CN105491931A - Robot cleaner and control method therefor - Google Patents

Abstract

The robotic cleaning machine of an embodiment of the present invention includes: an input unit that receives input from a user; a storage unit that stores driving modes for performing the driving of the robotic cleaning machine; and a control unit that performs the following control: controlling the driving of the robotic cleaning machine based on the user's input and the driving modes stored in the storage unit; and, when a concentrated cleaning mode is selected, setting a reference area based on the current position of the robotic cleaning machine, causing the robotic cleaning machine to move forward or backward along a radial path centered on the reference area.

Description

Robot cleaning machine and control method thereof

technical field

The present invention relates to a robot cleaner and a control method thereof, and more particularly, to a robot cleaner capable of performing centralized cleaning of a specific area and a control method thereof.

Background technique

With the development of industrial technology, various devices are automated. As is well known, a robot cleaner is used as a machine that autonomously travels in an area to be cleaned without the user's operation, and sucks foreign matter such as dust from the surface to be cleaned or wipes foreign matter on the surface to be cleaned. , so as to automatically clean the area you want to clean.

Generally, such robot cleaners include vacuum cleaners that use a power source such as electricity and perform cleaning by suction force.

In addition, robot cleaners including such vacuum cleaners have limitations in that they cannot remove foreign matter or stubborn stains adhering to the surface to be cleaned, so recently there has been a robot cleaner that attaches a cotton-type cleaner such as a rag to perform wet cleaning. Robotic sweepers that sweep or mop.

However, in the cleaning method using a general robot cleaner, there is a problem of low efficiency because it cannot move freely when there are many obstacles in the surrounding area or when the structure is narrow and complicated.

In particular, although there is a need for a driving mode that effectively cleans a specific location and a specific area, a cleaning method that effectively solves this problem has not actually been developed.

For this reason, although there have been several methods of intensively cleaning a specific area, the conventional area cleaning method simply provides a form of forming a circular or square path centered on a specific point and moving repeatedly along this path. There is a problem that the efficiency drops rapidly depending on the shape and structure of the obstacle.

Not only that, in the case of the rag cleaning method of a general robot cleaner, the existing suction-type vacuum cleaner is directly used in the movement mode and the avoidance method for obstacles, etc. However, it is not easy to remove foreign matter fixed on the surface to be cleaned.

Contents of the invention

technical issues

The present invention was developed in view of the above-mentioned problems, and an object of the present invention is to provide a robot that can efficiently and intensively clean a specific area without being affected by many surrounding obstacles or narrow and complicated structures. Cleaning machine and control method thereof.

Another object of the present invention is to provide a robot cleaner capable of intensive cleaning of complex structures while improving cleaning efficiency of mop cleaning and a control method thereof.

means of solving problems

In order to solve the above-mentioned problems, the robot cleaner of the present invention includes: an input unit that receives an input from a user; a storage unit that stores a travel pattern for executing travel of the robot cleaner; and a control unit that performs the following control: : According to the input of the user, the driving of the robot cleaner is controlled based on the driving mode stored in the storage unit, and when the concentrated cleaning mode is selected, the current The reference area of the position is used to make the robot sweeper travel forward or backward along a curved radial path centered on the reference area.

In addition, in order to solve the above-mentioned problem, the control method of the robot cleaner according to the present invention includes the following steps: receiving the user's input; controlling the travel of the robot cleaner based on the travel mode stored in the storage unit; setting a reference area based on the current position of the robot cleaner when the concentrated cleaning mode is selected; and cleaning the robot. The machine is controlled to travel forward or backward along a curved radial path centered on the reference area.

In addition, in order to solve the above-mentioned problems, the method of the present invention may be embodied as a computer-readable recording medium in which a program for causing a computer to execute is recorded.

Invention effect

According to the control method of the robot cleaning machine in the embodiment of the present invention, along the curved radial path, it repeatedly advances and retreats with the reference area as the center, and at each repetition time, the direction of travel can be twisted in a specific direction by a certain amount. Therefore, it can be controlled to perform centralized cleaning within a circle with a specific distance as the diameter, and improve the efficiency of centralized cleaning.

In addition, according to the control method of the robot cleaning machine according to the embodiment of the present invention, when an obstacle is detected, it retreats along the curved radial path or avoids it by rotating a certain angle on the spot, so that even complex structures or It will not be greatly affected by obstacles, and it can be cleaned even in corners.

