KR101854337B1 - Cleaner and controlling method - Google Patents

Abstract

The present invention relates to a cleaner and a control method thereof, and more particularly, to a cleaner and a control method thereof, in which a position of a handle is calculated by using a marker projected on a ceiling and a main body is moved by estimating a handle, It is possible to easily move the main body following the knob in various environments, to improve the accuracy of movement, to determine whether the marker is normally output, effectively to follow the main body, The convenience is improved.

Description

[0001] Cleaner and controlling method [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vacuum cleaner and a control method thereof, and more particularly, to a vacuum cleaner in which a main body moves automatically following a movement of a handle, and a control method thereof.

The cleaner is a device that sucks dust from the floor. Generally, the vacuum cleaner includes a suction mechanism having an intake port for intake air, and a main body connected to the suction mechanism through a hose forming the intake air flow path. The main body is provided with a suction fan which forms a negative pressure so that air can be sucked through the suction port, and a dust collecting part for collecting the dust introduced through the hose is provided in the suction mechanism or the main body.

The suction mechanism is moved by the user, and the main body is moved following the suction mechanism. Typically, the body is pulled away by the tension acting from the hose.

These cleaners are basically large in capacity and heavy in weight. With the recent release of battery-powered models, the burden of weight has increased. As the weight increases, the user feels discomfort when moving during cleaning and increases muscle fatigue.

Accordingly, recently, a motor is installed in the main body, and the wheel is rotated by the motor, so that the main body is moved by its own driving force.

KR0669892 relates to a method for detecting an obstacle by combination of different sensors and avoiding an obstacle by a mobile robot, and the body is configured to recognize an obstacle by the combination of multiple sensors.

Although KR0669892 is about avoiding an obstacle by performing an autonomous running, only the avoidance using a plurality of sensors for avoiding an obstacle during an autonomous running and an autonomous running of the vacuum cleaner is described, It is not.

The suction mechanism is moved by the user and the suction mechanism and the main body are connected by the hose so that even if the main body is to run autonomously, it must move in accordance with the movement of the suction mechanism, do not include.

Accordingly, a method of actively and quickly moving the main body following the suction mechanism must be sought.

A cleaner and a control method thereof according to the present invention are a cleaner for automatically calculating a position of a handle using a marker projected on a ceiling and estimating a handle so that the main body is moved according to the movement of the user, .

According to an embodiment of the present invention, there is provided a vacuum cleaner including: a suction mechanism that sucks dust and moves according to a movement of a handle; And a main body connected to the suction mechanism by a hose to collect the dust sucked from the suction mechanism and to travel following the suction mechanism in correspondence with the movement of the suction mechanism and the suction mechanism projects the marker toward the ceiling Wherein the main body comprises: an image acquiring unit for photographing the ceiling on which the marker is projected;

A driving unit for providing driving force for driving the main body; And a controller for extracting the marker from the acquired image photographed by the image obtaining unit, calculating the position of the handle in accordance with the movement of the marker, and following the handle in accordance with the position of the handle, And a control unit for controlling the traveling unit.

According to another aspect of the present invention, there is provided a method of controlling a vacuum cleaner, the method comprising: outputting a marker from a handle when motion of the handle is sensed; Capturing a ceiling where the marker is projected and inputting an acquired image; Analyzing a pattern of the marker from the acquired image to determine whether the marker is normally output; Analyzing a movement of the marker from the acquired image to calculate a positional change of the handle when the marker is normally output; And moving the main body following the handle in response to a change in the position of the handle.

The vacuum cleaner and its control method according to the present invention enable the marker to be recognized easily by outputting the marker from the suction mechanism handle of the vacuum cleaner and shooting the marker projected on the ceiling from the main body, The marker can be actively moved following the handle and the marker can be recognized in various environments even if the cleaning environment is changed by determining whether the marker is normally output by recognizing the shape of the marker according to the cleaning area. The body can be easily moved following the handle so that the accuracy of movement is improved and the user does not have to drag the cleaner main body effectively as the main body is actively following and moving, And the convenience of cleaning There is an effect to be improved.

1 is a perspective view illustrating the construction of a vacuum cleaner according to a first embodiment of the present invention.
2 is a perspective view illustrating the structure of a vacuum cleaner according to a second embodiment of the present invention.
3 is a perspective view illustrating the structure of a vacuum cleaner according to a third embodiment of the present invention.
4 is an exemplary diagram for explaining a locus of movement of the vacuum cleaner according to the present invention.
5 is an exemplary diagram illustrating an example of a marker for tracking the movement of the vacuum cleaner of the present invention.
6 is a block diagram schematically showing a control configuration of the vacuum cleaner of the present invention.
7 is a diagram referred to explain the movement of the vacuum cleaner of the present invention.
8 is an exemplary diagram showing a configuration of a marker of the present invention.
Figs. 9 and 10 are diagrams for explaining the change of the marker according to the movement of the cleaner of the present invention.
11 is a view showing an example of a marker used in the cleaner of the present invention.
12 to 14 are diagrams for explaining a method of determining the movement of the cleaner according to the shape of the marker.
FIG. 15 is a diagram for explaining a method of determining a movement of a vacuum cleaner according to a movement of a marker of the vacuum cleaner of the present invention.
FIG. 16 is a flowchart referred to for explaining a control method according to the movement tracking of the vacuum cleaner of the present invention.
17 is a flowchart referred to for explaining a marker recognition method according to the movement tracking of the vacuum cleaner of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

