WO2024063291A1

WO2024063291A1 - Robot cleaner system having docking station, and method for controlling robot cleaner

Info

Publication number: WO2024063291A1
Application number: PCT/KR2023/010546
Authority: WO
Inventors: 한진우; 이상규
Original assignee: 엘지전자 주식회사
Priority date: 2022-09-22
Filing date: 2023-07-21
Publication date: 2024-03-28
Also published as: KR20240042269A

Abstract

A robot cleaner, according to an embodiment of the present invention, comprises: a main body; a driving unit for moving the main body; a battery for supplying power to the driving unit; a plurality of sensing units disposed on the front surface from the center of the main body and obtaining information on the environment ahead; a dust container disposed rearward from the center of the main body and collecting suctioned dust; and a control unit which determines the location of a docking station on the basis of detection signals detected by the sensing units, and controls the driving unit to travel backward such that the dust container enters the docking station first. Accordingly, it is possible to place, within a travelling space, a docking station which interoperates with a robot cleaner, charges the robot cleaner, and functions as a dumping tower for collecting and holding dust in a dust container of the robot cleaner. In addition, when forming a dust channel through which the robot cleaner transfers dust in the dust container to a dumping station, the robot cleaner performs rear docking so that the dust channel is formed to have the shortest length and dust collection can be effectively performed.

Description

Robot cleaner system including docking station and control method for robot cleaner

The present invention relates to a mobile robot, specifically a robot cleaner system including a charging station capable of docking with a robot cleaner, and a control method thereof, and more specifically, to a docking station in the case of including a dumping docking station as a docking station usable for a robot cleaner. It's about the method.

The field of robot applications continues to expand, with medical robots, aerospace robots, etc. being developed, and household robots that can be used in general homes are also being created. Among these robots, those that can travel on their own are called mobile robots.

A representative example of a mobile robot used at home is a robot vacuum cleaner.

Various technologies are known for detecting the environment and users around a robot cleaner through various sensors provided in the robot cleaner. Additionally, technologies are known in which a robot cleaner learns and maps the cleaning area on its own and determines the current location on the map. A robot vacuum cleaner that cleans a cleaning area by traveling in a preset manner is known.

In addition, in the prior art, a technology is disclosed in which a user travels in a zone to be cleaned on his own while driving in a zigzag pattern along a wall running on the outskirts of the zone.

Meanwhile, a robot vacuum cleaner requires battery charging to continuously perform autonomous driving. In particular, robot vacuum cleaners with autonomous driving characteristics must also have automatic charging or autonomous charging characteristics.

To this end, Korean Patent No. 10-2018-0079054 first discloses a docking technology that can accurately dock a self-driving robot vacuum cleaner to a docking station.

Charging of the robot vacuum cleaner occurs after the charging terminal of the robot vacuum cleaner and the charging terminal of the docking station come into contact with each other, and this process is called docking.

In Korean Patent No. 10-2018-0108004, in order to accurately dock a self-driving robot vacuum cleaner to a docking station, a technology was proposed to determine the overlap section of docking signals and dock it at the position where the overlap is received.

As such, various technologies are required for precise docking, and if docking is not achieved, a problem arises in which the robot vacuum cleaner's driving and cleaning do not proceed according to schedule.

Various docking stations that have been provided recently function as dumping towers that collect and retain dust from the dust bin of the robot cleaner, and can serve as both a dumping tower and a docking station at the same time.

As docking station technology develops in this way, various docking methods are required, and accordingly, changes are required in the driving of the robot vacuum cleaner.

[Prior art literature]

[Patent Document]

(Patent Document 1) Korean Patent Publication 10-2018-0079054 (Publication Date: July 10, 2018)

(Patent Document 2) Korean Publication Patent 10-2018-0108004 (Publication Date: October 4, 2018)

The first task is to provide a method of docking a robot vacuum cleaner in a space where a docking station functioning as a dumping tower is placed.

The second task is to provide a rotation position search method to perform rotation at an accurate position when the robot cleaner performs rear docking in a space where the dumping station is arranged as a docking station.

The third task is to provide a method of searching for the center position by determining the relative position of the dumping station and the robot cleaner through the docking signal received by the robot cleaner and various sensors of the robot cleaner.

The robot vacuum cleaner of the present invention includes a main body; a driving unit that moves the main body; a battery supplying power to the driving unit; a plurality of sensing units disposed from the center of the main body to the front to obtain information about the front environment; a dust bin disposed rearward from the center of the main body and collecting inhaled dust; and a control unit that determines the location of the docking station from the detection signal detected by the sensing unit and controls the driving unit to travel backward so that the dust bin enters the docking station first.

The sensing unit may include a docking signal detection unit that receives a docking signal from the docking station.

When the docking mode starts, the control unit may drive close to the docking station and perform position correction so that the front of the docking station and the front of the robot cleaner are positioned in a straight line.

The control unit determines whether the current location is located in front of the docking station and the front of the robot cleaner based on the detection signal of the sensing unit, and determines whether the current location is located in front of the docking station and the front of the robot cleaner. When positioned on this straight line, a rotating rotation mode can be performed.

In the rotation mode, the rear of the robot cleaner, where the dust bin is placed, may be rotated to face the front of the docking station.

The rotation mode may rotate 180 degrees from the current position where the front of the docking station and the front of the robot cleaner are located in a straight line.

The docking signal detector may include a right docking detection sensor disposed on the right side of the front of the main body and a left docking detection sensor disposed on the left side of the front of the main body.

The control unit calculates a docking effective value by weighting and summing the detected docking signal values of the right docking detection sensor and the left docking detection sensor, and selects a location where the docking effective value satisfies 0 at the front of the docking station. It can be determined that the front of the robot cleaner is located in a straight line.

The control unit assigns a positive weight to the detected docking signal value of the right docking detection sensor and a negative weight to the detected docking signal value of the left docking detection sensor and adds them to calculate the docking effective value, The position where the sign of the docking effective value is reversed may be determined as the front of the docking station and the front of the robot cleaner being located on a straight line.

The sensing unit further includes an obstacle sensor disposed at the center of the front of the main body to detect the distance of the obstacle in front, wherein the obstacle sensor includes a first light irradiation unit that irradiates an upper laser pattern to the upper part of the front of the main body, the main body It may include a second light irradiation unit that irradiates a lower laser pattern to the lower part of the front body, and a camera that photographs the upper laser pattern or the lower laser pattern in front of the main body and transmits it to the control unit.

The control unit extracts the upper laser pattern or the lower laser pattern from the image obtained from the camera, and when the extracted part meets the critical range, the front of the docking station and the front of the robot vacuum cleaner are located on a straight line. It can be judged that

When the robot cleaner docks backwards with the docking station, it can transfer the dust collected in the dust bin to the docking station while docked.

Meanwhile, the present invention includes the steps of performing cleaning while driving in the driving area from a docking station in the driving area; When the docking mode starts, driving close to the docking station; Performing position correction so that the front of the docking station and the front of the robot cleaner are positioned on a straight line; performing a rotation mode in which the current position rotates when the front of the docking station and the front of the robot cleaner are located in a straight line; and a backward traveling step of performing docking by traveling backward so that the rear of the robot cleaner faces the front of the docking station.

In the position correction step, it may be determined based on a detection signal for the external environment whether the current location is located in a straight line between the front of the docking station and the front of the robot cleaner.

The robot cleaner includes a right docking detection sensor disposed on the right side of the front of the main body, and a left docking detection sensor disposed on the left side of the front of the main body, and the detection of the right docking detection sensor and the left docking detection sensor The docking signal values are weighted and added to calculate a docking effective value, and the position of the rotation mode can be determined according to the docking effective value.

The position where the docking effective value satisfies 0 may be determined to mean that the front of the docking station and the front of the robot cleaner are located on a straight line.

A positive weight is given to the detected docking signal value of the right docking detection sensor, and a negative weight is given to the detected docking signal value of the left docking detection sensor and added to calculate the docking effective value, and the docking effective value is calculated. The position where the sign of the value is reversed may be determined as the front of the docking station and the front of the robot cleaner being located on a straight line.

The robot cleaner includes an obstacle sensor disposed at the center of the front of the main body to detect the distance of an obstacle in front, the obstacle sensor including a first light irradiation unit that irradiates an upper laser pattern to the upper part of the front of the main body, the main body It includes a second light irradiation unit that irradiates a lower laser pattern to the lower part of the front body, and a camera that photographs the upper laser pattern or the lower laser pattern in front of the main body and transmits the image to the control unit. The upper laser pattern or the lower laser pattern is extracted, and if the extracted portion satisfies the critical range, it can be determined that the front of the docking station and the front of the robot cleaner are located on a straight line.

When the robot cleaner is docked with the docking station to the rear after traveling backwards, the method may further include transferring dust collected in the dust bin of the robot cleaner to the docking station in a docked state.

Through the above solution, it is possible to place a docking station that works in conjunction with the robot cleaner in the driving space and functions as a dumping tower that charges the robot cleaner and collects and retains dust in the dust bin of the robot cleaner.

When a dust path is formed in the space where the dumping station is arranged as a docking station through which the robot cleaner transfers dust from the dust bin to the dumping station, the robot cleaner performs rear docking to form the dust path at the shortest distance to effectively collect dust. It can be done.

In addition, for rear docking, docking efficiency can be improved by performing a rotation at a point where the relative positions of the dumping station and the robot cleaner are exactly aligned on a straight line.

In addition, the rotational position with respect to the dumping station can be detected through the docking signal detection unit or distance detection unit without any additional sensors, making it effective in cost and space utilization.

Figure 1 is a perspective view showing a robot cleaner system including a robot cleaner and a docking station for charging the robot cleaner according to an embodiment of the present invention.

FIG. 2 is an elevation view of the robot cleaner of one embodiment of FIG. 1 viewed from above.

FIG. 3 is an elevation view of the robot cleaner of one embodiment of FIG. 1 viewed from the front.

FIG. 4 is an elevation view of the robot cleaner of one embodiment of FIG. 1 viewed from the bottom.

FIG. 5 is a perspective view of a robot cleaner according to another embodiment of FIG. 1.

FIG. 6 is a block diagram showing the control relationship between the main components of the robot cleaner of FIGS. 1 and 6.

Figure 7 is a perspective view of the docking station of the robot vacuum cleaner system of Figure 1;

FIG. 8 is a detailed internal view showing dust movement when the docking station of FIG. 7 is combined with the robot cleaner.

Figure 9 is a block diagram showing the control relationship of the docking station according to an embodiment of the present invention.

Figure 10a shows the signal range of a plurality of docking signals sent from the docking station.

Figure 10b shows the left docking signal range in Figure 10a.

FIG. 10C shows the center docking signal range in FIG. 10A.

FIG. 10D shows the right docking signal range in FIG. 10A.

Figure 11a shows the digital value of the docking signal of the docking station.

Figure 11b shows the analog value of each docking signal output element of the docking station.

FIG. 12 is a flowchart showing a docking method for the robot cleaner of FIG. 1.

FIG. 13 is a flowchart showing the preparatory operation steps of the robot cleaner in FIG. 12.

Figure 14 is a schematic diagram showing the robot cleaner entering the signal range of the docking station.

Figure 15a is a schematic diagram showing a case where the front of the robot cleaner and the front of the dumping station do not match.

Figure 15b is a schematic diagram showing a case where the front of the robot cleaner and the front of the dumping station coincide.

Figure 16a is a schematic diagram showing a case where a robot cleaner searches for the location of the front center of the dumping station.