Description of drawings

FIG. 1 is a diagram schematically showing the appearance of a robot cleaner according to an embodiment of the present invention.

FIG. 2 is a block diagram more specifically showing the structure of the robot cleaner of the embodiment of the present invention.

FIG. 3 is a flowchart for explaining a method of controlling the robot cleaner according to the embodiment of the present invention.

4 to 9 are flowcharts for explaining an example of centralized cleaning by a robot cleaner embodying an embodiment of the present invention.

10 to 14 are flowcharts for explaining an embodiment of centralized cleaning by a robot cleaner embodying another embodiment of the present invention.

15 to 16 are flowcharts illustrating a method of controlling a robot cleaner according to still another embodiment of the present invention.

detailed description

The following merely illustrates the principles of the invention. Therefore, those skilled in the art can invent various devices that embody the principle of the present invention and are included in the concept and scope of the present invention although not explicitly described or illustrated in the present specification. In addition, all proviso words and examples listed in this specification should be clearly defined in principle to understand the concept of the present invention, and it should be understood that the present invention is not limited to such specifically listed examples and states.

In addition, the principles, viewpoints, and embodiments of the present invention, and all detailed descriptions citing specific embodiments include structural and functional equivalents of these matters. In addition, such equivalents include not only currently known equivalents but also equivalents to be developed in the future, that is, all elements invented in a manner of performing the same function regardless of structure.

Thus, for example, block diagrams of the present specification represent conceptual views of illustrative circuitry embodying the principles of the invention. Similarly, all flowcharts, state transition diagrams, pseudo-code, etc., that may be substantially displayed on a computer-readable medium, regardless of whether a computer or processor is explicitly shown, should be understood as being executed by a computer or a processor. kind of program.

The functions of a processor or various elements shown in the drawings including functional blocks shown with a concept similar to this are provided not only by the use of dedicated hardware but also by associated with appropriate software, equipped with execution software The capability of the hardware is provided for use. When provided by a processor, the functionality is provided by a single dedicated processor, a single shared processor, or multiple individual processors, some of which may be shared.

In addition, the use of terms suggesting a processor, control, or concepts similar thereto shall not be construed as referring exclusively to hardware capable of executing software, but shall be construed as implicitly including unlimited storage of digital signal processors (DSP) hardware, software read-only memory (ROM), random access memory (RAM) and non-volatile memory. Other known hardware may also be included.

In the claims of this specification, the structural elements as means for performing the functions described in the embodiments include, for example, combinations of circuit elements that perform the functions or functions that perform all forms of software including firmware and microcode. All methods and in combination with appropriate circuitry executing the software for performing the described functions. The invention defined according to such claims is combined with the functions provided by the listed units and in the manner required by the claims, so any unit that can provide the functions is also not understood from this description. units are equal.

The above object, features, and advantages will be clarified by the following description with reference to the accompanying drawings, so that those skilled in the art can easily implement the technical idea of the present invention. In addition, in describing the present invention, if the specific description of known techniques related to the present invention makes the gist of the present invention unclear, the detailed description will be omitted.

Various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 shows the appearance of the robot cleaner according to the embodiment of the present invention, and FIG. 2 is a block diagram showing the configuration of the robot cleaner according to the embodiment of the invention.

Referring to FIG. 1 , the robot cleaning machine (100) of the present invention travels in a specific direction based on a predetermined travel pattern in the case of a user's input. For this reason, as shown on the right side of the accompanying drawing, the lower end of the robot sweeper (100) is combined with at least one rotating part (101) for traveling, and by the rotation of at least one rotating part (101), the robot sweeper (100) is controlled. ) driving direction and driving angle. The at least one rotating part (101) may be, for example, two or more wheels controlled and driven by a motor.

In addition, a cotton-like cleaner for cleaning with a rag is attached to the lower part of the robot cleaner (100) according to the embodiment of the present invention. To this end, the robot cleaning machine (100) is further provided with a cleaner attachment module (102). The cleaner attached to the robot cleaner (100) is made of fiber materials such as microfiber cloth, rag, non-woven fabric, brush, etc., which can wipe various cloths on the surface to be cleaned, so that it can remove dirt and dirt fixed on the ground. foreign body. In addition, although not shown in FIG. 1 , the robot cleaner ( 100 ) further includes a water supply unit ( 190 ) for improving the rag cleaning ability of the cleaner.