1 is a perspective view illustrating the construction of a vacuum cleaner according to a first embodiment of the present invention.

As shown in FIG. 1, the vacuum cleaner of the present invention includes a suction mechanism 100 that is movably provided to suction dust, a dust collecting unit that collects the dust sucked by the suction mechanism 100, . The suction mechanism 100 outputs a marker on the ceiling.

The main body 200 recognizes and analyzes the marker on the basis of the acquired image, and follows the suction mechanism 100 to travel.

The suction mechanism 100 and the main body 200 are connected to each other through a hose 300 so that the air sucked by the suction mechanism 100 flows into the main body 200 through the hose 300. The main body 200 may include a dust collecting container (not shown) for collecting dust floating in the air introduced through the hose 300.

The suction device 100 is provided with an air inlet (not shown) through which the outside air is sucked, and the main body 200 can provide a suction force through the hose 300 so that the outside air can be sucked through the suction port. The suction mechanism 100 is moved along the floor by the action of the user.

The suction mechanism 100 includes a suction unit 120 having a suction port through which dust is sucked, an intake tube 130 extending from the suction unit 120 and forming a path through which the dust sucked through the suction port is moved, And a handle 140 disposed on top of the engine 130. The user can move the suction device 100 by pushing or pulling the handle 140 while grasping the handle 140. [ The suction portion 120 is moved in a state where the suction port faces the bottom of the cleaning area, thereby sucking dust on the floor.

The intake pipe 130 forms a passage through which the air sucked through the suction unit 120 is moved. The intake pipe 130 may include a lower pipe 131 connected to the suction unit 120 and an upper pipe 132 slidably fitted to the lower pipe 131. The entire length of the intake pipe 130 can be varied by sliding the upper pipe 132 along the lower pipe 131. Preferably, the handle 140 is located above the waist of the user during cleaning, and is provided in the upper tube 132 in this embodiment.

Air is introduced into the hose 300 through one end connected to the intake pipe 130 and discharged through the other end connected to the main body 200. The hose 300 is flexible and can be bent according to the movement of the suction mechanism 100. Since the movement of the suction mechanism 100 is performed within the length of the hose 300, the position of the suction mechanism 100 relative to the main body 200 can be varied, Can not be distanced from the main body 200 by a predetermined distance or more.

The hose 300 includes a main body connection part 320 connected to the main body 200. The main body connecting part 320 is moved as a body together with the main body 200. The main body connecting part 320 may be detachably coupled to the main body 200.

The main body 200 may include a case 211 forming an outer appearance and at least one wheel 212 and 213 rotatably installed in the case 211. The main body 200 can be turned not only straight but also redirected by the wheels 212 and 213. The left wheel 212 and the right wheel 213 are provided on the left and right sides of the case 211 and the direction is switched according to the difference in rotational speed between the left wheel 212 and the right wheel 213. [

The main body 200 may include a traveling part 250 for rotating the left wheel 212 and the right wheel 213 and the traveling part 250 may include at least one motor. A pair of motors for driving the left wheel 212 and the right wheel 213 may be provided in accordance with the embodiment of the present invention. Alternatively, one motor and the driving force of the motor may be connected to the left wheel 212 and the right wheel 213 And power transmission means for transmitting power. The direction of the main body 200 is changed according to the rotational speed difference between the left wheel 212 and the right wheel 213 by the power transmitting means in the case of the former, have. In addition, the traveling unit 250 may include a clutch for transmitting the driving force of the motor to the wheels 212 and 213.

The main body 200 may include a suction force supply unit 240. The suction force providing unit 240 may include a fan motor (not shown) and a fan (not shown) rotated by a fan motor to form a negative pressure so that the suction mechanism 100 can suck the outside air. The fan motor can be operated under the control of the suction control section 234 of the control section 230. The suction force providing unit 240 may be provided in the case 211 and a dust collecting box (not shown) may be disposed in the case 211 to collect dust sucked through the hose 300.

