KR100730311B1 - Location-Aware Robot Cleaners and Location-Aware Methods in Robot Cleaners - Google Patents

Abstract

The present invention provides a position recognition robot cleaner and a method for recognizing a position in a robot cleaner based on a reception unit for receiving a signal for identifying each of the cleaning zones upon entering a communication zone that distinguishes at least one predetermined cleaning zone and a received signal. Determining whether the cleaning area is within a predetermined cleaning area path to be cleaned among the cleaning areas of the cleaning area, including a search path for searching and performing cleaning to enable automated cleaning after the initial setting to increase the efficiency of cleaning.

Description

Location-aware robot cleaner and position recognition method in robot cleaners {Method and Apparatus for recognizing the position in Robot Cleaner}

1 illustrates a configuration of a position-aware robot cleaner as a preferred embodiment of the present invention.

2 (a) -2 (h) illustrate a process of cleaning a predetermined cleaning area in a position-aware robot cleaner as an exemplary embodiment of the present invention.

3 (a) to 3 (d) illustrate a process of cleaning a predetermined cleaning area in a location-aware robot cleaner as another preferred embodiment of the present invention.

4 (a) -4 (b) show an internal configuration of an infrared signal as a preferred embodiment of the present invention.

5 is a flowchart illustrating a method of recognizing a location in a robot cleaner.

6 is a flowchart illustrating a method of recognizing a location in a robot cleaner according to an exemplary embodiment of the present invention.

The present invention relates to an interface of a robot, and more particularly, to position recognition that distinguishes a cleaning area from a robot cleaner.

In general, the robot cleaner refers to a device that inhales foreign substances such as dust from the floor while driving the area to be cleaned without the user's operation.

Currently, there is a docking system that can identify the position of the virtual wall system or the robot charger to distinguish the operation section of the robot cleaner. However, this method is applied to the random cleaning method, and is a technical configuration that makes the robot inaccessible to only some areas that should not be accessed.

Also, the robot charger only knows the location of the charger, and cannot identify the area where the robot is cleaning.

In the present invention, the above-mentioned conventional problems are solved, and the robot cleaner identifies the cleaning zone of the robot cleaner so as to autonomously clean the cleaning zone set without continuous monitoring or additional user setting by the user.

In one preferred embodiment of the present invention, the position-aware robot cleaner comprises: a receiver for receiving a signal for identifying each cleaning zone when entering a communication zone that distinguishes at least one predetermined cleaning zone; And a path search unit for searching for the cleaning area and performing cleaning by determining whether the cleaning area is within a predetermined cleaning area path in which the cleaning is to be performed, based on the received signal.

In a preferred embodiment, in the position-aware robot cleaner, the communication area is divided by an infrared signal transmitted by the indicator.

In another preferred embodiment, the communication area in the location-aware robot cleaner is divided by an infrared signal transmitted from the charger.

The path searching unit may further include a mapping unit configured to calculate an area of the cleaning area based on the searched distance of the cleaning area and to perform cleaning by setting a cleaning time corresponding to the area.

In another preferred embodiment of the present invention, a method for recognizing a location in a robot cleaner includes: (a) receiving a signal identifying each cleaning zone when entering a communication zone that distinguishes at least one predetermined cleaning zone; And (b) searching for a cleaning area and performing cleaning by determining whether the cleaning signal is within a predetermined cleaning area path in which the cleaning is to be performed, based on the received signal.

In a preferred embodiment, the method for recognizing a location in the robot cleaner further includes (c) returning to the location of the charger after the cleaning of the predetermined cleaning area in which the cleaning is to be performed is performed.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that the same elements among the drawings are denoted by the same reference numerals and symbols as much as possible even though they are shown in different drawings. In the following description of the present invention, detailed descriptions of well-known functions or configurations will be omitted when it is determined that the detailed description may unnecessarily obscure the subject matter of the present invention.

1 illustrates a configuration of a position-aware robot cleaner as a preferred embodiment of the present invention.

The location aware robot cleaner 100 includes a receiver 110, a path searcher 120, and a restorer 130.