In particular, according to the embodiment of the present invention, the driving speed and the driving angular velocity of the robot cleaner (100) are changed in real time according to the stored driving mode, thereby executing the concentrated cleaning mode based on the embodiment of the present invention.

More specifically, referring to Fig. 2, the robot cleaning machine (100) of the embodiment of the present invention includes an input unit (120), a sensor unit (130), a detection unit (135), a communication unit (140), a storage unit (150) ), a display unit (160), a traveling unit (170), a cleaning unit (180), a water supply unit (190) and a power supply unit (195).

The input unit (120) receives a button operation input by a user or receives a command or a control signal. The input unit (120) can generate input data for controlling the action of the robot cleaner (100) by the user. The input unit (120) is composed of a keyboard (keypad), a dome switch (dome switch), a touch pad (static ), rollers, jiggle switches, etc. Through the input unit (120), the user can select a desired function or input information.

In addition, the input unit (120) may receive an automatic driving mode input according to an embodiment of the present invention, or receive a mode key input, a cleaning mode input, a driving start or a driving end input, and the like. For this purpose, the input unit (120) includes various buttons for receiving input of various modes, soft buttons for presenting functions through a touch screen, and the like.

The sensing part (130) is arranged on the side surface of the robot cleaning machine (100) for detecting obstacles.

The sensing part (130) senses the peripheral state of the robot cleaner (100) to generate a sensing signal for controlling the action of the robot cleaner (100). And, the sensing unit (130) transmits the sensing signal detected based on the surrounding state to the detecting unit (135). Such a sensor (130) is an obstacle detection sensor that transmits infrared or ultrasonic signals to the outside and receives signals reflected from obstacles. In addition, the sensing unit (130) includes a camera sensor that generates image information and transmits the generated image information, or filters out the image information to output sensed surrounding information.

The detection unit (135) detects an object, an obstacle, etc. present in an arbitrary specific area based on information sensed by the sensor unit (130). For example, a detection unit (135) detects an obstacle in front or detects an obstacle in the rear based on the traveling direction. The detecting unit detects the position of the obstacle and the distance to the obstacle from the ultrasonic sensor signal, infrared sensor signal, RF sensor signal or image data detected by the sensor unit (130), or detects the distance between the obstacle and the obstacle. conflict.

The communication unit (140) includes one or more modules capable of wireless communication between the robot cleaner (100) and other wireless terminals or between the robot cleaner (100) and a network where other wireless terminals are located. For example, the communication unit (140) can communicate with a wireless terminal as a remote control device, including a local area communication module or a wireless Internet module for the communication.

The operating state and operating mode of the robot cleaner (100) are controlled by the control signal received by such a communication unit (140). Examples of terminals for controlling the robot cleaner (100) include smartphones, tablets, personal computers, remote controllers (remote control devices) and the like that can communicate with the robot cleaner (100).

In addition, the storage unit (150) can store various user interfaces (User Interface) or Graphic User Interface (Graphic User Interface), store programs for operating the control unit (110), and can temporarily store input/output data. The storage unit (150) may include a flash memory type (flashmemorytype), a hard disk type (harddisktype), a miniature multimedia memory card type (multimediacardmicrotype), a memory card type (for example, SD or XD memory, etc.), a random access memory (RandomAccessMemory, RAM ), SRAM (StaticRandomAccessMemory), read-only memory (Read-OnlyMemory, ROM), EEPROM (ElectricallyErasableProgrammableRead-OnlyMemory), PROM (ProgrammableRead-OnlyMemory), magnetic memory, magnetic disk, at least one type of storage medium in optical disk.

In particular, according to an embodiment of the present invention, the storage unit (150) stores one or more driving mode information, and stores operation information related to the concentrated cleaning mode of the embodiment of the present invention.

The display unit (160) is provided on the upper surface or the side surface of the robot cleaner (100), and displays various information generated by the control unit (110). Here, the display unit (160) may include a liquid crystal display (Liquid Crystal Display: LCD), a thin film transistor liquid crystal display (Thin Film Transistor-Liquid Crystal Display: TFTLCD), an organic light-emitting diode (Organic Light-Emitting Diode: OLED), a flexible display (Flexible Display), a field At least one of a light-emitting display (Emission Display: FED), a three-dimensional display (3D Display), and a transparent display.

In addition, the display unit (160) also includes a sound output module, an alarm unit and the like.

The running unit (170) generates a control signal for rotationally moving the rotating member under the control of the control unit (110). The running unit (170) is composed of a unit combined with a motor, a gear, etc. to drive at least one rotating member.