The suction mechanism 100 may include an operation unit 110. [ The operation unit 110 receives various control commands from a user. In particular, the operation of the suction force supply unit 240 can be controlled through the operation unit 110. [ It is preferable that the operation unit 110 is positioned so that it can be operated by the thumb of the user holding the handle 140. In this respect, in this embodiment, the operation unit 110 is disposed in the handle 140, It should not be. The suction control unit 234 can control the operation of the suction force supply unit 240 in accordance with the control command input through the operation unit 110. [

The handle 140 is provided with a marker output unit 190 for outputting a marker toward the ceiling. The marker output unit 190 may include a light source such that a marker of a specific shape is displayed on the ceiling. It is preferable that the marker output unit 190 is installed at a position that does not affect the marker output by the user so that the user does not cover the part of the marker output unit while the user holds the handle or while the user operates the operation unit. For example, the marker output unit 190 is installed on the front surface and the top surface of the handle, and outputs a marker toward the ceiling.

The main body 200 may include an image acquisition unit 220 and a control unit (not shown). The image acquiring unit 220 acquires a ceiling image. When the marker is output to the predetermined area A of the ceiling by the marker output unit 190, a part of the ceiling area B is photographed by the image obtaining unit 220, and the marker M It is possible to control the traveling operation of the main body 200 based on the position.

When the grip 140 is moved, that is, when the suction device 100 is moved by the user, the position of the marker is also changed, so that the main body controls the travel according to the position of the marker. The image acquisition unit 220 may include a camera, and preferably includes a digital camera capable of acquiring a digital image. The digital camera may face the optical axis O of the lens toward the upper side of the main body 200, that is, the ceiling. A digital camera includes an image sensor (e.g., a CMOS image sensor) configured with at least one optical lens, and a plurality of photodiodes (e.g., pixels) that are formed by light passing through the optical lens, And a digital signal processor (DSP) that forms an image based on signals output from the photodiodes. The digital signal processor is capable of generating moving images composed of still frames as well as still images.

FIG. 2 is a perspective view showing the construction of a vacuum cleaner according to a second embodiment of the present invention, and FIG. 3 is a perspective view showing the construction of a vacuum cleaner according to a third embodiment of the present invention.

The second embodiment of the vacuum cleaner according to the second embodiment and the vacuum cleaner according to the third embodiment of FIG. 3 are the same as the vacuum cleaner of the first embodiment. In addition, the second and third marker output sections described below are different from the marker output section according to the first embodiment in installation position or installation angle, and the second and third image acquiring sections are also different from the image acquiring section of the first embodiment The installation position or the installation angle is different, and the respective configurations are the same.

The cleaner according to the second embodiment is configured such that the second marker output portion 190-2 outputs a marker toward the front side. The second marker output portion 190-2 is disposed on the front surface of the handle 140 and faces the front surface of the suction device 100. [

The second image acquiring unit 220-2 is provided on the front surface of the main body 200 in correspondence with the output direction of the marker and captures an image of the front surface of the main body 200. [

Accordingly, the marker is output to a predetermined area A 'of the front surface of the cleaner, and the second image acquiring unit 220-2 photographs the area B' including the area A 'to which the marker is output.

3, the vacuum cleaner according to the third embodiment is configured such that the third marker output unit 190-3 is installed in the suction unit 120 to output a marker toward the ceiling. The third marker output unit 190-3 is located on the upper surface of the suction unit 120 and is directed toward the ceiling.

The third image acquiring unit 220-3 is provided on the upper surface of the main body 200 in correspondence with the output direction of the marker and captures an image of the ceiling of the main body 200 upward.

Accordingly, the marker is output to the predetermined area A '' of the ceiling, and the third image acquiring unit 220-3 acquires the ceiling area B '' including the area A '' to which the marker is output I shoot. However, since the third marker output unit 190-3 is provided in the suction unit 120, the third image acquiring unit 220-3 can photograph the ceiling of the main body with respect to the traveling direction of the main body.

4 is an exemplary diagram for explaining a locus of movement of the vacuum cleaner according to the present invention.

As shown in FIG. 4A, the movement of the main body 200 is divided into a driven movement that is pulled by the tension applied by the user and an active movement in which the wheels 212 and 213 are rotated by the motor drive Hereinafter, 'follow' or 'active follow' is defined as a result of active movement of the main body 200.

The driving unit 250 is actively moved by transmitting the driving force of the motor to the wheels 212 and 213 according to the operation of the clutch for transmitting the driving force of the motor to the wheels 212 and 213, The transmission can be released by releasing the transmission.

The user grips the handle 140 of the cleaner and moves the nozzle to clean it. During the movement, the suction device 100 is swung in a direction free of the user's arm length, and the main body 200 moves along the trajectory of the cleaning area according to the locus P2 on which the user moves.

As shown in Fig. 4B, when the locus P2 of the user and the locus P2 of the suction mechanism 100 are compared with each other, the locus P1 of the suction mechanism 100 is somewhat complicated It looks like there is no large pattern, but the overall trajectory is similar to the user's trajectory (P2).