Figure 16b is a schematic diagram showing a case where the robot cleaner is located in the front center of the dumping station.

FIG. 17 is a flowchart showing the preparation operation steps of the robot cleaner of FIG. 12 according to another embodiment of the present invention.

FIG. 18 is a configuration diagram showing detection of a dumping station by the 3D sensor of the robot cleaner of FIG. 5.

Figures 19a and 19b show images detected from the 3D sensor of the robot vacuum cleaner.

FIG. 20A shows the laser image formed on the dumping station by laser irradiation from the robot cleaner in FIG. 18.

Figure 20b shows extracting a region of interest from the image of Figure 19.

FIG. 20C shows one-dimensional transformation values from the region of interest in FIG. 20B.

FIG. 21 is a flowchart showing the preparation operation steps of the robot cleaner of FIG. 12 according to another embodiment of the present invention.

FIG. 22A shows the laser image formed on the support plate of the dumping station by laser irradiation from the robot cleaner in FIG. 7.

Figure 22b shows extracting a region of interest from the image of Figure 19.

FIG. 22C shows one-dimensional transformation values from the region of interest in FIG. 22B.

FIG. 22D shows the final region of interest extracted from the one-dimensional transformation value of FIG. 22C.

In the magnitude comparison expressed verbally/mathematically throughout this description, 'less than or equal to (less than)' and 'less than' are easily interchangeable from the point of view of an ordinary technician, and 'greater than or equal to' From the point of view of a person skilled in the art, '(more than)' and 'greater than (greater than)' are degrees that can be easily substituted for each other, and of course, even if they are substituted in implementing the present invention, there is no problem in achieving the effect.

The mobile robot of the present invention refers to a robot that can move on its own using wheels, etc., and can be a robot vacuum cleaner, etc.

Hereinafter, with reference to FIGS. 1 to 6, a robot vacuum cleaner among mobile robots will be described as an example, but the present invention is not limited thereto.

FIG. 1 is a perspective view showing a robot cleaner system including a robot cleaner and a docking station for charging the robot cleaner according to an embodiment of the present invention, and FIG. 2 is an elevation view of the robot cleaner of the embodiment of FIG. 1 viewed from above. , FIG. 3 is an elevation view of the robot cleaner of one embodiment of FIG. 1 viewed from the front, FIG. 4 is an elevation view of the robot cleaner of one embodiment of FIG. 1 viewed from the bottom, and FIG. 5 is a perspective view of the robot cleaner of another embodiment of FIG. 1. , and FIG. 6 is a block diagram showing the control relationship between the main components of the robot cleaner of FIGS. 1 and 6.

The mobile robot system according to an embodiment of the present invention includes at least one robot cleaner 100 and a dumping station 200. That is, the dumping station 200 may be placed in an area divided into one driving area.

The robot cleaner 100 may be a dry cleaning robot cleaner 100 that performs vacuum cleaning as shown in FIG. 1 .

In addition, the robot vacuum cleaner 100 may include something other than a vacuum cleaner, and may be a home robot, an entertaining robot, a guide robot, or a home helper robot that provides services while freely traveling in the relevant driving area.

Such a robot vacuum cleaner 100 commonly provides assigned services while driving in the corresponding driving area, and when the power charged in the battery is discharged, it docks with the charging station 200 arranged in the driving area to charge the battery. Charging can be performed.

This charging station 200 may be a dumping station 200 that communicates with the dust bin of the robot cleaner and can store dust in the dust bin, or it may be a multi-station that can be combined with two or more cleaners simultaneously.

In the case of a multi-station, two vacuum cleaners can be simultaneously connected to the docking station 200. At this time, the cleaner may include a first cleaner and a second cleaner 100.

A first cleaner may be coupled to the side of the multi-station. Specifically, the first cleaner is a stick cleaner and may include a main body, and the main body may be coupled to the side of the multi-station. A robot cleaner 100, which is a second cleaner, may be docked at the bottom of the multi-station. At this time, the cleaning operation of the stick vacuum cleaner is performed manually by the user. This multi-station can remove dust from the dust bin of the stick vacuum cleaner and the robot vacuum cleaner 100.

Meanwhile, the dumping station 200 is a docking station for a robot cleaner, includes a docking module at the bottom, and includes a collection unit that communicates with the dust bin of the robot cleaner 100 to absorb and receive dust in the dust bin. This dumping station 200 includes a dust collection unit applied to a multi-station, and can be distributed and sold simultaneously with the robot cleaner 100 or separately/additionally.

In this way, a mobile robot system is presented that includes a robot cleaner 100 and a docking station 200, and a dumping station 200 that functions as a dumping tower for simultaneous charging and dust collection.

The front direction (F1) of the robot vacuum cleaner 100, the front, is the direction in which the virtual line extending from the center of the vacuum cleaner to the 3D sensor 135 on the front is defined as the direction in which the image capture unit travels to approach the object to be photographed. And each direction of the robot cleaner 100 is defined based on this. In addition, the front direction (F2) of the dumping station 200 is the direction that the front part of the robot cleaner 100 faces, and is the direction opposite to the approach direction of the robot cleaner 100 when docking with the robot cleaner 100 is performed. It is defined as (F2), and each direction of the dumping station 200 is defined based on this. The definitions of each direction, including the directions F1 and F2, are intended to explain the present invention so that it can be clearly understood, and of course, each direction may be defined differently depending on where the reference is set.

Specifically, the robot cleaner 100A of the first applicable embodiment includes a main body 110, as shown in FIGS. 2 to 4. Hereinafter, in defining each part of the main body 110, the part facing the ceiling in the travel area is defined as the upper surface part (see Figure 2), and the part facing the floor in the driving area is defined as the bottom part (see Figure 4). And, of the portion forming the circumference of the main body 110 between the upper and lower surfaces, the portion facing the traveling direction is defined as the front portion (see FIG. 3). Additionally, the portion facing the opposite direction from the front portion of the main body 110 may be defined as the rear portion.

The main body 110 may include a case 111 that forms a space in which various parts constituting the robot cleaner 100A are accommodated. A buffer portion 113 is formed surrounding the front portion forming the circumference of the main body 110. The buffer unit 113 surrounds the entire main body 110 and may be formed entirely except for the rear portion in contact with the docking station 200. Accordingly, there may be a step on the side bordering the front and rear portions of the case 111.

The main body 110 is equipped with a rechargeable battery (not shown), and the power terminal (not shown) of the battery is docked in the docking station 200 connected to a commercial power supply, so that the power terminal is connected to the charging terminal of the docking station 200. The battery can be charged by being electrically connected through contact with (221).

The robot vacuum cleaner 100A includes a sensing unit 130 that senses the surrounding situation. The sensing unit 130 can sense information from outside the robot cleaner 100A. The sensing unit 130 detects users around the robot cleaner (100A). The sensing unit 130 can detect objects around the robot cleaner (100A).

The sensing unit 130 can sense information about the cleaning area. The sensing unit 130 can detect obstacles such as walls, furniture, and cliffs on the driving surface. The sensing unit 130 can sense information about the ceiling. The sensing unit 130 may sense an object placed on the driving surface and/or an external upper object. The external upper object may include the ceiling or the lower side of furniture disposed above the robot cleaner 100A. Through the information sensed by the sensing unit 130, the robot cleaner 100A can map the cleaning area.

The sensing unit 130 can sense information about users around the robot cleaner 100A. The sensing unit 130 can detect the user's location information. The location information may include direction information about the robot cleaner 100A. The location information may include distance information between the robot cleaner 100A and the user. The sensing unit 130 can detect the user's direction toward the robot cleaner (100A). The sensing unit 130 can sense the distance between the user and the robot cleaner (100A).

The location information may be obtained directly through detection by the sensing unit 130, or may be obtained through processing by the control unit 140.

The sensing unit 130 detects information about the dumping station 200. The sensing unit 130 can detect location information of the dumping station 200.

The sensing unit 130 may detect location information of a specific point(s) at the front of the dumping station 200. Here, the location information of the specific point may include relative position information of the specific point with respect to the robot cleaner 100, and/or coordinate information in the image corresponding to the specific point. Here, the relative position information of the specific point with respect to the robot cleaner 100 may be three-dimensional coordinate information or two-dimensional coordinate information on a plane parallel to the traveling surface.

The location information of the specific point may be obtained directly through detection by the sensing unit 130, or may be obtained through processing by the control unit 140 or the server. For example, coordinate information of the specific point may be obtained directly through the 3D sensor 135, or the controller may obtain the coordinate information by converting information detected through an ultrasonic sensor.

The sensing unit 130 includes a distance detection unit 131, a cliff detection unit 132, an external signal detection unit (not shown), an impact detection unit (not shown), an upward image sensor 133, and a downward image sensor 134. ), a 3D sensor 135, and a docking detection unit.

The sensing unit 130 may include a distance sensing unit 131 that detects the distance to a surrounding object. The distance sensing unit 131 may be placed on the front part of the main body 110 or on the side part. The distance detection unit 131 can detect surrounding obstacles. A plurality of distance detection units 131 may be provided.

For example, the distance detection unit 131 may be an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, etc., including a light emitting unit and a light receiving unit. The distance detection unit 131 may be implemented using ultrasonic waves or infrared rays. The distance detection unit 131 may be implemented using a camera. The distance detection unit 131 may be implemented with two or more types of sensors.

As an example, the distance information may be obtained through detection by the distance detection unit 131. The robot cleaner 100 may obtain distance information between the robot cleaner 100 and the dumping station 200 through reflection of infrared rays or ultrasonic waves.

As another example, the distance information may be measured as the distance between any two points on the map. The robot cleaner 100 can recognize the location of the dumping station 200 and the position of the robot cleaner 100 on the map, and uses the coordinate difference on the map to determine the location between the dumping station 200 and the robot cleaner 100. Distance information can be obtained.

Such a distance detection unit 131 may be placed on the left and right sides of the front, and can determine the distance to the object by combining the received signals of the left distance detection unit 131L and the right distance detection unit 131R. there is.

The sensing unit 130 may include a cliff detection unit 132 that detects obstacles on the floor within the driving area. The cliff detection unit 132 can detect whether a cliff exists on the floor.

The cliff detection unit 132 may be disposed on the bottom of the robot cleaner 100. A plurality of cliff detection units 132 may be provided. A cliff detection unit 132 disposed in front of the bottom of the robot cleaner 100A may be provided. A cliff detection unit 132 disposed at the rear of the bottom of the robot cleaner 100A may be provided.

The cliff detection unit 132 may be an infrared sensor, an ultrasonic sensor, an RF sensor, a Position Sensitive Detector (PSD) sensor, etc., including a light emitting unit and a light receiving unit. For example, a cliff detection sensor may be a PSD sensor, but may also be comprised of a plurality of different types of sensors. The PSD sensor includes a light emitting unit that emits infrared rays toward an obstacle and a light receiving unit that receives infrared rays reflected from the obstacle.

The cliff detection unit 132 can detect the presence or absence of a cliff and the depth of the cliff.

The sensing unit 130 may include the shock detection unit that detects an impact caused by the robot cleaner 100A coming in contact with an external object.

The sensing unit 130 may include the external signal detection unit that detects a signal sent from the outside of the robot cleaner 100A. The external signal detection unit includes an infrared sensor (Infrared Ray Sensor) that detects an infrared signal from the outside, an ultrasonic sensor (Ultra Sonic Sensor) that detects an ultrasonic signal from the outside, and an RF sensor (Radio) that detects an RF signal from the outside. Frequency Sensor) may be included.