The running unit (170) executes running operations such as moving, standing still, speed control, direction change, and angular velocity change under the control of the control unit (110). For this purpose, the traveling unit (170) is connected to a sensor such as an encoder.

In addition, the cleaning unit (180) is provided on the lower surface of the robot cleaner (100), and under the control of the control unit (110), the robot cleaner (100) moves or stops to clean the lower surface of the robot cleaner (100). The cleaning action of absorbing foreign matter or wiping with a rag. In addition, the cleaning unit (180) further includes an air cleaning unit for cleaning pollutants in the air.

In particular, in an embodiment of the invention, the cleaning section (180) includes a cleaner attachment module (102). Cotton-like cleaners such as rags are attached to the cleaner attachment module (102). Thus, when the cotton cleaner is attached to the cleaning unit (180), the robot cleaner (100) performs mop cleaning in which the pollutants fixed to the ground are wiped off by friction with the ground.

The water supply unit (190) continuously supplies water through such a cleaner attachment module (102), thereby improving the wiping performance of the cleaner, that is, the sweeping performance. For example, when a mop is attached, the water supply unit (190) is controlled to continuously supply water to the mop. The amount of water supplied is controlled by the function of the water supply unit (190) itself, or physically controlled by the control unit (110).

The control unit (110) usually controls the overall operation of the robot cleaner (100). For example, programs and controls related to cleaning time judgment, cleaning route determination, driving mode selection, obstacle avoidance, etc. are executed.

In particular, according to an embodiment of the present invention, the control unit (110) executes the intensive cleaning mode according to the driving mode stored in the storage unit (150).

The control unit (110) performs control to control the travel of the robot cleaner based on the travel mode stored in the storage unit (150) based on the user's input, and when the centralized cleaning mode is selected, the setting is based on the travel mode specified. A reference area of the current position of the robot cleaner, and the robot cleaner moves forward or backward along a curved radial path centered on the reference area.

Here, the radial path includes more than one arc path or includes more than one round-trip arc path.

When the radial path includes the one or more circular arc paths, the control unit (110) performs the following control: centering on the reference area, the robot cleaner (100) moves along the first arc at a certain angular velocity. 1 circular arc path to move forward, and then return to the second circular arc path twisted by a certain angle in a certain direction while retreating to the reference area again, thereby forming a curved radial path.

For this reason, when the concentrated cleaning mode is selected, the control unit (110) controls the rotational angular velocity in such a manner that the forward travel is performed along the first circular arc path, and the rotational angular velocity is controlled along the distance based on the forward travel. And the calculated second circular arc path reverses the path by a certain angle and travels backward to the reference area.

In addition, when the intensive cleaning mode is selected, the control unit (110) controls the rotational angular velocity by performing forward travel along the first circular arc path, and at a time based on the forward travel. The calculated second circular arc path is reversed by a certain angle and travels backward to the reference area.

In addition, when an obstacle is detected while traveling forward along the first circular arc path, the control unit (110) performs control to switch to reverse traveling, and perform a control based on the distance traveled forward, the angular velocity of forward traveling and the At least one of the times is used to calculate the second arc path and travel backward to the reference area.

In addition, when the radial path includes more than one round-trip circular arc path, when the centralized cleaning mode is selected, the control unit (110) controls to perform forward travel along the first round-trip circular arc path. , when the forward travel is completed, travel backward along the first round-trip circular arc path to the reference area, and when the backward travel is completed, rotate at the same place at a certain angle.

When an obstacle is detected while traveling forward along the first round-trip circular arc path, the control unit (110) performs the following control: switching to reverse traveling, and based on the time or distance of the forward traveling, Part of the first round-trip arc path is used to travel backward toward the reference area.

And, when an obstacle is detected within a certain distance from the reference area, the control unit (110) rotates in place in a direction for avoiding the obstacle.

In addition, when the cleaning mode is selected according to the user's input, the control unit (110) applies the following characteristics to the currently running driving mode to further improve the efficiency of mop cleaning: When the robot cleaning machine is at a certain When traveling a first distance on the route, return to a second distance shorter than the first distance along the predetermined route. This will be described later.

In addition, the power supply unit (195) supplies operating power to the robot cleaner (100), and stores or charges power supplied from an external power supply device. For this purpose, the power supply unit (195) includes one or more batteries. The power supply unit (195) receives power from an external power supply device through wired/wireless charging.

