Robot cleaner and system therewith and method of driving thereof

SWEDEN (12) PATENT (13) C2 (ni 524 488 (19) SE (si)

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2004-08-17

2003-02-08

2002-03-26

2002-03-26

International class ⁷

A47L 9/00, 11/40

PATENT AND REGISTRATION (45) (41) (22) (24) (62) (86) (86)

Patent filed Application widely available The patent application was submitted on expiration date

Master Application Number (21) Patent Application Number 0200900 9

Application received as:

ΓΧ | (83)

International filing day Filing date for European patent application Deposit of microorganism (30)

2001-08-07 KR 01/0047426 Swedish patent application completed international patent application with number □ converted European patent application with number (73) (72) (74) (54) (56) (57)

Assignee

INVENTOR

AGENT

NAME

Samsung Gwangju Electronics Co. Ltd, 271 Oseon-dong Kwangsangu Gwangju City KR

Jeong-gon Song, Gwangju City KR, Jang-youn Ko, Gwangju City KR, Kwang-su Kim, Gwangju City KR Awapatent i Linköping AB

Cleaning robot, systems therewith and method of controlling the same

CALLED PUBLICATIONS:

JP A 59 108 116, US A 4 700 427, US A 5 001 635, US A 5 622 236, US A 5 560 702

SUMMARY:

Cleaning robot (10), systems therewith and method of controlling the same. The cleaning robot system includes a cleaning robot (10) that performs wireless communication cleaning work with an external device, the cleaning robot (10) has a plurality of zonal couplers arranged on a lower part of a body in a row, and a control plate placed in a floor in a work surface. , on the control plate, metal wires are formed in a predetermined pattern with the metal wires detectable by the zonal couplers. Since recognition of position and calculation of trajectory becomes easier with a workspace, the performance of the cleaning robot (10) is improved while the burden of having to process algorithms is reduced.

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The numbers in brackets indicate international identification code, INID code. Letters in clamps indicate international document code.

524 488

Summary

Cleaning robot (10), systems therewith and method of controlling the same. The cleaning robot system includes a cleaning robot (10) that performs wireless communication cleaning work with an external device, the cleaning robot (10) has a plurality of zonal couplers arranged on a lower part of a body in a row, and a control plate placed in a floor in a work surface. , on the control plate, metal wires are formed in a predetermined pattern with, the metal wires detectable by the zonal couplers. Since recognition of position and calculation of trajectory becomes easier with a workspace, the performance of the cleaning robot (10) is improved while the burden of having to process algorithms is reduced.

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BACKGROUND OF THE INVENTION

1st technology Area

The present invention relates to a cleaning robot, a system thereof, and a method for controlling the same, and more particularly to a cleaning robot, a system thereof, and a method for controlling the same, capable of controlling the movement of the cleaning robot to a target area simply by obtain geographical information on the target area.

1st Description of prior art

Generally, without the influence of a user, the cleaning robot automatically travels along a cleaning surface within a cleaning target area as it draws foreign substances such as dirt or dust from the cleaning surface.

During a cleaning process, the cleaning robot senses a distance to obstacles such as furniture, walls, etc., and controls based on the sensed information so that it does not collide with the obstacles.

To ensure that the entire working surface is covered by the cleaning robot, it is necessary that the cleaning robot recognizes its relative position in relation to the working surface.

Although many studies have been conducted on a way to make the cleaning robot recognize the relative position by memorizing detailed images through a camera equipped therefor, due to considerably burdensome algorithms for image recognition process, and large potential for position recognition errors due to changes in the environment, the accuracy of the image recognition process has not improved, and commercialization thereof has been discouraged.

SUMMARY OF THE INVENTION

The present invention has been made to overcome the aforementioned problems of the prior art, and consequently, it is an object of the present invention to provide a cleaning robot, a system therefor, and a method for controlling the same, capable of not only correctly knowing again a position but also reducing the burden of having to have position recognition process algorithms.

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The invention is defined by the appended independent claims.

The above object is accomplished with a cleaning robot to perform a wireless communication cleaning operation with an external device, comprising:

a driving member driving a plurality of wheels mounted on the body of the cleaning robot; a dust collection part mounted on the body, to collect dust from a floor area within a work area. The cleaning robot further comprises a plurality of zonal couplers arranged on a lower surface of the body as well as facing the floor surface and spaced apart at a predetermined distance from each other, said plurality of zonom couplers being arranged to detect the existence of a metal surface located in the floor surface; and a control portion which calculates a travel distance and a route by utilizing an output signal from the zonal couplers during the journey, and controls the driving portion such that the driving portion performs an assigned work using the calculated route.