Since the locus P2 according to the movement of the user is similar to the locus P1 of the suction mechanism 100, the main body 200 analyzes the position of the suction mechanism 100, .

The main body 200 can move by planning the movement position and the movement distance in consideration of the cleaning pattern, arm length, and the like, while following the target of the user's nozzle.

5 is an exemplary diagram illustrating an example of a marker for tracking the movement of the vacuum cleaner of the present invention.

As shown in FIG. 5 (a), the vacuum cleaner may include a marker M which is displaced as the suction device 100 is moved. At this time, the marker M is output from the cleaner toward the ceiling.

The cleaner according to the first and third embodiments outputs a marker on the ceiling, extracts a marker from the image obtained through the image acquisition unit 220 provided in the main body 200, The running of the main body can be controlled.

On the other hand, as shown in FIG. 5B, the cleaner can output the marker M 'toward the front side. The marker output portion is installed on the front portion of the suction device 100 as in the second embodiment described above, thereby outputting the marker on the front face in the moving direction.

The control unit of the cleaner controls the driving operation of the main body 200 on the basis of the position of the marker M displayed on the acquired image, can do. The image obtaining unit 220 may repeatedly acquire images while the main body 200 is traveling. In this case, even when the main body 200 is traveling, It is possible to control the running operation of the vehicle 200.

Therefore, even if the position or attitude of the marker M changes during the running of the main body 200, the control unit 230 can detect this through the image and reset the running operation of the main body 200, The main body 200 can continue to follow the marker M.

The marker output unit 190 may use a laser or an IR system to project the marker M onto the ceiling. The marker may be composed of a plurality of points as shown, may be composed of a plurality of lines, and a specific type of figure or figure may be used.

In the case of the laser system, a marker having a specific pattern may be projected on a ceiling so as to distinguish the front and the rear, thereby detecting the center of the suction mechanism 100. The laser system can project the marker regardless of the height of the ceiling.

In the IR system, the markers of the patterns which can distinguish the front and the rear are projected on the ceiling to be distinguished. The number of IRs or the operating frequency can be used to distinguish the markers.

The marker output unit 190 basically projects the marker on the ceiling as described above, but it is also possible to project the marker on the front surface or the side wall.

In the case of a laser system, a laser can be projected to cover the entire 360-degree wall. It can be designed with a pattern or operating frequency to enable IR direction separation.

In addition, the marker output unit 190 can project the marker on the wall and the ceiling using both the ceiling and the wall. In this case, the center of the suction mechanism of the marker can be determined using a marker projected on the ceiling, and the marker can be configured to distinguish the left and right using the marker projected on the wall.

Since the ceiling or the wall may change while moving according to the structure of the ceiling or the wall or the obstacle, the control unit 230 determines whether or not it is possible to follow the marker actively based on the shape of the marker to be initially projected, Since the projected marker can be varied, the marker type used as a criterion for the judgment is stored as reference data and used for marker recognition in active follow-up.

The controller 230 performs a visual odometry for position correction at regular intervals in consideration of the structure of the ceiling and the wall, compares the distance of the actual moving wheel with the distance traveled by the image sensor, can do.

6 is a block diagram schematically showing a control configuration of the vacuum cleaner of the present invention.

As shown in Fig. 6, the vacuum cleaner comprises a suction mechanism 100 and a main body 200.

The suction mechanism 100 includes a marker output unit 190, a sensor unit 180, and an operation unit 110.

The operation unit 110 receives various control commands from a user, and in particular, includes a switch for setting a suction force. The operation unit 110 transmits an input control command to the controller 230, and the controller 230 controls the operation of the suction force providing unit 240 according to the control command. It is preferable that the operation unit 110 is positioned so that the operation unit 110 can be operated by the thumb of the user holding the handle 140. [

The sensor unit 180 includes a plurality of sensors to sense the movement of the suction device 100. The sensor unit 180 senses whether the handle is moving or whether the handle is gripped by the user. The sensor unit 180 senses the inclination of the suction mechanism 100, particularly, the inclination of the intake tube 130 as the suction mechanism 100 is operated by the user, and inputs the sensed change to the controller 230.

The marker output unit 190 outputs a marker. The marker output unit 190 may include a light source including a light source such that a marker of a predetermined shape is output to the ceiling or forward. The marker output unit 190 causes the shape of the marker to appear on the ceiling or front by the light source. The marker output unit may be configured such that a shadow of the marker is output by irradiating the light source to the marker, or the light source is output in the shape of the marker.

The body 200 includes an image acquisition unit 220, a control unit 230, a obstacle detection unit 260, a traveling unit 250, and a suction force supply unit 240. In addition, the main body 200 may further include a storage unit (not shown) in which data for recognizing the pattern of the marker and determining the position is stored.