In this way, when the concentrated driving mode is selected, the control unit (110) executes the round-trip driving relative to the reference area along the curved radial path, thereby eliminating the situation that cannot be carried out due to the structure or complexity of the specific cleaning area, and the efficiency will be reduced. minimize. In addition, circular cleaning coverage can be realized, and it can be adaptively changed according to obstacles, so cleaning efficiency can be improved. For example, the concentrated cleaning mode can also be used without problems in corner sections or structures with obstacles.

Fig. 3 is a flow chart for explaining the control method of the robot cleaner (100) according to the embodiment of the present invention.

Referring to FIG. 3, the robot cleaning machine (100) of the embodiment of the present invention stores a plurality of travel patterns (S101).

As described above, the storage unit (150) stores a plurality of predetermined traveling patterns. The plurality of travel modes include a travel mode for performing general cleaning and an intensive cleaning mode according to an embodiment of the present invention.

In addition, the storage unit (150) further includes schedule information for executing various cleaning modes in combination. The schedule information includes sequence information of travel modes and time information corresponding to each travel mode. Here, each travel mode information or schedule information stored in the storage unit (150) is stored in advance in a nonvolatile memory or temporarily stored in a volatile memory.

Here, the driving pattern and scheduling information stored in the storage unit (150) are updated at a fixed cycle through the communication unit (140), or are refreshed each time the Internet network is connected, or are updated each time the robot cleaner is connected to the Internet. (100) When cleaning is started, it is received from the network and temporarily stored. Therefore, since the user can update the appropriate driving pattern and schedule information therefor every time the user improves it, performance can be improved in real time.

After that, the robot cleaner (100) receives a user's input to start cleaning (S103).

And, the robot cleaner (100) selects the intensive cleaning mode selection (S105) according to the user's input, and controls the movement of the robot cleaner according to the selected mode (S107).

When the centralized cleaning mode is selected based on the user's input, the control unit (110) controls the movement of the robot cleaner in accordance with the above-mentioned centralized cleaning mode. More specific movement by the intensive cleaning mode of the robot cleaner will be described later.

Afterwards, when a mode end input is received (S109) or when a certain period of time corresponding to the concentrated cleaning mode has elapsed (S111), the robot cleaner (100) ends the concentrated cleaning mode.

Next, such an intensive cleaning mode and the movement control of the robot cleaner ( 100 ) performed thereby will be described with reference to FIGS. 4 to 15 .

4 to 9 are flowcharts illustrating an embodiment of the concentrated cleaning mode of the robot cleaner embodying an embodiment of the present invention.

Referring to FIG. 4, when the centralized cleaning mode is selected, the robot cleaner (100) determines a reference area (S201).

A control unit (110) determines a circular area with a constant radius based on a starting point where the robot cleaner (100) is initially located as a reference area.

Then, when the reference area is determined, the robot cleaner (100) travels forward along the first circular arc path at the first angular velocity (S03).

Thereafter, the robot cleaner (100) calculates a second angular velocity for backward travel on the second circular arc path (S205).

According to an embodiment of the present invention, the second angular velocity can be determined based on the distance traveled forward. For example, the control unit (110) detects the actual distance traveled along the above-mentioned first circular arc route, and determines the second circular arc route based on the distance. A control unit (110) calculates a second angular velocity value based on a distance traveled on the first arcuate path such that a point at which travel ends when the vehicle travels backward on the second arcuate path becomes the reference area.

In addition, according to an embodiment of the present invention, the second angular velocity can be determined based on the forward traveling time. For example, the control unit (110) detects the actual time of traveling forward on the above-mentioned first circular arc route, and can determine the second circular arc route based on the time. In this case, the control unit (110) calculates the second angular velocity value based on the travel time of the first circular arc route so that the point at which travel ends when the second circular arc route is reversed becomes the reference area.

Then, the robot cleaner (100) travels backward on the second circular arc path to the reference area at a second angular velocity (S207).

As such a circular arc path is formed, a curved radial path centered on the reference area and reciprocating on the reference area is sequentially formed.

For this reason, the second arcuate path formed based on the second angular velocity is formed as a path rotated by a certain angle in a certain direction with respect to the first arcuate path of the forward travel.

For example, the certain direction is counterclockwise, and the second arc path formed based on the second angular velocity is a path rotated by a certain angle in the counterclockwise direction relative to the first arc path. More specifically, it will be described with reference to FIG. 6 .