The Zonom switches include an oscillator that oscillates through a detecting coil, a wave detector that detects the amplitude of the oscillator from the wave detecting coil, and an integrator that integrates and outputs a signal output through a wave detecting circuit.

The Zonom couplers are disposed in a row along a line connecting axles for wheels opposite each other.

The Zonom couplers are arranged in odd numbers so that a Zonom coupler is located in the center of the axially connecting line and the rest of the Zonom couplers are placed side by side in a symmetrical manner.

The above objects are also achieved by a cleaning robot system in accordance with the present invention, including a cleaning robot that performs wireless communication cleaning work with an external device, the cleaning robot has a plurality of zonal couplers arranged on a lower part of a body in a row, and a touch pad located in a floor of a work surface, on the control plate, metal wires are formed in a predetermined pattern with the metal wires detectable by the zonom couplers.

The metal wires are formed on a lower surface of the guide plate.

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The above object is also accomplished by a method of controlling the cleaning robot, the cleaning robot recognizes a direction of travel using a detection signal detected by a plurality of zonal couplers arranged on a lower surface of a body at predetermined distances from each other with metal conduits formed on a floor area in a floor area. a predetermined pattern, the control method in accordance with the present invention includes the steps of generating and memorizing a pattern map for the metal wires while the cleaning robot moves within the work area when it receives a work request signal, recognizing a position of the cleaning robot by comparing the pattern map with the detection signal detected by the zonal switches, and calculating from the recognition location to a destination, and move the cleaning robot along a calculated route.

The number of zonal couplers is at least three, arranged along a line connecting the opposite wheel axes of the cleaning robot, in a row and in a symmetrical manner, and the control method according to the present invention includes the steps that when the detection signal is received from the outer zonom coupler during the displacement process. temporarily stopping the formation and calculation of path alignment coordinates including change of direction and straight forward direction required for metal line detection by means of the center coupler arranged in the center;

BRIEF DESCRIPTION OF THE DRAWINGS

The above-mentioned objects and features of the present invention will become more apparent by describing the preferred embodiment of the present invention in detail with reference to the accompanying drawings, in which;

FIG. 1 is a perspective view showing the cleaning robot in accordance with the present invention, in which a casing is withdrawn therefrom;

FIG. 2 is a bottom view schematically showing the cleaning robot of FIG. 1

FIG. 3 is a block diagram showing a cleaning robot system using the cleaning robot of FIG. 1;

FIG. 4 is a block diagram showing an example of a proximity sensor of FIG. 3;

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FIG. 5 is a block diagram showing the central controller of FIG. 3;

FIG. 6A to 6D are views showing examples of metal wires used in the cleaning robot of FIG. 1;

FIG. 7 is a view for explaining a process of adjusting the path of the cleaning robot in FIG. 1 along the metal lines; and

FIG. 8 is a flow diagram illustrating a process of trace line alignment during a cleaning operation with the cleaning robot of FIG. 1st

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

Detailed description of a cleaning robot, a system therewith, and a control method in accordance with the preferred embodiment of the present invention will follow with reference to the accompanying drawings.

FIG. 1 is a perspective view of the cleaning robot in accordance with the preferred embodiment of the present invention, in which a housing is withdrawn therefrom. FIG. 2 is a bottom view of the cleaning robot of FIG. 1, and FIG. 3 is a block diagram showing a cleaning robot system using the cleaning robot of FIG. 1st

A cleaning robot 10 includes a dust collecting portion 11, a sensor portion 12, a forward facing camera 13, a driving portion 15, a memory unit 16, a transfer portion 17, a controlling portion, and a battery 19.

The dust collecting part 11 is mounted on a body 10a, to collect dust from the cleaning surface while the ambient air is drawn in. The dust collecting part 11 can be constructed in many ways by generally known methods. For example, the dust collecting member 11 includes a suction motor (not shown) and a dust collection chamber which collects dust drawn through the suction port or suction tube during operation of the suction motor. The suction tube is designed to face the cleaning surface.

The sensor portion 12 includes obstacle detecting sensors 12a formed on a surface of the body at a predetermined distance from each other to transmit signals and receive reflected signals, a travel sensor 12b for sensing the traveled distance, and zonal coupler 12c.