The receiver 110 receives a signal for identifying each of the cleaning areas when entering the communication area that divides at least one predetermined cleaning area. In this case, the communication area may be distinguished through an infrared signal transmitted from an indicator or a charger.

The path search unit 120 performs the cleaning after determining whether the current position of the robot cleaner is within a predetermined cleaning area path to be cleaned by the user, based on the signal received by the receiver 100.

More specifically, the mapping unit 121 performs the cleaning by calculating the area of the cleaning area based on the searched distance of the cleaning area and setting the cleaning time corresponding to the area when the search of the cleaning area set by the user is completed. do.

The restoration unit 130 returns the robot cleaner to the position of the charger when the cleaning of the cleaning area set by the user is performed by the robot cleaner.

The configuration of the position recognition robot described in FIG. 1 will be described in more detail with reference to specific embodiments of FIGS. 2 and 3.

2 (a) -2 (h) illustrate a process of cleaning a predetermined cleaning area in a position-aware robot cleaner as an exemplary embodiment of the present invention.

In FIGS. 2 (a) to 2 (h), it is assumed that the user has made a reservation setting to clean the zone A 240 and the zone B 250.

In addition, it is assumed that the infrared reception sensor is built in the left and right of the robot cleaner 200, respectively. And, at the 'a' 201 and the 'b' 202 positions of the charger and the first indicator 210, the second indicator 220 and the third indicator 230, respectively, 'd' and 'la' ( 211, 212), 'e' and 'bar' (221, 222), 'sa' and 'ah' (231, 232), respectively, it is assumed that the infrared transmission sensor is built.

In this case, the infrared signal from the charger is output in the order of 'ga'-> 'or'-'' ga ', and the first indicator 210, the second indicator 220 and the third indicator 230 are respectively' '->' La '->' D '..,' M '->' Bar '->' D '..,' Sa '->' A '->' Sa '.. .

In addition, it is assumed that each of the first indicator 210, the second indicator 220, and the third indicator 230 operates only when the robot approaches a predetermined area. In addition, the charger, the first indicator 210, the second indicator 220 and the third indicator 230 are operated independently of each other.

Hereinafter, a process of cleaning the zone A 240 and the zone B 250 set by the user will be described in detail.

A receiving sensor (not shown) that performs the function of the receiving unit 110 of the location-aware robot cleaner is at least as long as the communication area of the charger and the first indicator 210, the second indicator 220, and the third indicator 230. Receive a signal identifying each cleaning zone upon entering a communication zone that distinguishes one or more predetermined cleaning zones.

For example, the robot cleaner 200 identifies that the current location is the zone A 240 by receiving a 'ga' 201 or 'b' 202 signal of the charger. In addition, when the first indicator 210 receives a signal, it identifies that the current location is the B zone 250.

More specifically, the robot cleaner divides the communication area based on the infrared signal transmitted from the charger or the indicator. That is, the '10XX0000', 'I' signal 202 is '01XX0000' for the 'ga' signal 201 of the charger, and the '10XX0001', 'D' signal for the 'da' signal 211 of the first indicator. In the case of 212, the charger and the indicator are distinguished by setting as '01XX0001'. An embodiment thereof will be described in more detail with reference to FIG. 4.

The robot cleaner 200 moves to the place where the wall is located forward from the initial starting point (S200). Upon arrival at S201, the robot cleaner moves to the right direction using the left part of the robot cleaner (S210). After arriving at the point S221 shown in Figure 2 (b), the direction is moved along the wall and proceeds (S220).

When approaching the communication area of the third indicator 230, the robot cleaner recognizes the 'dead' 231 signal and immediately exits the path (FIGS. 2 (c) and S230) (FIG. 2 (d) and S231). ).

That is, since the signal robot cleaner 200 is set to clean the zone A 240 and the zone B 250, the 'ga' 201 and the 'b' 202 signals are detected while searching for the path of the zone A. In case of receiving other signal, do not enter other area beyond A area.