FIG. 6 is a diagram illustrating a curved radial path forming a plurality of circular arc paths by movement of the robot cleaner (100) according to an embodiment of the present invention.

As shown in FIG. 6 , according to an embodiment of the present invention, the first circular arc path and the second circular arc path rotated by a certain angle are repeatedly formed, thereby forming a curved radial path.

The robot cleaner (100) starts to travel forward along the first arc path corresponding to (1) from the reference area. Then, the robot cleaner (100) travels backward at another angular velocity along the second arc path corresponding to (2), and returns to a position slightly moved counterclockwise with respect to the reference area. And, the robot cleaning machine (100) moves forward from the reference area again along the first circular arc path corresponding to (3), and then travels backward along the second circular arc path corresponding to (4). These actions can form a curved radial path centered on the reference area.

Afterwards, when an obstacle is detected near the reference area, the robot cleaner (100) rotates on the spot until no obstacle is detected (S211). If no obstacle is detected, forward travel is performed from the reference area along the first circular arc path at the first angular velocity again.

FIG. 7 shows a case where such an obstacle is not detected and rotates on the spot. As shown in Fig. 7, when the obstacle is located within a certain distance from the reference area, the control unit (110) may choose to rotate on the spot. And, when turning in place to avoid the obstacle, the control unit (110) resets the first arc path and starts forward travel.

In addition, FIG. 5 is a flow chart for explaining the control method of the robot cleaning machine (100) when an obstacle is detected when traveling to the first arc path, and FIGS. 8 to 9 comprehensively illustrate A diagram of the operation of the robot cleaner when an obstacle is detected.

The robot cleaner (100) travels forward along the first circular arc path (S221), and determines whether an obstacle is detected during the forward travel (S223).

Then, when an obstacle is detected (S223), the robot cleaner (100) immediately calculates a second arc path (S225), and travels backward to the reference area on the second arc path (S227).

According to such an embodiment, the robot cleaning machine (100) immediately switches to the backward movement mode and calculates the second circular arc path returning to the reference area when an accident such as a collision occurs during the forward movement, and follows the calculated second arc path. The vehicle travels backwards on a circular path, thereby eliminating the risk of being interrupted or leaving the area even in an environment where there are obstacles around.

In particular, as shown in Figure 8, even if there is an obstacle when driving forward, the second arc path can be calculated immediately to return to the reference area, and then the concentrated cleaning mode can be continued along the curved radial path. A smooth sweep can also be performed in restricted areas.

Not only that, as shown in Figure 9, in the structure such as a wall corner, if it is assumed to be an obstacle, when it reaches the wall, it returns to the reference area again, so it does not have a special impact on the cleaning mode. , It can also perform centralized cleaning on all corners.

10 to 15 are flowcharts for explaining an embodiment of centralized cleaning by a robot cleaner embodying another embodiment of the present invention.

Referring to FIG. 10, when the concentrated cleaning mode is selected, the robot cleaner (100) determines a reference area (S301).

A control unit (110) determines a circular area with a constant radius based on a starting point where the robot cleaner (100) is initially located as a reference area.

Then, when the reference area is determined, the robot cleaner (100) travels forward at the first angular velocity (S03).

In particular, according to another embodiment of the present invention, the robot cleaning machine (100) travels along a first round-trip arc path at a first angular velocity.

Thereafter, the robot cleaner (100) travels backward at the same first angular velocity (S305).

According to another embodiment of the present invention, the robot cleaner (100) retreats at the same first angular velocity along the first round-trip arc path. Therefore, it moves along the same first round-trip arc path, so the moving time and distance when traveling forward are the same as or approximate within an error range to those when traveling backward.

Afterwards, the robot cleaner (100) rotates at a certain angle on the spot (S307), and when no obstacle is detected (S311), it resumes forward travel at the first angular velocity (S303).

In order to form the above-mentioned radial path, the control unit (110) controls the forward travel again at the first angular velocity after rotating in a fixed direction at a fixed angle.

In addition, when an obstacle is detected (S311), the robot cleaner performs additional rotation in situ until no obstacle is detected (S313).

11 to 14 are diagrams showing the operation of such a robot cleaner ( 100 ) according to another embodiment of the present invention.

As shown in Figure 11, according to another embodiment of the present invention, the robot cleaning machine (100) performs forward travel and reverse travel along the round-trip arc paths (1), (2), and after rotating in situ at a certain angle, Further, forward travel and reverse travel are performed along the reciprocating circular arc paths (3), (4), and by repeating this operation sequentially, a curved radial path is formed.