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The obstacle detecting sensors 12a include light emitting elements 12a1 that emit light and light receiving elements 12a2 receiving reflected light arranged along an external circumference of the obstacle detecting sensor 12a at a predetermined distance from each other and in vertical rows. Alternatively, the obstacle detecting sensors 12a may be an ultrasonic sensor that emits ultrasonic waves and receives reflected ultrasonic waves. The obstacle detecting sensors 12a are also used to measure a distance to the obstacle or wall.

The distance sensors 12b may be RPM sensors which sense a revolution per minute (RPM) for the wheels 15a to 15d. For example, the RPM sensor may be an encoder that knows the RPM of the motors 15e and 15f.

As shown in FIG. 2, a plurality of zonal couplers are located on a lower surface of the body 10a, facing the work surface.

Preferably, the zonal couplers 12c are located at a predetermined distance from each other in a symmetrical pattern, following an imaginary line 15e connecting center of two wheels 15c and 15d, i.e. following a axis line 15e for the wheels 15c and 15d. Even more preferably, the zonom couplers 12c are arranged in odd numbers, such that a zonom coupler 12c is located at a center point 15f on the axis 15e and the rest of the zonom couplers 12c are placed next to the central zonom coupler in a symmetrical pattern. Five zonomec couplers 12c are preferred.

Once the zonal couplers 12c are located on a axis line 15e of the wheels 15c and 15d as described above, the path of the cleaning robot 10 is readily adjusted in accordance with the signals of the zonal couplers 12c, with an adjustment unit consisting of orthogonal rotation / straight motion / orthogonal rotation.

Preferably, the zonal couplers 12c are used in well-known devices which indirectly detect metal material at a predetermined sensing distance in a direction towards the cleaning surface in the working area.

For example, the zonomec couplers 12c may be oscillation switches which determine the existence of metallic materials by generating an oscillation signal of predetermined frequency, detecting amplitude variation of the oscillation with a co-operation of the metallic material with the magnetic field generated by the oscillation, or may be the zinc coupler capacitance switches such as

524 488 determines the existence of detected objects by detecting capacitance variation according to the distance between the detecting electrodes and the detected object.

In this embodiment, the zonal couplers 12c are of the oscillation type.

As shown in FIG. 4, the general structure of the oscillating type of switch 12c includes an oscillator 12ck, a wave detector 12cl and an integrator 12cm. Depending on the signal detection capability, an amplifier can be used.

The oscillator 12ck generates a high frequency oscillation signal through a detection coil arranged adjacent to the detecting surface.

The wave detector 12cl detects and outputs an oscillation amplitude for the detection coil in the oscillator 12ck.

The integrator 12cm integrates the output signal through the wave detector 12cl and outputs the result to the control portion 18 through the amplifier 12cn.

When a detected object, for example metal material, approaches the high frequency magnetic field produced by the detection coil, by electromagnetic induction, a vortex current is generated at the detected object (metal material). The eddy current is created against the variation in magnetic flux produced at the detection coil, and the oscillation amplitude of the internal oscillation circuit of the oscillator 12ck is reduced or stopped. The oscillation type 12c zonal coupler detects the existence of the detected object (metal material) using such interaction.

It is preferred that the metal wires detectable by the zonal couplers 12c be embedded in the lower part of the floor.

For example, as shown in FIG. 6A to 6D, the metal wires 61.63, 65, 67 are formed on a guide plate 60 in a predetermined pattern. The metal wires 61, 63, 65, 67 are arranged so that the line width therebetween corresponds to the detection area of ​​the zonal couplers 12c.

Preferably, the metal wires 61, 63, 65, 67 are formed in the example patterns of FIG. 6A to 6D below the control plate 60, which is a so-called floor plate, not to

524 488 is exposed externally. It is further preferred that the guide plate 60 is formed of flexible non-conductive material, such as the metal wires 61, 63, 65, 67.

The thickness of the control plate 60 is determined within a sensor range of the zonomec couplers 12c for the cleaning robot 10. For example, the thickness of the control plate 60 is preferably less than 5 cm.

FIG. 6A shows the matrix-like metal wires 61 embedded in the control plate 60.1 in this case, as the zonon couplers 12c approach the intersection with the metal wires 61, all the zonon couplers 12cl to 12c5 output detection signals. Accordingly, the trimming can be readily detected, and thus, the position of the cleaning robot 10 can be more accurately recognized.