The storage unit records various information necessary for the control of the vacuum cleaner. In the storage unit, data for calculating an operation mode of the vacuum cleaner, data sensed during driving, travel distance of the vacuum cleaner, shape of the marker, and the position thereof are stored. In the storage unit, the direction from the main body 200 to the point on the actual space corresponding to the coordinates may be previously stored in the database in accordance with the coordinates in the image. The storage unit may include a volatile or nonvolatile recording medium. The storage medium stores data that can be read by a microprocessor, and includes a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD- Tape, floppy disk, optical data storage, and the like.

The traveling unit 250 rotates the left wheel 212 and the right wheel 213 to control the main body 200 to move. The traveling unit 250 includes at least one motor to control its operation.

The suction force providing unit 240 forms a negative pressure so that the suction mechanism 100 can suck the outside air. The suction force providing unit 240 may include a fan motor (not shown) and a fan (not shown) rotated by the fan motor.

The obstacle sensing unit 260 senses an obstacle located in the moving direction of the main body and inputs the detected obstacle to the control unit. At this time, the obstacle detecting unit 260 can detect an obstacle by using ultrasonic waves, laser, or pattern light.

The control unit 230 controls the driving unit 250 to move the main body 200 following the suction device 100 based on the image acquired by the image acquisition unit 220, . The control unit 230 controls the suction force providing unit 240 to collect dust by the suction device 100 and changes the moving direction of the main body according to the detection result of the obstacle detection unit 260.

The control unit 230 includes a marker information acquisition unit 231, a travel operation setting unit 232, a travel control unit 233, a suction control unit 234, and a pattern recognition unit 235.

The marker information obtaining unit 231 obtains the positional information of the marker M in the actual space on the basis of the position of the marker M appearing in the image obtained through the image obtaining unit 220, M based on the positional change of the marker M in the actual space.

The marker information obtaining unit 231 obtains the direction information of the marker M with respect to the main body 200 based on the data stored in the storage unit. The movement information may include at least one of a change in the distance from the main body 200 to the marker M and a change in the movement direction of the marker M. [

The pattern recognition unit 235 obtains the posture change information of the marker M in the actual space based on the shape change of the marker M shown in the acquired image and inputs it to the marker information obtaining unit 231. [ The pattern recognition unit 235 can acquire information on the X-axis rotation angle of the knob 140 from the rotation angle of the marker.

The pattern recognition unit 235 identifies the marker on the basis of the characteristics of the elements constituting the marker and detects the movement of the suction mechanism 100 and the grip 140 based on the position, .

The pattern recognition unit 235 determines whether or not the marker is normally output according to the information on the movement of the suction device 100 and the posture change information of the marker, and obtains the posture information of the cleaner and the reference data for recognizing the marker, (231).

If it is determined that the marker is not output normally, the pattern recognition unit 235 terminates the movement following the main body actively. When the marker is not normally output, the pattern recognition unit 235 makes it difficult to acquire the position or movement information using the marker, so that the active follow-up is terminated.

The travel operation setting unit 232 sets a traveling operation or a traveling route through which the main body 200 can approach the marker M based on the travel information obtained through the marker information obtaining unit 231. [

The traveling operation setting unit 232 sets a traveling operation or a traveling route in which the main body 200 can approach the marker M based on the positional information or movement information of the marker M, To follow the suction mechanism (100). Since the position information may include distance information from the main body 200 to the marker M and / or direction information on the position of the marker M with respect to the main body 200, the traveling operation may include the distance information and / The direction and / or the direction of movement of the main body 200 may be set based on the direction information.

The driving operation setting unit 232 sets the driving operation or the traveling route in which the main body 200 can follow the marker M by avoiding the obstacle based on the obstacle information acquired by the obstacle sensing unit 260 Setting.

The traveling operation setting unit 232 inputs the setting of the traveling operation of the main body 200 to the traveling control unit 233. [

The travel control unit 233 controls the travel unit 250 in accordance with the set traveling operation so that the main body 200 follows the suction unit 100. [

By controlling the travel portion 250 by the travel control portion 233, the main body 200 follows the set travel operation or follows the suction mechanism 100 while changing the travel direction.

Here, movement of the main body 200 does not have to be performed until reaching the suction device 100. [ Since the user is normally positioned between the main body 200 and the suction device 100, the main body 200 may be moved only to a position spaced from the suction device 100 by a certain distance. For example, when the length of the hose 300 is 1 meter (m), the main body 200 may be moved to a position about 40 to 60 centimeters (cm) away from the suction device 100 and then stopped. The distance between the main body 200 and the suction device 100 is based on the measurement on the floor, and the distance can be obtained based on the position of the marker M in the image.

7 is a diagram referred to explain the movement of the vacuum cleaner of the present invention.