The robot cleaner, which has exited, proceeds along the wall again (S240) and changes direction at the point S241 (S250, S260). In the case of recognizing the 'S' signal S221 in the communication area of the second indicator 220 in progress, it immediately exits the C region 260 (FIG. 2 (e) and S261) and continues the path (S270). .

Similarly, when recognizing the 'multi' signal S211 in the communication region of the first indicator 210, it immediately exits the zone B 250 (FIG. 2 (f), S281) and continues the path (S290). ).

The robot cleaner 200 then determines the starting point after receiving the signals 'b' 202 and 'ga' 201 of the charger in the zone A 240. The cleaning zone path is then searched for as described above as shown in Figure 2- (g). The area is calculated based on the length of the searched path, the cleaning time corresponding to the area is set, and the area A is cleaned (Fig. 2- (h)). However, it should be noted that the method of performing cleaning shown in FIG. 2- (h) is not limited to the technical idea of the present invention as an embodiment, and all technical ideas corresponding to or equivalently belong to the present invention. do.

3 (a) to 3 (d) illustrate a process of performing the cleaning of the B zone after the cleaning of the A zone among the A zone and the B zone set by the user as the preferred embodiment of the present invention. do.

The robot cleaner 300 moves along the nearest wall to perform the zone B cleaning after the cleaning of the zone A 340 is completed, and the 'multi' signal 311 and the 'la' signal of the zone B 350 ( Move until it receives 312).

As shown in FIG. 3A, the second indicator 220 does not enter the C zone 360 due to the 'e' signal 321 and the 'bar' signal 322 transmitted by the second indicator 220. When the 'multi' signal 311 of the zone B 350 is input from the reception sensor of the robot cleaner, the robot cleaner enters the zone B 350.

Then, the path is moved along the wall to find the starting point of the zone B (350) as in the method of finding the starting point (the 'ga' signal, the 'I' signal) in the zone A (340) (Fig. 3 (a)). After receiving the 'la' signal 312 of the B zone 350, the start point is recognized, and then the mapping of the cleaning area path is started, and when the return point is returned to the point where the start point was recognized, the mapping is completed. When the mapping is completed, the cleaning of the zone B 350 is performed. Even in the case of receiving the 'd' signal 311 of the first indicator 310 during the cleaning, the area A is not allowed to enter the area A because the cleaning has already been performed.

3 (c) shows a process in which the robot cleaner returns to the charger point when all cleaning for the area set by the user is performed.

When the cleaning of the zone reserved by the user has been performed, the robot cleaner is in the return mode, and the 'multi' signal 311 of the first indicator 310 allows the robot cleaner to exit the zone B 350. After leaving the B zone 350, new entry into the B zone is not allowed. Zone C and Zone D will also not allow entry.

When the robot cleaner moves along the wall and nears the communication area of the charger, the robot cleaner recognizes the 'I' signal and docks it. As shown in FIG. 3 (c), when the signal is received from the 'a' signal 301 to the 'b' signal 302 in the charger, the location of the charger may be checked using only the 'b' signal 302. Likewise, when a signal is received from the 'I' signal 302 in the order of the 'ga' signal 301 in the charger, the location of the charger may be checked using only the 'ga' signal 301.

3- (d) shows a state in which the robot cleaner returns to the charger.

4 (a) -4 (b) show an internal configuration of an infrared signal as a preferred embodiment of the present invention.

The receiver 110 of the location-aware robot cleaner of the present invention receives a signal for identifying each cleaning zone when entering the communication zone that divides at least one predetermined cleaning zone. The signal transmitted in the communication area of the charger or indicator includes an infrared signal, and the infrared signal includes location information of the cleaning area in which the charger and the indicator are located, respectively. In addition, the infrared signal transmitted by the indicator also includes battery information embedded in the indicator.

In more detail, looking at an embodiment as follows.

Fig. 4A shows an example of the configuration of the infrared signal transmitted by the indicator.

4B shows an example of the configuration of the infrared signal transmitted from the charger.