The forward-facing camera 13 is positioned on the body 10a to photograph objects in front and output the photographed images to the control portion 18.

The driving portion 15 includes a pair of front wheels 15a, 15b mounted on the two front sides, a pair of rear wheels 15c, 15d mounted on the two rear sides, a pair of motors 15e, 15f for rotatable driving of the pair of wheels 15c, 15d and a timing belt 15g arranged to transmit driving force generated by the rear auxiliary pair 15c,

15d to the front wheels 15a, 15b. The driving portion 15 drives the motor pair 15e, 15f in accordance with the control signal from the control portion 18 to rotate the motor pair 15e, 15f independently of one another. Each motor in pairs 15e, 15f is rotated bi-directionally. To change the direction of travel of the cleaning robot 10, the driving member 15 drives the motor pair 15e, 15f at different speeds.

The transmitting portion 17 transmits data to be transmitted to an antenna 17a, and transmits a received signal from the antenna 17a to the control portion 18.

The battery 19 is placed on the body 10a to be charged by a charging terminal (not shown). The charging terminal is formed on an outer surface of the body 10a, to be removably connected to an external charging device 30.

A battery level detecting portion 20 detects a charge level of the battery 19, and generates a charge request signal when it determines that the charge level reaches a predetermined minimum limit.

The controlling portion 18 processes the signal received through the transmitting portion

17, and control the respective parts. When a key input device (not shown) with one

524 488 amount of keys for influencing the function selection of the cleaning robot 10 is arranged at the body 10a, or to a remote control 40, the control member 18 processes key signals input from the key input device.

The control part 18 preferably controls the respective parts so that the cleaning robot 10 maintains communication with the external charging device 30 when it is not working. By maintaining connection to the external charging device 30 when it is not working, the charge level of the battery 19 can be maintained within a satisfactory range.

After being separated from the external charging device 30 for an assigned work operation, the control member 18 returns the cleaning robot 10 back to the external charging unit 30, using path information obtained from the zonal couplers 12c during the cleaning robot's journey. The controlling portion 18 may also use the memorized image information from the cameras 13 as complementary information to perform a return or assigned operation.

Here, the "assigned operation" includes a cleaning operation or a surveillance operation through camera 13.

When the assigned operation is performed, or when the charge request signal is input from the battery charge detecting portion 20 during the operation, the controlling portion 18 calculates the cleaning robot 10 a return path to the external charging unit 30 using the path information memorized therein at the time of separation from the external charging unit 30 , and guiding the driving portion 15 to travel along the calculated path while preventing deviation from the path by input signals from the zonomon couplers 12c.

Preferably, the cleaning robot system is built to externally perform operational control of the cleaning robot 10, and process and analyze the images photographed by the camera 13.

Accordingly, the cleaning robot is designed to wirelessly output the image photographed by the camera 13, and operate in accordance with the control signal received from outside. The remote control 40 wirelessly controls the cleaning robot 10 for a variety of operations, such as cleaning operations, return operations and the like.

The remote control 40 includes a wireless relay unit 41 and a central control unit 50.

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The wireless relay unit 41 processes a wireless signal received from the cleaning robot 10 and transmits the processed signal to the central control unit 50 through a line, and wirelessly transmits the signal received from the central control unit 50 to the cleaning robot 41 through the antenna 42.

The central controller 50 is an ordinary computer, an example of which is shown in FIG. 5. As shown in FIG. 5, the central controller 50 includes a central processing unit (51; CPU) a read memory (52; ROM), a direct memory (53; RAM), a display unit 54, an input unit 55, a memory unit 56, and a communication unit 57.

The memory unit 56 has a cleaning robot driver 56a installed therein to control the cleaning robot 10 and process a signal transmitted from the cleaning robot 10.

Once executed, the cleaning robot driver 56a through the display unit 54 sees a menu for control setting of the cleaning robot 10, and processes a series of jobs that allow the user-selected menu to be performed by the cleaning robot 10. The menu includes cleaning and monitoring, with subcategories for the menu supported by the product. utilizing the present invention, such as a list of workspace choices, method of work, or the like.

Preferably, the cleaning robot driver 56a is provided with a geographical information recognition program menu, and when the geographical information recognition program is selected, the cleaning robot 10 is separated from the external charging unit 30 to travel along the selected work area, generating and memorizing geographical information about the use of the metal conductor pattern. from the zonomec couplers 12c. The generation and memory of the geographical information can also be performed in the cleaning robot 10.