The suction device 100 sucks the dust while moving back and forth by the user holding the handle 140 to perform cleaning. When the suction device 100 performs cleaning while moving back and forth, the movement of the vacuum cleaner itself is small, so that the main body 200 does not need to move.

However, as the position of the handle 140 and the angle of the suction device 100 are changed, the shape of the output marker may be varied.

The angles Ma and Mb of the intake pipe of the suction device 100 change and the size of the marker can be varied according to the distance from the marker output portion 190 to the ceiling as the handle moves. In addition, the shape of the marker output depending on the angle of the intake pipe can be varied.

The pattern recognition unit 235 determines the posture of the cleaner by analyzing the size and shape of the marker that is variable as described above, and determines whether the marker is normally output.

The pattern recognition unit 235 transmits basic information about the marker to the marker information acquisition unit 231 when the marker is output normally. Also,

When the marker is normally output, the pattern recognition unit 235 transmits the posture information of the cleaner and the reference data for recognizing the marker to the marker information acquisition unit 231 according to the shape of the marker. That is, basic data is transmitted to the basic form of the marker so that it can recognize that the shape of the marker changes during cleaning.

Further, the pattern recognition unit 235 inputs data to the travel control unit 233 so that the active follow-up is terminated when the marker is not output normally.

8 is an exemplary diagram showing a configuration of a marker of the present invention.

As shown in FIG. 8, the marker output unit 190 outputs a marker of a predetermined type.

The marker output unit 190 projects a marker composed of a plurality of points or lines, or a marker of a specific image onto a ceiling or a wall.

The marker may include a plurality of marker constituents constituting an identification pattern, and at least two of the plurality of marker constituents may be of different shapes.

For example, the marker includes a plurality of marker constructors M1, M2, and M3. Although the marker shown in the figure is a marker having different sizes, the markers M1, M2, and M3 are examples of the markers, and the shapes and numbers of the markers are not limited to those shown in the drawings.

The first and second marker constituents M2 and M3 may be divided into right and left or the marker constituents M2 and M3 may be separated from each other. Is used to distinguish shape changes of

The markers are arranged such that the second and third marker constituent elements M2 and M3 are located on a straight line and extend from the center point of the first and second marker constituent elements M2 and M3 in the normal direction to the straight line of the second and third marker constituent elements M2 and M3. (M1) is located.

The first marker constructor M1 is configured to have a size different from that of the second and third marker constructors M2 and M3 to indicate that it is the front end of the marker. Although the first marker constituent M1 is shown as a circle smaller than the second and third marker constituents M2 and M3, the shape may be another shape such as a triangle or a triangle, and the second marker constituent M2 M2) < / RTI > (M3).

The pattern recognition unit 235 can store the sizes of the first, second and third marker constituent elements M1, M2, and M3, that is, the diameters of the circles R1 and D2 as basic data have.

The pattern recognition unit 235 recognizes the first distance D1 between the first marker constituent M1 and the second or third marker constituents M2 and M3, the second marker constituent M2 and the third marker constituent M2, The third distance D3 between the second marker constituent M2 and the third marker constituent M3 and the third distance D3 between the third marker constituent M3 and the fourth marker constituent M3 on the central axis of the first marker constituent M1, (D4) as basic data. In a typical ceiling, if the handle is horizontal, the third and fourth distances appear different if the third and fourth distances are the same, if the ceiling is tilted.

As to the projected marker, the pattern recognition unit 235 determines whether or not it is possible to actively follow the marker based on the shape of the marker to be initially projected. Further, since the marker to be projected according to the environment can be varied, To the marker information obtaining unit 231 as the reference data.

The pattern recognition unit 235 stores data on the basic shape of the marker, and based on the pattern, recognizes the basic shape of the marker in the space by projecting the image onto the ceiling or the wall and comparing and analyzing the markers displayed on the acquired image. That is, since the shape of the marker projected along the space can be changed, the basic shape is determined for each space, and active tracking using the marker is performed.

The marker information obtaining unit 231 extracts a marker based on the basic data input from the pattern recognition unit 235, and determines the position of the marker. The marker information obtaining unit 231 performs a visual odometry for position correction at regular intervals in consideration of the structure of the ceiling and the wall, The distance can be compared and corrected.

Figs. 9 and 10 are diagrams for explaining the change of the marker according to the movement of the cleaner of the present invention.

As shown in FIG. 9, the pattern recognition unit 235 can determine the surrounding environment or the movement of the handle according to the size of the marker extracted from the acquired image, for example, when the marker constituent is circular.

When the marker is initially recognized, the pattern recognizing unit 235 determines that the ceiling is a high space when the size of the marker decreases as shown in FIG. 9 (a), and the size of the marker increases as shown in FIG. 9 (b) The ceiling is determined as a low space, and each of them can be stored as basic data for a high ceiling space and basic data for a low ceiling space.