The robot cleaner 100 may receive a guidance signal generated by the dumping station 200 using an external signal detector. The external signal detection unit detects the guidance signal (e.g., infrared signal, ultrasonic signal, RF signal) of the dumping station 200, and generates information about the relative positions of the robot cleaner 100 and the dumping station 200. It can be. The dumping station 200 may transmit a guidance signal indicating the direction and distance of the dumping station 200. The robot cleaner 100 may receive a signal transmitted from the dumping station 200 and move to attempt to dock with the dumping station 200.

The external signal detection unit is not provided separately, but is functionally integrated with the distance detection unit 135, enabling various detections from one sensor.

That is, when the left distance detection unit 135L and the right distance detection unit 135R are each equipped with an infrared sensor, when a docking signal is emitted as an infrared signal as an external signal, it is received to determine the distance to the docking station 200. This infrared sensor can determine the distance to the obstacle in front by irradiating infrared rays to the obstacle in front and receiving/reading it.

The sensing unit 130 may include

image sensing units

133, 134, and 135b that detect images outside the robot cleaner 100A.

The

image detection units

133, 134, and 135b may include digital cameras. The digital camera is an image sensor (e.g., CMOS image sensor) that includes at least one optical lens and a plurality of photodiodes (e.g., pixels) that form an image by light passing through the optical lens. It may include a digital signal processor (DSP) that configures an image based on signals output from the photodiodes. The digital signal processor is capable of generating not only still images but also moving images composed of frames composed of still images.

The

image detection units

133, 134, and 135b may include a 3D camera 135b that detects an image in front of the robot cleaner 100. The 3D camera 135b can detect images of surrounding objects, such as obstacles or the dumping station 200, or reflected infrared light radiated forward.

The

image detection units

133, 134, and 135b may include an upward image sensor 133 that detects an image in the upward direction of the robot cleaner 100. The upper image sensor 133 can detect images of the ceiling or the lower side of furniture placed above the robot cleaner 100.

The

image detection units

133, 134, and 135b may include a downward image sensor 134 that detects an image in a downward direction of the robot cleaner 100. The downward image sensor 134 can detect an image of the floor.

In addition, the

image detection units

133, 134, and 135b may include sensors that detect images from the side or rear.

The sensing unit 130 may include a 3D sensor 135 that detects location information of the external environment.

In this embodiment, the 3D sensor 135 includes a light irradiation unit 135a that radiates predetermined light. The light irradiation units 135a1 and 2 irradiate the light toward the front of the main body 110. The light emitted by the light irradiation units 135a1 and 2 may include IR (Infra-Red).

In this embodiment, the 3D sensor 135 includes a 3D camera 135b (3D Depth Camera) 135b that detects the light of the light irradiation units 135a1 and 2 reflected by an external object. The 3D camera 135b detects the light reflected at the specific point of the dumping station 200. The 3D camera 135b can detect images or reflected light in front of the main body 110.

In this embodiment, specific location information of the front part of the dumping station 200 can be detected using the light irradiation units 135a1 and 2 and the 3D camera 135b.

Referring to FIGS. 1 to 4 , the 3D camera 135b of the 3D sensor 135 according to the first embodiment may be a camera capable of obtaining an image by photographing the front.

In the first embodiment, the light irradiation units 135a1 and 2 may be provided to irradiate a laser pattern. In this case, the 3D camera 135b can detect the distance between the 3D sensor 135 and the object to be photographed by capturing the shape of the laser pattern projected onto the object to be photographed.

The light irradiation units 135a1 and 2 of the 3D sensor 135 include an upper light irradiation unit 135a1 that irradiates light of a first pattern to the front of the main body 110 and a second pattern of light to the front of the main body 110. It may include a lower light irradiation unit 135a2 that irradiates light. The 3D camera 135b can acquire images of the area where the light of the first pattern and the light of the second pattern are incident. For example, the light of the first pattern and the light of the second pattern may be irradiated in the form of horizontal straight lines spaced apart up and down.

At least one pattern light irradiation unit 135a1 may radiate pattern light having a horizontal straight line forward. When the pattern light of the light irradiation unit 135a1 is reflected in a straight line area horizontally crossing the specific point of the dumping station 200, the 3D camera 135b detects this reflected light and provides information about the dumping station 200. Location information can be detected.

At this time, the 3D camera 135b of the 3D sensor 135 may be an RGB-Depth camera that detects an image of an external object and acquires coordinate information of a point in the external environment.

The sensing unit 130 may include a docking detection unit (not shown) that detects whether the robot cleaner 100A has successfully docked with the dumping station 200. The docking detector may be implemented to detect by contact between the corresponding terminal 190 and the charging terminal 210, or may be implemented as a detection sensor disposed separately from the corresponding terminal 190, while charging the battery 177. It can also be implemented by detecting states. A docking success state and a docking failure state can be detected by the docking detection unit.

The robot cleaner 100A includes a traveling unit 160 that moves the main body 110. The traveling unit 160 moves the main body 110 with respect to the floor. The traveling unit 160 may include at least one driving wheel 166 that moves the main body 110. The traveling unit 160 may include a driving motor. The driving wheels 166 may be provided on the left and right sides of the main body 110, respectively, and are hereinafter referred to as left wheels 166(L) and right wheels 166(R), respectively.

The left wheel 166(L) and the right wheel 166(R) may be driven by a single drive motor, but if necessary, the left wheel drive motor and the right wheel 166(R) drive the left wheel 166(L). ) may each be provided with a right-wheel drive motor that drives the motor. The driving direction of the main body 110 can be switched to the left or right by making a difference in the rotation speed of the left wheel 166(L) and the right wheel 166(R).

The robot cleaner 100A includes a working unit 180 that performs a cleaning function.

The robot cleaner 100A can clean the floor by moving the cleaning area and using the work unit 180. The working unit 180 includes a suction device for sucking in foreign substances, a brush 185 for mopping, a dust bin (not shown) for storing foreign substances collected by the suction device or brush, and/or a mopping unit for mopping (not shown). Poetry), etc. may be included.

An intake port 180h through which air is sucked may be formed at the bottom of the main body 110. Inside the main body 110, there is a suction device (not shown) that provides suction force so that air can be sucked in through the inlet (180h), and a dust bin (not shown) that collects dust sucked along with the air through the inlet (180h). This can be provided.

An opening for inserting and removing the dust bin may be formed in the case 111, and a dust bin cover 112 that opens and closes the opening may be rotatable with respect to the case 111.

A roll-shaped main brush 184 having brushes exposed through the suction port 180h, and an auxiliary brush 185 located on the front side of the bottom of the main body 110 and having a brush composed of a plurality of radially extending wings. may be provided. Dust is removed from the floor in the driving area by the rotation of these

brushes

184 and 185, and the dust separated from the floor is sucked in through the suction port 180h and collected in the dust bin.

Meanwhile, the mobile robot system of the present invention may include a robot cleaner 100B of another embodiment as shown in FIG. 5 as a mobile robot 100B in the travel area.

The robot vacuum cleaner 100B according to another embodiment of the present invention moves within an area and removes foreign substances from the floor while traveling.

The robot cleaner 100B includes a cleaner main body 110, a suction unit 180, a sensing unit 130 (131a, 131b, 135), and a dust bin 120.

The cleaner main body 110 is provided with a control unit (not shown) for controlling the robot cleaner 100B and a wheel unit for driving the robot cleaner 100B. The robot cleaner 100B can be moved forward, left, right, or rotated by the wheel unit.

The wheel unit includes a main wheel and a sub wheel.

The main wheels are provided on both sides of the cleaner main body 110 and can rotate in one direction or the other according to a control signal from the controller. Each main wheel may be configured to be driven independently from each other. For example, each main wheel may be driven by a different motor. The sub wheel supports the vacuum cleaner body 110 together with the main wheel and assists the running of the robot cleaner 100B by the main wheel.

As the control unit controls the driving of the wheel unit, the robot cleaner 100B is configured to autonomously travel on the floor.

Meanwhile, a battery (not shown) that supplies power to the robot cleaner 100B is mounted on the cleaner main body 110. The battery is configured to be rechargeable and may be configured to be detachable from the bottom of the cleaner main body 110.

The suction unit 180 is disposed to protrude from one side of the cleaner main body 110 and is configured to suck air containing dust. The one side may be the side on which the cleaner main body 110 travels in the forward direction (F1), that is, the front of the cleaner main body 110.

In this drawing, the suction unit 180 protrudes from one side of the cleaner main body 110 to the front and both left and right sides.

The front end of the suction unit 180 is disposed at a position spaced forward from one side of the cleaner main body 110, and both left and right ends of the suction unit 180 are positioned spaced apart from one side of the cleaner main body 110 to the left and right sides, respectively. It is placed.

As the cleaner main body 110 is formed in a circular shape, and both rear ends of the suction unit 180 protrude from the left and right sides respectively from the cleaner main body 110, an empty space is formed between the cleaner main body 110 and the suction unit 180. A space, or gap, may be formed.

The empty space is a space between the left and right ends of the vacuum cleaner body 110 and the left and right ends of the suction unit 180, and is recessed into the inside of the robot cleaner (100B).

If an obstacle is caught in the empty space, a problem may occur where the robot cleaner 100B is caught in the obstacle and cannot move. To prevent this, a cover member may be arranged to cover at least part of the empty space. The cover member may be provided on the cleaner main body 110 or the suction unit 180. As an example, cover members are protruded on both sides of the rear end of the suction unit 180 and are arranged to cover the outer peripheral surface of the cleaner main body 110.

The cover member protruding from the suction unit 180 may be supported on the outer peripheral surface of the cleaner main body 110.

The suction unit 180 may be detachably coupled to the cleaner main body 110. When the suction unit 180 is separated from the cleaner main body 110, a mop module (not shown) may be detachably coupled to the cleaner main body 110 in place of the separated suction unit 180. Accordingly, when the user wants to remove dust from the floor, the user can mount the suction unit 180 on the cleaner body 110, and when the user wants to wipe the floor, the user can mount the mop module on the cleaner body 110.

Sensing

units

131 and 135 are disposed in the cleaner main body 110. As shown, the

sensing units

131 and 135 may be disposed on one side of the vacuum cleaner body 110 where the suction unit 180 is located, that is, in the front of the vacuum cleaner body 110.

The

sensing units

131 and 135 may be arranged to overlap the suction unit 180 in the vertical direction of the cleaner main body 110. The

sensing units

131 and 135 are disposed on the upper part of the suction unit 180 to detect obstacles or terrain in front to prevent the suction unit 180, located at the front of the robot cleaner 100B, from colliding with the obstacle. It comes true.

The sensing unit can be implemented in the same way as the sensing unit in FIG. 1.

The cleaner main body 110 is provided with a dust container accommodating part, and a dust container 120, which separates and collects dust in the sucked air, is detachably coupled to the dust container accommodating part. As shown, the dust bin accommodating part may be formed on the other side of the cleaner main body 110, that is, at the rear of the cleaner main body 110.

A part of the dust bin 120 may be accommodated in the dust bin accommodating part, and the other part of the dust bin 120 may be formed to protrude toward the rear of the cleaner main body 110 (i.e., in the reverse direction opposite to the forward direction F1).

The dust bin 120 has an inlet through which air containing dust flows in and an outlet through which dust-separated air is discharged. When the dust bin 120 is mounted on the dust bin accommodating part, the inlet and outlet are formed on the inner wall of the dust bin accommodating part. It is configured to communicate with the first opening and the second opening, respectively.