The cleaning robot driver 56a controls the cleaning robot 10 to perform the assigned work at the predetermined working time, or when the work command signal is received by the input device 55 from the user.

The control portion 18 of the cleaning robot 10 controls the driving portion 15 and / or dust collecting portion 11 in accordance with the control information received from the cleaning robot driver 56a through the wireless relay unit 41. The controlling portion 18 also transmits

524 The image is photographed by the camera 13 to the central controller 50 through the wireless relay unit 41.

During the operation control, when the battery charge request signal is received from the cleaning robot 10 or completed operation for signal is received through the wireless relay unit 41, the cleaning robot driver 56a calculates a return path to the charging unit 30 using the geographic information from the metal wires memorized in the memory unit 56, and controls the cleaning robot 10 return to the external charging device 30 following the calculated path.

The process of controlling the cleaning robot 10 will now be described in greater detail with respect to FIG. 7 and 8.

First, a pattern map of the metal wires is generated and stored (step S100).

The pattern map generation is performed as the user prepares the cleaning robot 10 for use, or while the user selects the geographical information recognition program in the process of updating the geographical information. Further, the pattern map can also be generated each time the cleaning robot 10 is separated from the charging unit 30.

Then it is determined whether or not the operative request signal has been received (step SI 10).

If the operative request signal has been received, a route for the assigned job is calculated using the geographic information regarding the metal lines memorized (step SI 20).

Then, the cleaning robot 10 travels along the calculated path (step SI30).

The path of movement is determined so that the zonal coupler 12c3 is placed in the center opposite the metal line 65. The cleaning robot 10 travels along the normal route shown in an imaginary circle Ά 'in FIG. 7th

Then, it is determined whether the metal line detecting signal is input from only one of the outermost zonal couplers 12cl, 12c5 (step S140).

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If yes, for example, if the cleaning robot deviates from the normal route to a position indicated by the intended circles 'B' and 'C' in FIG. 7. it is found that the cleaning robot 10 has reached an acceptable limit for the danger cock. Accordingly, the cleaning robot 10 stops temporarily, and path adjustment coordinates are calculated for the cleaning robot 10 so that it returns to the normal trajectory.

Specifically, if the cleaning robot 10 is at the circle 'B', the temporarily stopped cleaning robot 10 is turned 90 ° to the left, forward a distance corresponding to the distance between the zonomec coupler 12c3 in the middle and an outer zonomec coupler 12cl, and then turned 90 ° to the normal direction of travel (indicated by an arrow). Accordingly, the center zonomer switch 12c3 is positioned facing the metal line. The path alignment coordinates for a change of the direction of the ffam-directed movement of the cleaning robot 10 are calculated in step SI50.

If the cleaning robot 10 is located in the circle 'C' in FIG. 7, the temporarily stopped cleaning robot 10 is turned 90 ° to the right, moved forward with a distance corresponding to the distance between central zonomec coupler 12c3 and an outer zonomec coupler 12c5, and then turned 90 ° to the left. Accordingly, the zonal switch 12c3 places in the center facing the metal line. The path adjustment coordinates for a change of direction and distance for the forward movement of the cleaning robot 10 are calculated in step SI50.

Then, in accordance with the calculated path adjustment coordinates, the driving portion 15 is controlled by the cleaning robot 10 to drive the cleaning robot 10 back to the normal path and then to the next target area.

Meanwhile, if the cleaning robot 10 is placed in circles 'D' and 'G' in FIG. 7, for example, if only the zonomec couplers 12c2, 12c4 between the outermost zonomec couplers 12c 1, 12c5 and the zonomec couplers 12c3 in the middle receive the metal line detecting signal, the path is adjusted by varying the rotation speed of the left and right wheels respectively.

Following the transport process above, it is determined that the operation is complete (step SI70) and, consequently, the operation is completed.

As described above, in accordance with the cleaning robot 10, the system thereof, and the method of controlling the same in accordance with the present invention, recognizes the position of the cleaning robot 10 and the path of the cleaning robot 10.

524 488 within the work area easier. As a result, the performance of the cleaning robot 10 improves while the burden of having to process algorithms decreases.

Although the preferred embodiment of the present invention has been described, one skilled in the art will appreciate that the present invention is not limited to the preferred embodiment described, but various changes and modifications may be made to the spirit and scope of the present invention as defined in the appended claims.

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