In one preferred embodiment of the present invention, the infrared signal consists of a total of three bytes: a start byte, an information data byte, and a checksum data byte. The start bit 410 is always set to 1 in the start byte. The information data bit includes an indicator, usage information of the left and right sensors of the transmitter sensor of the charger, information about the cleaning area, and the like. The checksum data byte is calculated through the calculation process of '0x00-Information data byte', and the verification is performed inside the robot cleaner.

5 is a flowchart illustrating a method of recognizing a location in a robot cleaner.

The robot cleaner receives a signal identifying each of the cleaning zones upon entering a communication zone that distinguishes at least one predetermined cleaning zone.

Thereafter, it is determined whether the driving path of the robot cleaner, which is determined based on the received signal, is within an area where the user requests cleaning. If the cleaning area is not set by the user, the robot cleaner modifies the path (S521).

If the cleaning zone is set by the user, the route search is continued to map the cleaning zone, and when the mapping is completed, the cleaning is performed (S530 and S540).

When the cleaning of one cleaning zone is completed, it is determined whether there is another cleaning zone set by the user (S550), and if there is another cleaning zone, cleaning is performed in another cleaning zone as described above, and the user When the cleaning of all the set cleaning areas is completed, the robot cleaner returns to the position of the charger (S560).

6 is a flowchart illustrating a method of recognizing a location in a robot cleaner according to an exemplary embodiment of the present invention.

If no mode is set in the robot cleaner, the user sets a mode for the robot cleaner by setting a cleaning area to be cleaned (S610). The robot cleaner performs a mode according to the user's setting (S620), and maps the cleaning area starting with finding the starting point of the cleaning area. During the process of mapping the cleaning area, it is checked whether the path of the robot cleaner is suitable by receiving the cleaning area signal (S640 to S660).

When the mapping is completed, the cleaning is started, and after the cleaning is completed (S670, S671), if there is no next area to be cleaned (S680), it returns to the original position of the charger (S690).

The invention can also be embodied as computer readable code on a computer readable recording medium. Computer-readable recording media include all kinds of recording devices that store data that can be read by a computer system.

Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like, which are also implemented in the form of carrier waves (for example, transmission over the Internet). It also includes. The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

The best embodiments have been disclosed in the drawings and specification above. Although specific terms have been used herein, they are used only for the purpose of describing the present invention and are not used to limit the scope of the present invention as defined in the meaning or claims.

Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible from this. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

In the position recognition robot cleaner and the robot cleaner presented in the present invention, the robot cleaner can identify and recognize each room in the house by itself, so that cleaning can be automated with a simple setting without continuous observation of the user.

There is an advantage that the efficiency of cleaning is improved by autonomous to the initial setting without further adjustment by the human.

Claims (11)

A cleaning unit for receiving an infrared signal identifying the cleaning zone when entering the at least one cleaning zone in a cleaning environment in which an indicator or a charger is attached to each of the at least one cleaning zone, respectively, which emits different infrared signals; Determining a cleaning area currently located on the basis of the received infrared signal, and if the cleaning area is a predetermined cleaning area to calculate the area based on the distance of the currently located cleaning area to set the cleaning time and perform cleaning Position recognition robot cleaner comprising a; path search unit. delete delete The method of claim 1, wherein the infrared signal Position-aware robot cleaner further comprises battery information of the indicator. delete The method of claim 1, And a restoring unit which returns to the position of the charger after the cleaning of the predetermined cleaning area in which the cleaning is to be performed is all performed. (a) receiving an infrared signal identifying the cleaning zone upon entering the at least one cleaning zone in a cleaning environment, each having an indicator or a charger attached to each of the at least one cleaning zone that emits a different infrared signal; And (b) determine the cleaning area currently located on the basis of the received infrared signal, and if the identified cleaning area is a predetermined cleaning area, calculate the area based on the distance of the currently located cleaning area, set the cleaning time, and then clean the area; Path searching step of performing; location recognition method in a robot cleaner comprising a. delete delete delete The method of claim 7, wherein and (c) returning to the position of the charger after the cleaning of the preset cleaning area to be cleaned is performed.

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