The intake flow path inside the cleaner main body 110 corresponds to the flow path from the inlet (not shown) to the first opening, and the exhaust flow path corresponds to the flow path from the second opening to the exhaust port.

According to this connection relationship, air containing dust introduced through the suction unit 180 passes through the intake passage inside the cleaner main body 110, flows into the dust bin 120, and passes through the filter or cyclone of the dust bin 120. As the process progresses, air and dust are separated from each other. Dust is collected in the dust bin 120, and the air is discharged from the dust bin 120, passes through the exhaust passage inside the cleaner main body 110, and finally passes through the exhaust port to the outside, preferably to the dust collection part of the docking station 200. is discharged.

Referring to FIG. 6, robot cleaners 100A and 100B have the same control relationship.

The robot cleaners 100A and 100B may include a driving detection module 150 that detects the actions of the robot cleaners 100A and 100B. The driving detection module 150 can detect the actions of the robot cleaners 100A and 100B by the driving unit 160.

The travel detection module 150 may include an encoder (not shown) that detects the moving distance of the robot cleaners 100A and 100B. The driving detection module 150 may include an acceleration sensor (not shown) that detects the acceleration of the robot cleaners 100A and 100B. The travel detection module 150 may include a gyro sensor (not shown) that detects the rotation of the robot cleaner 100.

Through detection by the travel detection module 150, the control unit 140 can obtain information about the movement paths of the robot cleaners 100A and 100B. For example, based on the rotational speed of the driving wheel 166 detected by the encoder, information about the current or past moving speed and travel distance of the robot cleaners 100A and 100B can be obtained. For example, information about the current or past direction change process can be obtained depending on the rotation direction of each driving wheel 166(L) and 166(R).

The robot cleaners 100A and 100B may include an input unit 171 for inputting information. The input unit 171 can receive On/Off or various commands. The input unit 171 may include buttons, keys, or a touch-type display. The input unit 171 may include a microphone for voice recognition.

The robot cleaners 100A and 100B may include an output unit 173 that outputs information. The output unit 173 can inform the user of various information. The output unit 173 may include a speaker and/or a display.

The robot cleaners 100A and 100B may include a communication unit 175 that transmits and receives information with other external devices. The communication unit 175 may be connected to a terminal device and/or other devices located within a specific area using one of wired, wireless, and satellite communication methods to transmit and receive data.

The communication unit 175 may be equipped to communicate with other devices such as terminals, wireless routers, and/or servers. The communication unit 175 can receive various command signals from external devices such as terminals. The communication unit 175 can transmit information to be output to an external device such as a terminal. The terminal can output information received from the communication unit 175.

For example, the communication unit 175 may be implemented to communicate wirelessly using wireless communication technologies such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Blue-Tooth, etc. The communication unit 175 may vary depending on the communication method of another device or server with which it wishes to communicate.

The robot cleaners 100A and 100B include a battery 177 to supply driving power to each component. The battery 177 supplies power for the robot vacuum cleaners 100A and 100B to perform actions according to the selected action information. The battery 177 is mounted on the main body 110. The battery 177 may be removably provided in the main body 110.

The battery 177 is provided to be rechargeable. The robot cleaners 100A and 100B are docked at the dumping station 200 and the battery 177 can be charged through connection between the charging terminal 210 and the corresponding terminal 190. When the charge amount of the battery 177 falls below a predetermined value, the robot cleaner 100 may enter docking mode for charging. In the docking mode, the robot cleaners (100A, 100B) return to the dumping station (200), and during the return trip of the robot cleaners (100A, 100B), the robot cleaners (100A, 100B) return to the dumping station (200). The location can be detected.

The robot cleaners 100A and 100B include a storage unit 179 that stores various types of information. The storage unit 179 may include volatile or non-volatile recording media.

An algorithm for controlling the rotation and/or movement of the robot cleaners 100A and 100B may be stored in the storage unit 179.

A map of the driving area may be stored in the storage unit 179. The map may be input by an external terminal capable of exchanging information with the robot cleaner 100 and the communication unit 175, or may be generated by the robot cleaners 100A and 100B through self-learning. In the former case, examples of external terminals include remote controls, PDAs, laptops, smart phones, and tablets equipped with an application for map settings.

The control unit 140 can recognize the positions of the robot vacuum cleaners 100A and 100B on the map based on the measured traveling displacement.

The control unit 140 of the robot cleaners 100A and 100B processes and determines various information, such as mapping and/or recognizing the current location. The control unit 140 may be equipped to map the cleaning area through the image and learning and recognize the current location on the map. That is, the control unit 140 can perform a SLAM (Simultaneous Localization and Mapping) function.

The control unit 140 may control the driving of the traveling unit 160. The control unit 140 may control the operation of the work unit 180.

The cleaning area in reality may correspond to the cleaning area on the map. The cleaning area may be defined as the sum of all areas on the plane in which the robot cleaners 100A and 100B have driving experience and areas on the plane in which the robot cleaners 100A and 100B are currently traveling.

The control unit 140 may determine the movement path of the robot cleaners 100A and 100B based on the operation of the traveling unit 160. For example, the control unit 140 can determine the current or past moving speed and travel distance of the robot vacuum cleaners 100A and 100B based on the rotation speed of the driving wheels 166, and each driving wheel 166 ( Depending on the rotation direction of L), 166(R)), the current or past direction change process can also be identified. Based on the driving information of the robot cleaners 100A and 100B determined in this way, the positions of the robot cleaners 100A and 100B on the map may be updated. Additionally, the positions of the robot cleaners 100A and 100B on the map may be updated using the image information.

Specifically, the control unit 140 controls the driving of the robot cleaners 100A and 100B and controls the driving of the traveling unit 160 according to the set driving mode. As a driving mode of the driving unit 160, zigzag mode, edge mode, spiral mode, or combined mode can be selectively set.

The zigzag mode is defined as a mode that cleans while driving in a zigzag manner while being spaced a predetermined distance away from a wall or obstacle. Edge mode is defined as a mode that sticks to a wall and cleans while traveling in a zigzag motion. Spiral mode is defined as a mode of cleaning in a spiral manner within a certain area centered on one location in the atmosphere.

Meanwhile, the control unit 140 creates a map of the cleaning area. That is, the control unit 140 can form a map of the cleaning area using the locations recognized through prior cleaning and images acquired at each point. The control unit 140 matches the image acquired at each point with each node on the map. Acquired images can correspond one-to-one to nodes.

The control unit 140 can recognize the location of obstacles and the current position of the robot vacuum cleaners 100A and 100B using at least one of the distance detection unit 131 and the 3D sensor 135 in the sensing unit 130. And the location can be recognized on the map.

The control unit 140 detects the remaining power of the battery 177, and when the remaining power is insufficient, controls it to move to the dumping station 200 connected to an external commercial power source, and receives charging current from the docking station 200 to charge the battery ( 177) can be charged.

Meanwhile, the robot cleaner 100A according to one embodiment of FIG. 2 and the robot cleaner 100B according to another embodiment of FIG. 5 dock the

distance detection units

131R and 131L of the sensor unit 130, as mentioned above. By applying the

signal detection units

131R and 131L, the docking signal generated by the dumping station 200 can be received to confirm the type, location, and direction of the dumping station 200.

The docking

signal detection units

131R and 131L are an infrared sensor that detects an infrared signal from the outside, an ultrasonic sensor that detects an ultrasonic signal from the outside, and an RF signal from the outside. It may include at least one of the RF sensors (Radio Frequency Sensor) and can be installed depending on the type of docking signal of the docking station 200.

For example, when the docking signal of the docking station 200 of FIG. 1 is an infrared signal, it may include an infrared sensor, and the docking

signal detection units

131R and 131L, which are infrared sensors, include the right docking signal detection unit 131R and Each may include a left docking signal detection unit 131L.

The right docking signal detector 131R is located on the right side of the 3D sensor 135 and reads the docking signal received from the right side in the forward direction F1 of the robot cleaners 100A and 100B.

Meanwhile, the left docking signal detector 131L is located on the left side of the 3D sensor 135 and reads the docking signal received from the left side in the forward direction F1 of the robot cleaners 100A and 100B.

The robot cleaners 100A and 100B may receive a docking guidance signal generated by the docking station 200 using the

docking signal detectors

131R and 131L. The

docking signal detectors

131R and 131L detect the docking guide signal (docking signal) (e.g., infrared signal, ultrasonic signal, RF signal) of the dumping station 200, and the robot cleaners 100A and 100B Information about the relative position of the docking station 200 may be generated. The docking station 200 may transmit a docking guide signal indicating the direction and distance of the docking station 200 as a docking signal. The robot cleaners 100A and 100B may receive a signal transmitted from the docking station 200 and move to attempt docking with the docking station 200.

The mobile robot system in FIG. 1 is a docking station 200 that can be placed in one travel area, and shows a multi-station or dumping station 200.

The dumping station 200 may have the same structure as Figures 7 to 9.

Figure 7 is a perspective view of the docking station of the robot cleaner system of Figure 1, Figure 8 is an internal detailed view showing dust movement when the docking station of Figure 7 and the robot cleaner are combined, and Figure 9 is an embodiment of the present invention. This is a block diagram showing the control relationship of the docking station.

The dumping station 200 is combined with the robot cleaner (100A, 100B) to charge the robot cleaner (100A, 100B), suck dust collected in the dust bin of the robot cleaner (100A, 100B), or clean the vacuum cleaner (100A, 100B). 100A, 100B) are stored safely.

This dumping station 200 can be distributed and sold together with the robot cleaners (100A, 100B), and can be distributed and sold separately by being programmed to be compatible with the robot cleaners (100A, 100B). Accordingly, the user can additionally purchase a compatible dumping station 200 and install it within the driving area.

The housing 210 forms the exterior of the vacuum cleaner station 200 and forms a space within which the components are stored.

The housing 210 may have a vertical height that is longer than the left-right width or the front-to-back width. By having this arrangement, the space occupied in the room where the dumping station 200 is installed can be minimized.

The housing 210 may be composed of an upper cover 211 and side covers 212 and 213. The upper cover 211 is disposed on the upper surface of the housing 210. The upper cover 211 can be opened and closed. Specifically, the rear end of the upper cover 211 is hinged to the body of the housing 210 and rotates upward to open and close the upper surface of the housing 210. When the upper cover 211 is opened, the pre-filter 261 can be attached or detached.

The first side cover 212 is disposed on the side of the housing 210. Specifically, the first side cover 212 is disposed on the left side and front of the housing 210.

The first side cover 212 can be opened and closed. Specifically, the rear end of the first side cover 212 is hinged to the body of the housing 210 and rotates to the left so that the dust collection unit 240 can be attached or detached.

The second side cover 213 is disposed on the side of the housing 210. Specifically, the second side cover 213 is disposed on the right side and rear of the housing 210.

The second side cover 213 covers the dust passage 230. A noise reduction material is provided on the inner surface of the second side cover 213 to block noise generated inside the housing 210 from being emitted to the outside.

The coupling portion 220 is a component to which the robot cleaners 100A and 100B are coupled and connected to at least one or more of the components of the robot cleaners 100A and 100B. The coupling portion 220 is disposed in the housing 210 and includes a coupling surface to which at least a portion of the robot cleaners 100A and 100B are coupled.

