봇 주식회사 | 로봇 청소기 및 그의 제어 방법 |
JP2017189481A (ja) * | 2016-04-15 | 2017-10-19 | 日立アプライアンス株式会社 | 自律走行型掃除機 |
KR101970995B1 (ko) * | 2017-02-09 | 2019-04-22 | 에브리봇 주식회사 | 로봇 청소기 및 그의 제어 방법 |
Also Published As
Publication number | Publication date |
---|---|
US20230255435A1 (en) | 2023-08-17 |
AU2021303009A1 (en) | 2023-02-02 |
CN115916020A (zh) | 2023-04-04 |
AU2021303009B2 (en) | 2024-05-09 |
TWI804908B (zh) | 2023-06-11 |
TW202203835A (zh) | 2022-02-01 |
KR20220003339A (ko) | 2022-01-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2021060662A1 (ko) | 로봇청소기 및 로봇청소기의 제어방법 | |
WO2017191928A1 (ko) | 청소로봇 및 그 제어 방법 | |
WO2021060661A1 (ko) | 로봇 청소기 | |
WO2018012918A4 (ko) | 청소기 | |
WO2021020930A1 (ko) | 이동 로봇 및 그 제어방법 | |
WO2015060672A1 (ko) | 청소 로봇 | |
WO2017048046A1 (ko) | 청소 로봇 및 그 제어 방법 | |
WO2015084078A1 (en) | Cleaning robot and control method thereof | |
WO2019194634A1 (ko) | 이동 로봇과 이동 로봇 시스템 | |
WO2021054568A1 (ko) | 청소기 | |
WO2019194636A1 (ko) | 이동로봇과 이동로봇의 제어방법 | |
EP3076845A1 (en) | Cleaning robot and control method thereof | |
WO2021215869A1 (ko) | 로봇 청소기 및 로봇 청소기의 제어방법 | |
WO2020122453A1 (ko) | 차량용 디스플레이 장치 | |
WO2022005067A1 (ko) | 로봇 청소기와 이를 구비하는 로봇 청소기 시스템 및 로봇 청소기 시스템의 제어 방법 | |
WO2020141625A1 (ko) | 이동 로봇 | |
WO2019054676A1 (ko) | 이동 로봇 시스템 및 그 제어 방법 | |
WO2012005404A1 (ko) | 자동 청소기 | |
WO2021215871A1 (ko) | 로봇 청소기 및 로봇 청소기의 제어방법 | |
WO2021040160A1 (ko) | 인공지능 로봇청소기 및 그를 포함하는 로봇 시스템 | |
WO2019194631A1 (ko) | 이동로봇과 이동로봇의 제어방법 | |
WO2020080769A1 (ko) | 사용자 단말기, 이를 포함하는 청소 로봇 및 그 제어 방법 | |
WO2021215870A1 (ko) | 로봇 청소기 및 로봇 청소기의 제어방법 | |
WO2022005189A1 (ko) | 로봇 청소기 및 로봇 청소기의 제어방법 | |
WO2022010029A1 (ko) | 로봇 청소기 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21832107 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2021303009 Country of ref document: AU Date of ref document: 20210630 Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 21832107 Country of ref document: EP Kind code of ref document: A1 |