The pattern recognition unit 235 can determine the ceiling state by comparing the diameters R11, R21, R12, and R22 of the marker constituent with the reference data, respectively. Reference data for comparison determination is stored in the storage unit. The reference data includes information on the diameter, size, and shape of the projected marker in a typical residential environment.

The pattern recognition unit 235 determines the movement of the suction device 100 based on the tilt or attitude information of the suction device 100 input from the sensor unit 180 to determine whether the marker is normally projected.

When a marker is detected as shown in FIG. 9 (a) in a normal state, it is determined that the ceiling is located in a high space and the marker is judged to be normally output. The state in which the handle is in a normal state is a state before the user grasps the suction mechanism 100 and starts to clean the suction mechanism by pushing the suction mechanism. At this time, in the normal state, the handle is horizontal with the floor, and the marker is projected on the ceiling as shown in FIG. However, the handle may not be horizontal with respect to the floor depending on the shape of the handle, but the state of the suction device, from which the marker can be output, may be referred to as a general state as shown in FIG.

However, when the position of the handle is not a normal state, for example, when the suction mechanism is inclined or horizontal with the floor, if a marker as shown in Fig. 9 (a) is detected, it is determined that the marker is not normally output . In this case, the detected marker may be discarded and the marker for storing basic data may be re-detected after a predetermined time.

If it is determined that a normal marker is not sensed, the pattern recognition unit 235 sets the sensor to stop the active tracking of the main body using the marker, and inputs the data to the travel control unit 233. The travel control unit 233 stops the active follow-up of the main body.

8 is stored as basic data by the pattern recognition unit 235, the marker information acquisition unit 231 extracts the marker as shown in FIG. 9 (a) from the acquired image, The diameter of the constituent is compared with the basic data and it is determined that the ceiling is higher than the position at which the marker is initially recognized corresponding to the decrease in the size of the marker so that the position according to the coordinates of the marker can be determined.

In addition, the marker information obtaining unit 231 can determine that the ceiling height is constant, corresponding to the handle itself, by a change in the size of the marker due to the change of the subject of the suction device 100. [ For example, when cleaning under the bed, the position of the handle is lowered, so that it can be judged that the shape of the marker is changed accordingly. The marker information obtaining unit 231 receives the angle or attitude information of the intake pipe from the sensor unit 180 of the suction device 100 and compares the angle or the attitude information with the marker of the acquired image to thereby identify the change in the attitude or the surrounding environment of the suction device .

10, when the distance between the marker constituents is changed, the pattern recognition unit 235 and the marker information acquisition unit 231 can determine the structure of the space and the change of the marker according to the marker, respectively .

When the marker is initially recognized, the pattern recognition unit 235 may determine that the ceiling is inclined with respect to the traveling direction when the marker is detected as shown in FIG. 10 (a) in a normal state of the handle. That is, it can be determined that the ceiling is inclined and the distance D11 between the first marker constituent M1 and the second and third marker constituents M2 and M3 increases. Accordingly, the pattern recognition unit 235 determines that the illustrated marker is normally output.

In addition, when the marker is initially recognized and the marker is sensed as shown in FIG. 10 (b) in a general state of the knob, the pattern recognition unit 235 can determine that the ceiling is inclined to the right. The distance between the second marker constituent M2 and the third marker constituent M3 increases and the distance D31 between the first marker constituent M1 and the second marker constituent M2, The distance D41 to the horizontal axis between the constituent M1 and the second marker constituent M2 is different, so that it can be judged that the ceiling is inclined.

The pattern recognition unit 235 determines that the marker shown in the figure is normally output and stores it as basic data.

If the knob is not in a normal state, the pattern recognition unit 235 may determine whether the marker is normally output by repeating the predetermined number of times, and then terminate the active tracking.

8, when the marker to be projected is set as the reference data, the marker information acquisition unit 231 acquires the posture information of the sensor unit 180 when the marker as shown in FIG. 10 (a) is detected The marker is determined based on the background. When the suction mechanism is inclined, the distance between the marker constituents may change in any one direction as shown in Fig.

The marker information obtaining unit 231 compares the marker with the basic data stored by the pattern recognizing unit 235 and determines whether the suction mechanism is inclined during cleaning based on the attitude information of the suction mechanism by the sensor unit 180 It is determined whether there is an abnormality in the marker output.

If it is determined that there is an abnormality in the marker output, the marker information obtaining unit 231 sets the active tracking to end the active tracking and inputs the information to the travel control unit 233.

11 is a view showing an example of a marker used in the cleaner of the present invention.

Fig. 11 shows embodiments of the configuration of the marker. Referring to FIG. 11, the marker M may be formed in various identification patterns. Hereinafter, factors such as points, lines, and faces constituting the pattern are defined as a marker constituent. Markers should have distinct identities contrasting with the background, and the better these indications are not affected by ambient lighting. Markers can have features such as points, lines, counts, areas, or combinations thereof as marker constructors. Hereinafter, for convenience of explanation, it is assumed that the marker constituents are point (circular).