The coupling portion 220 covers the lower surface of the housing 210 and may extend forward of the housing 210. The coupling portion 220 may form an inclined surface with a low front end and a high rear end. Accordingly, the robot cleaners 100A and 100B can move from the front to the rear of the coupling portion 220 and enter the coupling portion 220.

The coupling portion 220 includes a driving wheel seating portion 421. The driving wheel seating portion 421 seats the driving wheel of the robot cleaner 100 on the top. The driving wheel seating portion 221 is formed by recessing downward from the coupling surface of the coupling portion 220 of the coupling portion 220. The driving wheel seating portion 221 may be formed as a left and right pair to correspond to the driving wheel.

The coupling portion 220 includes a mop seating portion 222. The mop seating portion 222 is disposed at the lower portion of the mop of the robot cleaner (100A, 100B) when the cleaner (200) is coupled to the cleaner station (200).

The coupling portion 220 includes a caster guide 223. The caster guide 223 is formed in the trajectory along which the casters of the robot cleaners 100A and 100B pass when the cleaner 200 is coupled to the dumping station 200. The caster guide 223 is formed in a downwardly depressed groove shape. The caster guide 223 extends in the front-back direction, which is the direction in which the robot cleaners 100A and 100B enter.

The coupling portion 220 includes an intake port 224. The suction port 224 of the coupling portion 220 is connected to the inlet end of the suction passage 230. The suction port 224 of the coupling portion 220 communicates with the discharge port of the dust bin of the robot cleaners 100A and 100B.

The coupling portion 220 includes a charging terminal 225. The charging terminal 225 is disposed at the front of the coupling portion 220 and protrudes upward. The charging terminal 225 of the coupling portion 220 is in contact with the charging terminal (not shown) of the vacuum cleaner, so that the robot cleaners 100A and 100B and the dumping station 200 are electrically connected.

A dust collection unit 240 is installed within the housing 210. When the first side cover 212 rotates, the dust collection unit 240 can be attached or detached.

The inlet end of the dust flow path 230 communicates with the dust bin (not shown) of the vacuum cleaner, and the outlet end communicates with the air inlet of the dust collection unit 240. The dust flow path 230 extends forward inside the coupling portion 220.

The outlet end of the dust flow path 230 is disposed higher than the inlet end. The dust flow path 230 extends upward within the dumping station 200. The outlet end of the dust passage 230 is connected to the air inlet of the dust collection unit 240, so that dust flowing through the dust passage 230 can flow into the dust collection unit 240.

Inside the dust flow path 230, air rises from the bottom to the top. The interior of the dust passage 230 is formed as a simple cylindrical structure, so little air resistance occurs inside. Therefore, dust contained in the air can flow to the outlet end of the dust flow path 230 without air resistance.

The dust collection unit 240 is a component that collects dust inside the dust bin of the vacuum cleaner 100. The dust collection unit 240 according to the present invention is a bagless type. There are two main types of dust collection unit 240: bag type and bagless type. The bag type is a method in which a separate bag is provided in the dust collection unit 240, dust is collected in the bag, and only the bag is separated from the dumping station 200 and discarded. In contrast, the bagless type does not have a separate bag in the dust collection unit 240, collects dust in the dust collection unit 240 itself, and separates the dust collection unit 240 itself from the dumping station 200. This is a way to empty the dust.

Generally, a certain amount of dust is collected in the robot cleaners (100A, 100B), and the dust primarily collected from the robot cleaners (100A, 100B) is introduced into the dumping station 200, so a large amount of dust is collected at one time. can flow in at once. At this time, as too much dust flows into the bagless type dust collection unit 240 at once, a problem may occur in which the dumping station 200 loses its collection function due to the flow path being blocked. Accordingly, the dumping station 200 according to the present invention is equipped with a means for removing dust stuck in the discharge port and compressing the collected dust, thereby ensuring the collection function of the dumping station 200.

Meanwhile, the housing 210 further includes a dust collection motor 250. The dust collection motor 250 generates a flow of air within the dumping station 200. The dust collection motor 250 is disposed between the robot cleaners 100A and 100B and the dust collection unit 240 when the robot cleaners 100A and 100B are combined.

The dust collection motor 250 is disposed at the top of the robot cleaners 100A and 100B and at the bottom of the dust collection unit 240.

In the case of the dumping station 200 formed in this way, when the robot cleaners 100A and 100B dock with the dumping station 200 to collect dust, the rear dock, that is, the rear where the dust bin 120 is placed, is docked first. Enters the coupling unit 220 and docks with the dumping station 200.

Accordingly, the length of the dust passage 230 of the dust bin 120 and the dumping station 200 is shortened, thereby improving dust collection efficiency by the dust collection motor 250.

As a docking station 200 including a dumping function in such a mobile robot system, a multi-station can also be provided.

The multi-station has a structure that accommodates two vacuum cleaners: a stick vacuum cleaner at the top that can be charged, and a robot cleaner 100 docked at the bottom that can be charged.

At this time, dust contained in each vacuum cleaner can be collected by suction using a single suction motor (not shown).

The multi-station includes a suction passage, and the suction passage connects the stick vacuum cleaner or robot cleaner 100 and the dust collection unit to collect dust from the connected vacuum cleaner by the operation of one suction motor.

Therefore, even in the case of a multi-station, the area where the lower robot cleaner is docked can be operated in the same manner as the dumping station, and includes a power module for docking the robot cleaner.

The power module 240 may be modular, but is not limited to this.

The dumping station 200 may include a control unit 250 therein. The control unit 250 can control the operation of each module of the dumping station 200. The control unit 250 may receive and control signals from a plurality of sensor units including the docking detection unit 260.

Referring to FIG. 9, the control unit 250 of the docking station 200 periodically commands the docking signal output unit 270 to output a docking signal, while detecting the robot cleaners 100A and 100B from the docking detection unit 260. A detection signal for docking can be received.

The docking signal output unit 270 of the docking station 200 includes

output terminals

270L, 270C, and 270R for outputting a plurality of docking signals forward, as shown in FIG. 9.

When the docking signal is an infrared signal, the output terminals (270L, 270C, 270R) include output terminals (270L, 270C, 270R) including six output elements arranged with an angle controlled according to the assigned position. can do.

The six output elements are elements that output six different signals, and the

output terminals

270L, 270C, and 270R may have six output elements physically arranged in pairs of two.

As an example, as shown in FIG. 9, a right output terminal (270R) for generating a signal to the right from the front of the dumping station 200, a center output terminal (270C) for generating a signal to the center, and a left output terminal to generate a signal to the left. (270L) can be implemented.

That is, three output terminals (270R, 270C, 270L) capable of emitting a docking signal toward the front (F2) of the dumping station 200 can be placed spaced apart from each other, and each output terminal (270R, 270C, 270L) Docking signal output elements for emitting docking signals toward the area allocated to are arranged up and down or close to each other and left and right.

Hereinafter, a docking signal generation operation of the dumping station 200 linked to one robot cleaner (100A, 100B) will be described with reference to FIGS. 10 and 11.

Figure 10a shows the signal range of a plurality of docking signals sent from the docking station, Figure 10b shows the left docking signal range in Figure 10a, Figure 10c shows the center docking signal range in Figure 10a, and Figure 10d shows the right docking signal range in FIG. 10A, FIG. 11A shows the digital value of the docking signal of the docking station, and FIG. 11B shows the analog value of each docking signal output element of the docking station.

This docking signal can be sent as an infrared signal, that is, an IR signal.

That is, the control unit 250 of the dumping station 200 can control the docking signal output unit 270 to control and output the docking IR signal to each output terminal.

The docking IR signal output unit 270 is exposed to the body 210 and includes a plurality of output elements for emitting IR signals to the outside, for example, a plurality of infrared light emitting elements as

output terminals

270R, 270C, and 270L.

At this time, the plurality of infrared light-emitting devices can output different signals depending on the type of dumping station 200, and perform different time divisions depending on the assigned area, thereby determining the type of dumping station 200 and the corresponding robot. Information about the location of the vacuum cleaner 100 can be transmitted.

To this end, a plurality of infrared light-emitting devices emitting different lights can be arranged vertically and horizontally in a matrix as shown in FIG. 9, and a plurality of infrared light-emitting devices arranged in the same row can be connected to one output terminal (270R, 270C, 270L). It is defined so that docking IR signals can be sent in the same direction.

The area of the robot cleaner 100 defined by the signal transmitted from each infrared light-emitting device is shown in FIGS. 10A to 10D below.

In front of the dumping station 200, an area 600 where a plurality of signals overlap may be formed.

In one example, the plurality of signals transmitted from the dumping station 200 may be infrared signals, and an infrared sensor (not shown) included in the sensor unit of the robot cleaner 100 may detect the plurality of signals.

FIG. 10B shows the emission state of the left output terminal 270L including the left infrared light emitting device, and an entire emission area 601a and a concentrated emission area 601b of the left docking signal can be formed.

Specifically, the left docking signal may include a first short-range signal and a first long-range signal. That is, the docking station 200 may include infrared light-emitting devices that emit a first short-range signal and a first long-range signal, respectively, at the left output terminal 270L. Accordingly, the area through which both the first near-field signal and the first far-field signal are transmitted may correspond to the concentrated emission area 601b, and the area through which the first far-field signal is transmitted may correspond to the entire emission area 601a. .

Likewise, referring to Figures 15C and 15D, the emission states of the center docking signal and the right docking signal are shown.

A total emission area 602a and a concentrated emission area 602b of the center docking signal may be formed, and a total emission area 603a and a concentrated emission area 603b of the right docking signal may be formed. Additionally, the center docking signal may include a second short-range signal and a second far-field signal, and the right docking signal may include a third near-field signal and a third far-field signal.

At this time, the center infrared output terminal 270C may be provided with a slit, and the center docking signal may be emitted in a narrower area than the left or right docking signal due to the slit.

In addition, referring to FIG. 10A, a region 600 where the first to third signals overlap may be formed. Since the area 600 where a plurality of signals overlap is formed in front of the dumping station 200, the control unit 140 of the robot cleaner 100 according to the present invention controls the overlapping area 600 of the cleaner 100. If the main body is located and it is determined that the front of the main body faces the docking station 200, the main body is rotated 180 degrees so that the front of the main body faces rearward, thereby moving the vacuum cleaner 100 and the dumping station 200 to the rear. It can be docked.

At this time, the mobile robot system according to the first embodiment of the present invention includes a dumping station 200 as an applicable dumping station 200, and the dumping station 200 sends a unique docking signal.

Referring to FIGS. 11A and 11B, the dumping station 200 commands the control unit 240 to output a docking signal to the docking signal output unit 270 to have digital information corresponding to the table, as shown in FIG. 11A.

The dumping station 200 outputs a docking signal at a predetermined period.

At this time, the section in which the docking signal is output in one cycle is called the active section, and the other sections are defined as the idle section.

Each dumping station 200 outputs a docking signal in the active section in one cycle, rests in the idle section, and outputs the same docking signal again in the active time in the next cycle, thereby moving the robot cleaner 100 around. The docking signal is transmitted continuously.

In the case of the docking station 200 of FIG. 11A, four bits are allocated to each infrared light-emitting device between the header area and the end area in the active section of one cycle.

At this time, in the case of the docking station 200, the first bit of each four bits may be assigned to have 1.

This unique digital signal is time-divided according to each docking infrared light-emitting device within the active section, and each docking infrared light-emitting device converts the assigned unique digital signal value into analog at the allotted time and emits it as shown in the graph in FIG. 11b.