Along with the formation of such a circular arc path, a curved radial path that goes back and forth from the reference area around the reference area is sequentially formed.

In addition, as shown in FIG. 12 , the robot cleaner ( 100 ) according to another embodiment of the present invention continues to perform additional rotation in situ when there is an obstacle near the reference area.

And, as shown in Fig. 13 and Fig. 14, when the robot cleaning machine (100) of another embodiment of the present invention detects an obstacle during forward travel, it executes backward travel again on the path of forward travel, so that there is an obstacle in the periphery. Even in the environment of objects or walls, it is also possible to eliminate the danger of interruption or escape area. In addition, even if there is an obstacle during forward travel, it is possible to return to the reference area using the route traveled just forward.

According to such an embodiment of the present invention, the cleaning concentration of the cleaning area is maximized, especially in the case of performing mop cleaning in parallel, at least 2 repeated cleanings are performed on the same section, and effective cleaning can be ensured centering on the reference area. cleaning coverage.

15 to 16 are flowcharts illustrating a method of controlling a robot cleaner according to still another embodiment of the present invention.

Referring to Fig. 15 , the robot cleaner (100) selects a driving mode and performs cleaning (S401).

Then, the robot cleaner (100) judges whether or not the sweeping (SWEEP) mode is selected (S203), and when the sweeping mode is selected, applies the sweeping mode to the current driving mode (S205).

The user instructs to apply the cleaning mode through the input unit (120). When the cleaning mode command is recognized, the control unit (110) controls to operate the current driving mode as the cleaning mode.

Here, the cleaning mode of the embodiment of the present invention is generally an additional mode applied together with the mop cleaning mode. FIG. 10 shows changes in the travel mode when the sweep mode is applied.

Here, the cleaning mode of the embodiment of the present invention is generally an additional mode applied together with the mop cleaning mode. FIG. 16 shows changes in the travel pattern of the intensive cleaning mode when the cleaning mode is applied.

As shown in FIG. 16, when the cleaning mode is applied, the control unit (110) causes the robot cleaner (100) to perform the following actions: after moving the first distance on a predetermined travel mode route, it travels along the route. The pattern path is returned to the second distance in the opposite direction, and by periodically repeating this operation, the same path is repeated for cleaning. Here, in order to ensure normal operation, the second distance needs to be shorter than the first distance, and preferably, the second distance is equivalent to half of the first distance.

Also, when an obstacle is detected while the sweep mode is applied, the control unit (110) executes a direction control operation such as avoidance based on the conventional travel mode.

In the case of such a sweeping mode, it is applicable not only to the above-mentioned first travel mode, second travel mode, or third travel mode, but also to a basic random travel mode, a straight travel mode, and the like.

The above-mentioned methods of various embodiments of the present invention can be embodied as program codes and provided to various servers or machines in the state of being stored in various non-transitory computer readable media (non-transitory computer readable medium).

The non-transitory computer-readable medium is not a medium that stores data for a short period of time such as registers, caches, and memories, but stores data semi-permanently and is readable by a machine. Specifically, the above-mentioned various applications or programs may be stored in non-transitory computer-readable media such as CD, DVD, hard disk, Blu-ray disc, USB, memory card, and ROM, and provided.

In addition, the preferred embodiments of the present invention have been illustrated and described above, but the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various modifications without departing from the scope of claims. Modifications should not be understood without departing from the technical idea or prospect of the present invention.

Claims (17)

1. a robot scavenging machine, comprising:

Input part, it receives the input of user;

Storage part, it stores the driving mode of the traveling for performing described robot scavenging machine; And

Control part, it controls as follows: according to the input of described user, the traveling of described robot scavenging machine is controlled based on the driving mode being stored in described storage part, when have selected concentrated cleaning modes, set the reference area based on the current location of described robot scavenging machine, make described robot scavenging machine carry out advancing or retreat traveling along the curve radiation path centered by described reference area.

2. robot according to claim 1 scavenging machine, wherein,

Described radiation path comprises more than one circular arc path,

When have selected described concentrated cleaning modes, described control part controls angular velocity of rotation as follows: performing along the 1st circular arc path advances travels, and the 2nd circular arc path then regression calculated along the distance based on described traveling of advancing sails to described reference area.