Therefore, between the header area and the end area, a unique digital signal is generated in the following order: left far-field infrared light-emitting device, left near-infrared light-emitting device, center far-field infrared light-emitting device, center near-infrared light-emitting device, right far-field infrared light-emitting device, and right near-infrared light-emitting device. transmission, and overlap can be prevented by placing a dummy section between the signals of each far-field infrared light-emitting device and the near-field infrared light-emitting device.

As for the signal of each dummy section, the short-range infrared light-emitting device that transmits the subsequent docking signal may repeatedly transmit a unique digital signal, but the present is not limited to this, and the long-range infrared light-emitting device that transmits the previous docking signal may repeatedly transmit the unique digital signal. there is.

Accordingly, when signals from all areas are received in the overlapping area 600, a regularly repeated analog signal corresponding to the unique digital signal 1000 can be received between the header area and the end area, such as the lower IR sum signal.

As described in FIGS. 10A to 12B, when the dumping station 200 periodically sends a docking signal through the output terminal, the robot cleaners 100A and 100B located in the docking area are connected to a plurality of

output terminals

270R, 270C, and 270L. It is possible to periodically receive docking signals from and analyze a plurality of docking signals to determine the positions of the robot cleaners 100A and 100B themselves with respect to the docking station 200.

In this way, when the docking operation of the robot cleaners (100A, 100B) starts, the control unit 140 of the robot cleaners (100A, 100B) receives the docking signal while traveling toward the arranged docking station 200, analyzes it, and Position correction is performed by driving so that the front of the docking station 200 and the front of the robot cleaners 100A and 100B coincide.

Hereinafter, a method of docking a robot cleaner according to the first embodiment of the present invention will be described with reference to FIGS. 12 to 16.

FIG. 12 is a flowchart showing the docking method of the robot cleaner in FIG. 1, FIG. 13 is a flowchart showing the preparation operation steps of the robot cleaner in FIG. 12, and FIG. 14 shows the robot cleaner entering the signal range of the docking station. It is a schematic diagram, and FIG. 15A is a schematic diagram showing a case where the front of the robot cleaner and the front of the dumping station do not match, and FIG. 15B is a schematic diagram showing a case where the front of the robot cleaner and the front of the dumping station match.

The surface shown in the front direction (F2) of the dumping station 200 is defined as the front portion of the dumping station 200.

When defining a straight line connecting the center of the robot cleaner 100 to the 3D sensor 135 on the front as the center line of the robot cleaner 100, on the center line, a 3D sensor ( 135) is defined as the front (F1), and as the direction from the center of the robot cleaner 100 toward the dust bin 120, the direction rotated 180 degrees from the front (F1) is defined as the rear (FR). .

Accordingly, the 3D sensor 135 of the robot vacuum cleaner 100 always photographs the front (F1) of the robot cleaner 100, and the fact that the robot cleaner 100 is traveling forward refers to the subject being photographed by the 3D sensor 135. It means driving close to each other. Additionally, driving backwards means driving in a direction away from the object being photographed by the 3D sensor 135.

Referring to FIG. 12, the control method may include a docking mode start step (S10). In the docking mode start step (S10), the robot cleaner 100 may start an operation to dock with the dumping station 200. For example, when the battery 177 of the robot cleaner 100 becomes below a predetermined value or when the robot cleaner 100 completes all predetermined tasks, the docking mode start step (S10) may proceed.

The control method includes, after the docking mode start step (S10), a preparatory operation step (S20) and a rotation step (S30) before a straight-line driving operation for docking, and a rear docking operation step (S40) in which an entry operation for docking is performed. ) includes.

In the preparation operation step (S20), the robot cleaner 100 reads the docking signals of the dumping station 200 and corrects the current position so that the front of the robot cleaner 100 matches the front of the dumping station 200. Proceed.

At this time, the preparation operation step (S20) receives docking signals from a plurality of output terminals (270L, 270C, 270R), assigns weights according to the positions of the docking signal detectors (131L, 131R) that receive the docking signals, and The effective docking value is calculated by adding up all the weighted converted signal values.

According to the docking effective value, the relative position of the front of the robot cleaner 100 and the front of the dumping station can be determined, and the docking effective value is moved while moving the robot cleaner 100 so that the docking effective value converges to 0. An operation is performed to match the front of the robot cleaner 100 with the front of the dumping station 200 by repeatedly calculating .

In this way, when the front of the robot cleaner 100 and the front of the dumping station 200 coincide, the control unit 140 performs a rotation operation at the current position.

The rotation operation is to rotate the rear of the robot cleaner 100, that is, the dust bin 120, toward the docking station 200, and the 3D sensor 135 in front of the robot cleaner 100 is positioned at the docking station ( 200) can be rotated 180 degrees to face away.

When the rotation operation is completed, the robot cleaner 100 travels backwards, that is, travels straight backwards and enters the support plate 220 of the dumping station 200. Charging of the robot cleaner 100 begins when the charging terminal 225 and the charging terminal of the robot cleaner 100 are connected on the support plate 220 of the dumping station 200, and at the same time, the dust bin 120 is As it is opened, dust from the robot cleaner 100 flows into the dust filling part 140 through the dust passage 260 and is collected.

In this way, in order to form the dust flow path 230 for collecting the dust in the dust bin 120 to the dumping station 200 as short as possible, the robot cleaner 100 and the dumping station 200 are combined and driven backwards.

Hereinafter, the preparatory operation steps will be described in more detail with reference to FIGS. 13 to 16.

Referring to FIG. 13, after completion of cleaning or when charging is required, the robot cleaner 100 starts traveling toward the docking station where cleaning started, that is, the dumping station 200 (S210).

In this way, while driving toward the dumping station 200 from the current location, each of the six docking signals sent from the dumping station 200 can be received.

At this time, the robot cleaner 100 can recognize the docking signal received from the location d1 where the remote docking signal is received as a valid docking signal, as shown in FIG. 14, and this can be determined by signal strength.

Therefore, as shown in FIG. 14, when entering any one of the right far area, left far area, or center far area, that is, the distance from the front part 112 of the docking station 200 is the first distance d1. The converted signal value is calculated by varying the received docking signal.

Meanwhile, even if the docking signal received from outside the remote area is larger than a predetermined size, it can be determined to be a valid docking signal.

As described above, each docking signal can be transmitted as six IR signals, and each IR signal is divided and sent at different times, so the

distance detection units

131L and 131R implemented with infrared sensors receive signals at each time. The strength of the signal can be read.

In addition, weights are assigned to each of the six docking signals received from the right distance detection unit 131R and the left distance detection unit 131L, and the weights are added to each docking signal to calculate a converted signal value.

At this time, the converted signal value is converted so that the docking signal received from the right IR sensor has a positive value and the docking signal received from the left IR sensor has a negative value.

Next, the control unit 140 calculates the effective docking value by adding up the converted signal values (S220).

Therefore, one docking effective value is calculated for each period in which a docking signal is received, and the docking effective value is defined as the sum of 12 converted signal values.

When the docking effective value is 0, the control unit 140 determines that the front (F2) of the docking station 200 and the front (F1) of the robot vacuum cleaner 100 are located on a straight line (S230) .

That is, in a state where the 3D sensor 135 is facing the front part 212 of the docking station 200 as the front of the robot cleaner 100, the front (F1) of the robot cleaner 100 and the docking station 200 The angle formed by the front (F2) of satisfies 0.

Meanwhile, when the docking effective value is not 0, the control unit 140 controls the traveling unit 160 to move the position of the robot cleaner 100 so that the docking effective value converges to 0.

For example, as shown in FIG. 15A, the robot cleaner 100 is located in the right docking area at the front (F2) of the docking station 200, and the front (F1) of the robot cleaner 100 is in the front (F2) of the docking station (200). It may be tilted to the right with respect to F2).

In this case, the front F1 of the robot cleaner 100 and the front F2 of the docking station 200 form a first angle θ1 and maintain an inclined state.

In this way, when the front (F1) of the robot cleaner 100 and the front (F2) of the docking station 200 do not match, the infrared sensor of the right distance detection unit (131R) and the left distance detection unit (131L) of the robot vacuum cleaner (100) ) Docking signals received from the infrared sensor may have different types.

That is, since the received infrared signals are different, the conversion value is calculated by assigning weights to each received infrared signal as follows.

The weight may be set in advance according to the position of the infrared sensor and the position of the docking signal, but can also be set according to the amount of light of the received signal.

	좌측 적외선 센서(-) 가중치Left infrared sensor (-) weighting	우측 적외선 센서(+) 가중치Right infrared sensor (+) weighting
좌측 원거리 신호left far signal	1One	22
좌측 근거리 신호left short range signal	22	33
센터 원거리 신호center far signal	33	33
센터 근거리 신호center short range signal	33	33
우측 원거리 신호right far signal	22	1One
우측 근거리 신호right short range signal	33	22

That is, depending on the position and angle of the robot cleaner 100, when it is tilted to the right as shown in FIG. 15A, the right docking signal is strongly received, and the left docking signal is hardly received.

When the sum of the weights of the docking signals received by the infrared sensor of the left distance detection unit 131L and the infrared sensor of the right distance detection unit 131R at a specific location are different from each other, the robot vacuum cleaner 100 is rotated in a specific direction. It can be determined that

Therefore, the product of these weights and each docking signal (at this time, the docking signal has values of 1 and 0) is calculated to calculate the converted signal value, and the right infrared sensor adds a (+) sign to each converted signal value. , the left infrared sensor assigns a (?) sign and then adds up the 12 converted signal values to calculate the effective docking value.

The robot cleaner 100 determines the current state according to the type of the docking signal, and the front (F1) of the robot cleaner 100 and the front (F2) of the docking station 200 are not parallel, as shown in FIG. 15A. If not, a rotational movement may be performed by a first angle θ1 so that the front F1 of the robot cleaner 100 and the front F1 of the docking station 200 are parallel at the current position.

Through this rotational movement, the robot cleaner 100 can proceed with the next travel while the front F1 of the robot cleaner 100 and the front F2 of the docking station 200 are parallel.

If the docking effective value is not 0, the robot cleaner 100 receives the docking signal again after rotating and recalculates the docking effective value in the rotated state.

In this way, the weight of the docking signal received when the front (F1) of the robot cleaner 100 and the front (F2) of the docking station 200 are parallel can be calculated in Table 2 as follows.

	좌측 도킹 신호(-) 가중치Left docking signal (-) weight		우측 도킹 신호(+) 가중치Right docking signal (+) weight
좌측 적외선 센서의 좌측 근거리 신호Left near-field signal from left infrared sensor	22	좌측 적외선 센서의 우측 근거리 신호Right near-field signal from left infrared sensor	44
좌측 적외선 센서의 좌측 원거리 신호Left far-field signal from left infrared sensor	1One	좌측 적외선 센서의 우측 원거리 신호Right far-field signal from left infrared sensor	22
우측 적외선 센서의 센터 근거리 신호Center near-field signal from right infrared sensor	33	좌측 적외선 센서의 센터 근거리 신호Center near-field signal from left infrared sensor	33
우측 적외선 센서의 센터 원거리 신호Center far-field signal from right infrared sensor	22	좌측 적외선 센서의 센터 원거리 신호Center far-field signal from left infrared sensor	22
우측 적외선 센서의 좌측 근거리 신호Left short-range signal from right infrared sensor	44	우측 적외선 센서의 우측 근거리 신호Right near-field signal from right infrared sensor	22
우측 적외선 센서의 좌측 원거리 신호Left far-field signal from right infrared sensor	22	우측 적외선 센서의 우측 원거리 신호Right far-field signal from right infrared sensor	1One

At this time, the control unit 140 classifies the signals related to the left area and the signals related to the right area of the docking station 200 among the weight values of all received sensor values, calculates the sum of the weights of the signals related to each classified area, and calculates the sum of the weights of the signals related to each classified area. Calculated based on the docking effective value.

The docking effective value can be assigned a sign so that the weight of the signal related to the left region has a negative (-) value and the weight of the signal related to the right region has a positive (+) value, and then the sum can be calculated. In this way, when the weights related to each area are separately added and then added by inverting the sign, if the docking effective value has a negative (-) value, the robot vacuum cleaner 100 is located in the left docking area, as shown in FIG. 15B. If the docking effective value has a positive (+) value, it is determined that the robot cleaner 100 is located in the right docking area assigned a positive (+) value.

The next trip is determined according to the current position of the robot cleaner 100, and the trip is performed so that the effective docking value converges to 0.

Figure 16a is a schematic diagram showing a case where the robot cleaner 100 searches for the position of the front center of the dumping station 200, and Figure 16b shows a case where the robot cleaner 100 is located at the front center of the dumping station 200. This is a schematic diagram representing:

As shown in Figure 16a, if the docking effective value in the previous cycle has a negative (-) value, it moves to the right to converge to 0, and if the docking effective value has a positive (+) value, it moves to the left. By moving, it moves to converge to 0.

In this way, by moving for each cycle and calculating the docking effective value while performing movement in the next cycle, the robot cleaner 100 becomes increasingly closer to the center of the front (F2) of the docking station 200. The robot cleaner 100 increasingly approximates the center of the front (F2) of the docking station 200 so that the front (F1) of the robot cleaner (100) and the front (F2) of the docking station (200) are located on a straight line. It means moving.

At this time, if the docking effective value satisfies 0 or the sign of the previous docking effective value and the sign of the current docking effective value are reversed, the current position of the robot vacuum cleaner 100 is located at the front (F2) of the docking station 200. It is determined that the front (F1) of the robot cleaner 100 is located on a straight line (S240).

That is, it is determined that the robot cleaner 100 and the docking station 200 are arranged in a straight line with their front portions 212 facing each other.

In this way, the robot cleaner 100 receives the periodically transmitted docking signal from the docking station 200 with two spaced apart

infrared sensors

131R and 131L, and assigns weights according to the signals, thereby controlling the docking station 200. It can be driven so that the front (F2) of the robot cleaner 100 and the front (F1) of the robot cleaner 100 are aligned on a straight line.

When docking is performed by driving in a straight line after performing such forward matching, damage to the device can be minimized by docking in one go without docking failure.

Next, the robot cleaner 100 performs a rotation motion at the current position as shown in FIG. 16B (S30).

This rotation operation is performed by rotating the robot cleaner 100 by 180 degrees from its current position without changing the relative position between the robot cleaner 100 and the docking station 200.

Accordingly, as shown in Figure 16b, the dust bin 120 of the robot cleaner 100 and the front part 212 of the docking station 200 face each other and are arranged in a straight line.

In this way, with the rear (FR) of the robot cleaner 100 and the front part 212 of the docking station 200 facing each other, the robot cleaner 100 travels backwards and touches the support plate 220 of the docking station 200. Enter (S40).

At this time, backward driving means driving straight backwards away from the front (F1) that the 3D sensor 135 is looking at.

In this way, by traveling in a straight line backwards, the charging terminals enter the support plate 220 of the docking station 200, the charging terminals come into contact with each other, and docking begins.

That is, the docking of the robot cleaner 100 and the dumping station 200 as shown in FIG. 8 is performed to perform dust dumping while maintaining the dust flow path 230 between the dust bin 120 and the dust collection unit 240 at the shortest distance. can do.

Meanwhile, the docking method according to another embodiment of the present invention may perform forward search of the docking station 200 through the 3D sensor 135 in the docking preparation step.

Hereinafter, a docking method according to another embodiment of the present invention will be described with reference to FIGS. 17 to 20.

The docking mode start step is the same as the docking mode start step in FIG. 13.

At this time, when the docking preparation step (S20) starts, the robot cleaner 100 moves to the front of the docking station 200 by the operation of the light irradiation parts 135a1 and 2 of the 3D sensor 135 and the 3D camera 135b. Align F2) with the front (F1) of the robot cleaner 100.

Specifically, as described above, the first light irradiation unit 135a1 is disposed below the 3D camera 135b of the robot cleaner 100, which serves as a standard for determining the front F1 of the robot cleaner 100, and the upper The second light irradiation unit 135a2 is disposed.

The first light irradiation unit 135a1 irradiates light toward the upper part of the front, and the second light irradiation part 135a2 irradiates light towards the lower part of the front.

At this time, the first light irradiation unit 135a1 and the second light irradiation unit 135a2 can irradiate laser pattern light of a predetermined length forward, and the laser pattern light can be emitted in the form of a line.

Accordingly, when the docking station 200 and the robot cleaner 100 approach, a linear laser pattern by the laser pattern light is formed on the front of the docking station 200.

When the first and second light irradiation units 135a1 and 2 irradiate laser pattern light, the 3D camera 135b captures and creates an image of the image or reflected light in front of the robot cleaner 100.

The 3D camera 135b can acquire an image of the area where the first pattern light and the second pattern light are incident. As described above, the light of the first pattern and the light of the second pattern may be irradiated in the form of horizontal straight lines spaced apart up and down.

That is, at least the first light irradiation unit 135a1 can irradiate pattern light having a horizontal straight line forward. When the pattern light of the light irradiation unit 135a1 is reflected horizontally across a specific point of the main body 210 or the support plate 220 of the front part 212 of the dumping station 200, the 3D camera 135b By detecting reflected light (LR), location information of the dumping station 200 can be detected.

The linear laser pattern formed on the front part 212 of the docking station 200 is photographed by the 3D camera 135b and transmitted to the control unit 140.

The control unit can obtain a laser pattern image acquired from the 3D camera 135b, process it, and read the relative positions of the docking station 200 and the robot cleaner 100.

That is, since the wide angle of the 3D camera 135b is larger than the light irradiation angle of the first light irradiation unit 135a1 and the second light irradiation unit 135a2, the first light irradiation unit 135a1 or the second light irradiation unit 135a2 is applied to the docking station 200. When a laser pattern emitted from at least one of the light irradiation units 135a1 and 2 is formed, it can be photographed.

In this way, the linear laser pattern formed in front of the docking station 200 varies depending on the distance d2 between the docking station 200 and the robot vacuum cleaner 100 when the height h1 of the docking station 200 is fixed. The positions of the laser patterns (L1, L2) are variable.

As an example, referring to FIGS. 19A to 19D, in FIG. 19D to FIG. 19A, when the robot cleaner 100 approaches the docking station 200 by traveling in a straight line from a long distance, the first and second light irradiation units 135a1 , The 3D camera 135b captures the laser patterns L1 and L2 emitted from 2) hitting the docking station 200 (S510).

As the robot cleaner 100 approaches the docking station 200, a laser pattern begins to form starting from the support plate 220 of the docking station 200, and an upper laser pattern (L1) is formed at the beginning of the support plate 220 as shown in FIG. 19D. ) is formed, and as it approaches further, an upper laser pattern (L1) is formed on the caster guide portion of the support plate 220 as shown in FIG. 19C.

If it gets closer than this, the lower laser pattern L2 is formed on the lower part of the main body 210 of the docking station 200, as shown in FIG. 19B.

At this time, the upper laser pattern L1 is formed on the main body 210 of the docking station 200 when located at a distance of d2 or less, as shown in FIG. 18.

Accordingly, when the upper laser pattern L1 is formed on the main body 210 of the docking station 200 in a recognizable state as shown in FIG. 19A, it is determined that it is close to the main body 210 of the docking station 200 at a distance of at least d2 or less.

As shown in FIG. 19A, when both the upper laser pattern (L1) and the lower laser pattern (L2) are recognized in one 3D image (S520), one of the two patterns can be selected and cropped as a region of interest.

Control for determining the relative positions of the docking station 200 and the robot vacuum cleaner 100 is performed targeting the cropped area of interest.

For example, as shown in Figure 20a, when the upper laser pattern (L1) of the robot cleaner 100 is formed on the main body 210 of the docking station 200, the portion where the upper laser pattern (L1) is formed as shown in Figure 20b Crop and register as an area of interest.

The region of interest can be cropped to a size that includes pixels of a predetermined size across the horizontal axis of the image to include all of the upper laser pattern (L1) formed in the horizontal direction and vertically to include all of the upper laser pattern (L1). there is.

The control unit 140 of the robot vacuum cleaner 100 converts the cropped region of interest into one dimension for laser detection as shown in FIG. 20C (S530).

That is, the corresponding horizontal pixel line forming the laser pattern is extracted from the region of interest, the data value of the pixel where the laser pattern is read for the extracted pixel line is converted to 1, and the data value of the pixel where the laser pattern is not read is converted to 1. Convert to 0 and convert to 1 dimension.

Accordingly, as shown in FIG. 20C, a laser detection section of a predetermined length having a data value of 1 along the x-axis, that is, in the horizontal direction, is calculated.

At this time, the starting point of the laser detection section is called point I, and the end point is called point E.

At this time, the distance value between the point I and the point E is calculated, and it is compared whether the distance value is greater than the first threshold value (S540).

This first threshold is the case where the upper laser pattern L1 is formed on the main body of the docking station 200 at a first distance d2 at which the docking station 200 and the robot cleaner 100 are determined to be close. It is defined as a length value.

Therefore, when the distance value is greater than the first threshold, it may be determined that the robot cleaner 100 is located at a distance shorter than the first distance d2 from the docking station 200, which is It is determined that the robot cleaner 100 and the docking station 200 are very close.

If the distance condition is not met, the robot cleaner 100 may move closer to the docking station 200 and acquire the image again.

When the distance condition is met, the control unit 140 of the robot cleaner 100 three-dimensionally converts the data value of the laser detection section into XYZ coordinates (S550).

That is, the control unit 140 calculates I(X, Y, Z) and E(X, Y, Z), respectively.

At this time, the ) is the vertical distance and height from each point.

Next, it is determined whether each of the X, Y, and Z values of the 3D converted I and E values satisfies the second critical range (S560).

As an example, the second critical ranges of points I and E may be as follows.

[Equation 1]

100<IX<200,

-100<IY<100,

200<IZ<300,

100<EX<200,

-100<EY<100,

200<EZ<300

Therefore, when the converted 3D start and end points meet the second critical range, the front (F1) of the docking station 200 and the front (F1) of the robot cleaner 100 coincide, that is, are in a straight line. It is a range located in and is determined to be within a predetermined distance (S570).

Accordingly, at the current position that satisfies these conditions, a rotation operation is performed so that the rear (FR) of the robot cleaner 100 faces the front of the docking station 200 (S30).

When docking is performed after performing such forward matching, damage to the device can be minimized by docking at once without docking failure.

Accordingly, the dust bin 120 of the robot cleaner 100 and the front part 212 of the docking station 200 face each other and are arranged in a straight line.

In this way, with the rear of the robot cleaner 100 and the front of the docking station 200 facing each other, the robot cleaner 100 travels backward and enters the support plate 220 of the docking station 200.

At this time, driving backwards means driving straight backwards (FR) away from the front (F1) that the 3D camera 135b is looking at.