3. robot according to claim 1 scavenging machine, wherein,

Described radiation path comprises more than one circular arc path,

When have selected described concentrated cleaning modes, described control part controls angular velocity of rotation as follows: performing along the 1st circular arc path advances travels, and the 2nd circular arc path then regression calculated along the time based on described traveling of advancing sails to described reference area.

4. robot according to claim 1 scavenging machine, wherein,

When detecting barrier when described advance travels, convert described retrogressing to by described control part and travel, and sail to described reference area along described curve radiation path then regression.

5. robot according to claim 1 scavenging machine, wherein,

Described radiation path comprises more than one round circular arc path,

When have selected described concentrated cleaning modes, described control part controls as follows: perform along the 1st round circular arc path traveling of advancing, when completing advance and travelling, come and go circular arc path retrogressing along the described 1st and drive to described reference area, when completing retrogressing and travelling, original place rotates to an angle.

6. robot according to claim 5 scavenging machine, wherein,

When detecting barrier when advance travels, converted to by described control part and retreat traveling, and come and go a part for circular arc path along the described 1st of described traveling of advancing and retreat traveling to described reference area.

7. robot according to claim 1 scavenging machine, wherein,

When detecting barrier within the certain distance from described reference area, described control part is utilized to carry out original place rotation with the direction of avoiding described barrier.

8. robot according to claim 1 scavenging machine, wherein,

When have selected wiping mode in the input according to user, described control part is suitable for following characteristic to current driving pattern: when described robot scavenging machine has travelled the 1st distance on certain path, along described in the Recycle ratio of described certain path the 1st apart from the 2nd short distance.

9. a control method for robot scavenging machine, comprises the steps:

Receive the input of user;

Store the driving mode of the traveling for performing described robot scavenging machine;

According to the input of described user, control the traveling of described robot scavenging machine based on the driving mode being stored in described storage part;

When have selected concentrated cleaning modes, set the reference area of the current location based on described robot scavenging machine; And

Described robot scavenging machine is controlled as carrying out advancing or retreat traveling along the curve radiation path centered by described reference area.

10. the control method of robot according to claim 9 scavenging machine, wherein,

Described radiation path comprises more than one circular arc path,

The step of carrying out controlling along described curve radiation path comprises the steps: when have selected described concentrated cleaning modes, with traveling of advancing along the 1st circular arc path execution, and the mode that the 2nd circular arc path retrogressing calculated along the distance based on described traveling of advancing travels extremely described reference area controls angular velocity of rotation.

The control method of 11. robot according to claim 9 scavenging machines, wherein,

Described radiation path comprises more than one circular arc path,

The step of carrying out controlling along described curve radiation path comprises the steps:

When have selected described concentrated cleaning modes, with traveling of advancing along the 1st circular arc path execution, and the mode that the 2nd circular arc path retrogressing calculated along the time based on described traveling of advancing travels extremely described reference area controls angular velocity of rotation.

The control method of 12. robot according to claim 9 scavenging machines, wherein,

This control method also comprises the steps: to detect barrier when described advance travels, convert described retrogressing to and travel, and sail to described reference area along described curve radiation path then regression.

The control method of 13. robot according to claim 9 scavenging machines, wherein,

Described radiation path comprises more than one round circular arc path,

The step of carrying out controlling along described curve radiation path comprises:

When have selected described concentrated cleaning modes, perform along the 1st round circular arc path traveling of advancing;

When completing advance and travelling, come and go circular arc path then regression along the described 1st and sail to described reference area; And

When completing retrogressing and travelling, control as original place rotates to an angle.

The control method of 14. robot according to claim 13 scavenging machines, wherein,

This control method also comprises the steps: when detecting barrier in traveling of advancing on the way along the described 1st round circular arc path, convert to and retreat traveling, and come and go a part for circular arc path along the described 1st of described traveling of advancing and retreat traveling to described reference area.

The control method of 15. robot according to claim 9 scavenging machines, wherein,

This control method also comprises the steps: to detect barrier within the certain distance from described reference area, carry out original place rotation with the direction of avoiding described barrier.

The control method of 16. robot according to claim 9 scavenging machines, wherein,

This control method also comprises the steps: to have selected wiping mode in the input according to user, following characteristic is suitable for current driving pattern: when described robot scavenging machine has travelled the 1st distance on certain path, along described certain path described in Recycle ratio the 1st apart from the 2nd short distance.

17. 1 kinds of computer-readable recording mediums, record the program of the method described in any one for making in computer enforcement of rights requirement 9 to 16 in this recording medium.