In this way, it enters the docking station 200 by traveling in a straight line backwards, the charging terminals come into contact with each other, and docking begins (S40).

Meanwhile, the docking method according to another embodiment of the present invention provides another example of forward navigation of the docking station 200 through the 3D sensor 135 in the docking preparation step.

Hereinafter, a docking method according to another embodiment of the present invention will be described with reference to FIGS. 21 and 22.

FIG. 21 is a flowchart showing the preparatory operation steps of the robot cleaner 100 of FIG. 12 according to another embodiment of the present invention, and FIG. 22a is a flowchart showing the preparation operation step of the robot cleaner 100 in FIG. 7. It shows the laser image formed, FIG. 22b shows extracting the region of interest from the image of FIG. 19, FIG. 22c shows the one-dimensional transformation value from the region of interest in FIG. 22b, and FIG. 22d shows the one-dimensional transformation of FIG. 22c. It represents the final region of interest extraction from the values.

The docking mode starting step (S20) is the same as the docking mode starting step in FIG. 13.

At this time, when the docking preparation step begins, the robot cleaner 100 moves to the front of the docking station 200 and the front of the robot cleaner 100 by the operation of the light irradiation unit of the 3D sensor 135 and the 3D camera 135b. Match.

As described above, the laser pattern light emitted from the first and second light irradiation units 135a1 and 2 is focused on the front of the docking station 200, and the formed linear laser pattern is captured by the 3D camera 135b. It is photographed and transmitted to the control unit 140.

That is, since the wide angle of the 3D camera 135b is larger than the light irradiation angle of the first light irradiation unit 135a1 and the second light irradiation unit 135a2, the first light irradiation unit 135a1 or the second light irradiation unit 135a2 is applied to the docking station 200. When a laser pattern emitted from at least one of the light irradiation units 135a1 and 2 is formed, it can be photographed (S610).

In another embodiment, the lower laser pattern L2 is detected as a region of interest in the image of the 3D camera 135b of FIGS. 19A to 19D.

Specifically, when the lower laser pattern (L2) is formed on the caster guide 23 portion of the support plate 220 as shown in Figure 22a, the control unit 140 detects the lower laser pattern (L2) in the 3D image. Crop to the area of interest as shown in 22b (S620).

The region of interest can be cropped to a size that includes pixels of a predetermined size across the horizontal axis of the image to include all of the lower laser pattern (L2) formed in the horizontal direction and vertically to include all of the lower laser pattern (L2). there is.

The control unit 140 of the robot cleaner 100 converts the cropped region of interest into one dimension for laser detection, as shown in FIG. 22C.

Accordingly, as shown in FIG. 22C, a laser detection section of a predetermined length having a data value of 1 along the x-axis, that is, in the horizontal direction, is calculated.

At this time, the starting point and the ending point can be defined as the starting and ending points of continuous 1 values, and the period between the starting point (I) and the ending point (E) is defined as the laser detection section.

Next, the control unit 140 of the robot cleaner 100 three-dimensionally converts the data value into XYZ coordinates for each pixel in the laser detection section between the start point (I) and the end point (E) (S630).

At this time, the ) is the vertical distance and height from each point.

When three-dimensionally transforming each pixel, a portion (AF) whose z value floats a predetermined distance from the ground is detected, as shown in FIG. 22D.

In this way, the portion AF floating from the ground is an area formed by a section depressed downward by the caster guide 223 of the support plate 220 and is arranged symmetrically left and right.

The left and right parts (AF) floating in this way are each defined as the final area of interest.

When the final regions of interest on the left and right sides are extracted, the control unit 140 compares the final regions of interest with a third threshold range to determine the front (F2) of the docking station 200 and the front (F2) of the robot vacuum cleaner 100. Determine whether F1) matches (S640).

As an example, the control unit 140 compares whether the distance value from the start point (I) to the end point (E) is greater than the first threshold value, as in the previous embodiment.

This first threshold is such that the upper laser pattern L1 is on the main body 210 of the docking station 200 at a first distance d1 at which it is determined that the docking station 200 and the robot cleaner 100 are close to each other. It is defined as the length value when condensation occurs.

If the distance value from the starting point (I) to the ending point (E) is greater than the first threshold, the control unit 140 matches the front (F1) of the docking station 200 and the front (F2) of the robot vacuum cleaner 100, In other words, it can be determined that it is located on a straight line.

Alternatively, the control unit 140 counts the number of pixels of the final region of interest and compares the number of pixels of the final region of interest with the number of reference pixels of the docking station 200.

If the number of pixels of the final area of interest is greater than the reference number of pixels of the docking station 200, it may be determined that the front (F2) of the docking station 200 and the front (F1) of the robot vacuum cleaner 100 match. .

Meanwhile, the control unit 140 finds the midpoint (M) between the starting point (I) and the end point (E), calculates the Z value of the midpoint (M), and calculates the Z value of the starting point (I) or the end point (E). By comparing the values, it can be determined whether the front (F2) of the docking station 200 and the front (F1) of the robot cleaner 100 match.

Since the Z value of the midpoint (M) is a non-floating area, the Z value may meet the following criteria.

[Equation 2]

8mm<M Z<12mm

At this time, the Z value of the starting point (I) or the ending point (E) may meet the following criteria.

[Equation 2]

18mm<I, E Z<22mm

In this way, the control unit 140 determines that at least one of the third critical ranges is met and determines that the front (F2) of the docking station 200 and the front (F1) of the robot cleaner 100 match. You can.

Accordingly, at the current position that satisfies these conditions, a rotation operation is performed so that the rear (FR) of the robot cleaner 100 faces the front (F2) of the docking station 200 (S30).

Claims

main body;

a driving unit that moves the main body;

a battery supplying power to the driving unit;

a plurality of sensing units disposed from the center of the main body to the front to obtain information about the front environment;

a dust bin disposed rearward from the center of the main body and collecting inhaled dust; and

A control unit that determines the location of the docking station from the detection signal detected by the sensing unit and controls the driving unit to travel backward so that the dust bin enters the docking station first.

A robot vacuum cleaner including.
According to paragraph 1,

The sensing unit

A robot vacuum cleaner comprising a docking signal detection unit that receives a docking signal from the docking station.
According to paragraph 2,

When the docking mode starts, the control unit travels close to the docking station and performs position correction so that the front of the docking station and the front of the robot cleaner are positioned in a straight line.
According to paragraph 3,

The control unit determines whether the current location is located in front of the docking station and the front of the robot cleaner based on the detection signal of the sensing unit, and determines whether the current location is located in front of the docking station and the front of the robot cleaner. A robot vacuum cleaner characterized in that it performs a rotation mode in which it rotates when positioned on this straight line.
According to paragraph 4,

The rotation mode is a robot cleaner characterized in that the rear of the robot cleaner, where the dust bin is placed, rotates to face the front of the docking station.
According to clause 5,

The rotation mode is a robot cleaner characterized in that it rotates 180 degrees from the current position where the front of the docking station and the front of the robot cleaner are located on a straight line.
According to clause 5,

The docking signal detection unit includes a right docking detection sensor disposed on the right side of the front of the main body, and

Left docking detection sensor located on the left side of the front of the main body

A robot vacuum cleaner comprising a.
In clause 7,

The control unit calculates a docking effective value by weighting and summing the detected docking signal values of the right docking detection sensor and the left docking detection sensor, and selects a location where the docking effective value satisfies 0 at the front of the docking station. and a robot cleaner characterized in that it is determined that the front of the robot cleaner is located on a straight line.
According to clause 8,

The control unit assigns a positive weight to the detected docking signal value of the right docking detection sensor and a negative weight to the detected docking signal value of the left docking detection sensor and adds them to calculate the docking effective value, A robot vacuum cleaner, characterized in that the position where the sign of the docking effective value is reversed is determined to be where the front of the docking station and the front of the robot cleaner are located on a straight line.
According to clause 5,

The sensing unit further includes an obstacle sensor disposed at the center of the front of the main body to detect the distance of the obstacle in front,

The obstacle sensor is

A first light irradiation unit that radiates an upper laser pattern to the upper front of the main body,

A second light irradiation unit that irradiates a lower laser pattern to the lower part of the front of the main body, and

A camera that photographs the upper laser pattern or the lower laser pattern in front of the main body and transmits it to the control unit.

A robot vacuum cleaner comprising a.
According to clause 10,

The control unit

Extracting the upper laser pattern or the lower laser pattern from the image obtained from the camera, and determining that the front of the docking station and the front of the robot cleaner are located on a straight line when the extracted portion satisfies a critical range. A robot vacuum cleaner characterized in that.
According to paragraph 1,

When the robot cleaner docks backwards with the docking station, the robot cleaner transfers dust collected in the dust bin to the docking station in a docked state.
performing cleaning while traveling in the travel area from a docking station in the travel area;

When the docking mode starts, driving close to the docking station;

Performing position correction so that the front of the docking station and the front of the robot cleaner are positioned on a straight line;

Performing a rotation mode in which the current position rotates when the front of the docking station and the front of the robot cleaner are located in a straight line; and

A rear traveling step of performing docking by traveling backward so that the rear of the robot cleaner faces the front of the docking station.

A control method of a robot vacuum cleaner comprising a.
According to clause 13,

In the position correction step,

A control method for a robot cleaner, characterized in that the current location determines whether the front of the docking station and the front of the robot cleaner are located on a straight line based on a detection signal about the external environment.
According to clause 14,

The rotation mode is a method of controlling a robot cleaner, characterized in that the front of the docking station and the front of the robot cleaner rotate 180 degrees from the current position where the front of the docking station is located on a straight line.
According to clause 15,

The robot vacuum cleaner includes a right docking detection sensor disposed on the right side of the front of the main body, and a left docking detection sensor disposed on the left side of the front of the main body,

A robot vacuum cleaner characterized in that weighting and summing the detected docking signal values of the right docking detection sensor and the left docking detection sensor calculates a docking effective value and determines the position of the rotation mode according to the docking effective value. control method.
According to clause 16,

A control method for a robot cleaner, characterized in that the position where the docking effective value satisfies 0 is determined as the front of the docking station and the front of the robot cleaner being located on a straight line.
According to clause 16,

A positive weight is given to the detected docking signal value of the right docking detection sensor, and a negative weight is given to the detected docking signal value of the left docking detection sensor and added to calculate the docking effective value, and the docking effective value is calculated. A control method for a robot cleaner, characterized in that the position where the sign of the value is reversed is determined to be where the front of the docking station and the front of the robot cleaner are located on a straight line.
According to clause 15,

The robot vacuum cleaner includes an obstacle sensor disposed at the center of the front of the main body to detect the distance of an obstacle in front, wherein the obstacle sensor includes a first light irradiation unit that irradiates an upper laser pattern to the upper part of the front of the main body, the main body It includes a second light irradiation unit that irradiates a lower laser pattern to the lower part of the front body, and a camera that photographs the upper laser pattern or the lower laser pattern in front of the main body and transmits it to the control unit,

Extracting the upper laser pattern or the lower laser pattern from the image obtained from the camera, and determining that the front of the docking station and the front of the robot cleaner are located on a straight line when the extracted portion satisfies a critical range. A control method for a robot vacuum cleaner, characterized in that.
According to clause 13,

When docking with the docking station to the rear of the robot cleaner after driving backwards, the robot cleaner further includes the step of transferring dust collected in the dust bin of the robot cleaner to the docking station in a docked state. control method.