In consideration of the discrimination with the background, it is preferable that the marker M is brighter than the background, and in this respect, the marker M can be projected with brightness or color distinguished from the surrounding light.

The marker output unit 190 includes a light source that emits light electrically so that a specific type of marker can be projected on a ceiling or a wall surface. The light source may include a light emitting diode (LED), an infrared ray, and a laser.

The position or shape change of the marker shown in the acquired image becomes complicated as the degree of freedom (dof) of the portion where the marker is arranged becomes larger. Therefore, when designing the pattern of the marker, The degree of freedom should be considered.

As shown in Fig. 11 (a), the marker may be constituted by one marker constituent. 11A, since the marker is composed of one point, the movement of the marker that can be grasped through the acquired image is limited to the translation based on the coordinates of the point.

In addition, as shown in Fig. 11 (b), the marker can be composed of two marker constructors. 11 (b), since the marker is composed of two points, it is possible to further grasp the rotation motion of the marker based on the change in distance between the two points. For example, pitching motion and yawing motion can be grasped.

As shown in (c) and (d) of FIG. 11, the three marker constituents are arranged in a triangular configuration to constitute a marker. Also, the marker constituent elements may be different in size as shown in FIG. 11C, or may have the same size as shown in FIG. 11D.

11 (c) and 11 (d), since the marker is made up of three points, the rolling motion can be grasped further and similarity can be grasped through the area cotton of the triangle formed by the three points, it is also possible to estimate an area change by zooming or the like.

The greater the number of marker constructors that make up the markers in this way, the greater the degree of freedom of motion implemented by the marker or marker placement portion can be grasped and the marker can be determined by the appropriate number of marker constructors Lt; / RTI >

12 to 14 are diagrams for explaining a method of determining the movement of the cleaner according to the shape of the marker.

The marker information obtaining unit 231 extracts the marker M from the acquired image and obtains the movement information of the marker M. [ The traveling operation setting unit 232 sets a traveling operation or a traveling path in which the main body 200 can approach the marker M based on the movement information.

The traveling operation setting unit 232 can set the traveling operation of the main body 200 based on the movement information as in the case of controlling the traveling of the main body 200 based on the position of the marker M displayed on the acquired image The main control unit 233 controls the driving unit 250 in accordance with the set traveling operation so that the main body 200 follows the suction unit 100. [

The shape of the marker M in the acquired image varies depending on the posture of the marker M in the actual space. At this time, the posture of the marker M changes according to the motion pattern of the portion where the marker M is disposed. You can think of pitching motion, yawing motion, and rolling motion in motion pattern. When the marker M is appropriately configured, it is possible to estimate the motion pattern of the portion where the marker M is arranged, through the shape change of the marker M shown in the acquired image.

For example, it is assumed that the XYZ three-dimensional moving rectangular coordinate system (right-handed basis) is defined based on the marker M and the marker M is viewed in the -X direction. The pitching motion is Y-axis rotation, and as shown by the pitching motion, the length of the marker M in the Z direction is changed. The yawing motion is Z-axis rotation, and the Y-direction length of the marker M is changed as shown in the figure. The rolling motion is X-axis rotation, and the marker M is rotated as shown.

The marker information obtaining unit 231 can further obtain the posture change information of the marker M in the actual space based on the shape change of the marker M shown in the acquired image. In this case, the driving operation setting unit 232 can set the driving operation based on the attitude change information, and the driving control unit 233 controls the driving unit 250 so that the main body 200 is driven in accordance with the set driving operation can do.

Fig. 12 shows the shape change in which the marker is seen in the acquired image according to the motion of the marker.

12 (a) shows an example of the marker shown in FIG. 11 (d), and the first marker constituent M1, the second marker constituent M2, the third marker constituent M3, (Hereinafter, referred to as a point) are displayed. The displayed X, Y, and Z correspond to the three-dimensional Cartesian coordinate system (right-handed), and the acquired image corresponds to the YZ plane. Hereinafter, the marker M is disposed on the handle 140 as an example.

12B shows the phase of the marker M changed by the pitching motion (Y-axis rotation) of the handle 140 in the acquired image. The straight line connecting the marker constituents M1 and M2 to the marker constituent M3 It can be seen that the distance has changed from L2 to L2 '. The marker information obtaining unit 231 can obtain information on the Y axis rotation angle of the knob 140 based on the distance change.

12C shows the phase of the marker M changed by the yawing motion (Z-axis rotation) of the knob 140 in the acquired image. When the distance between the marker constituents M1 and M2 changes from L1 to L1 ' It can be seen that it has changed. The marker information obtaining unit 231 can obtain information on the Z axis rotation angle of the knob 140 through the change in the distance between the marker makers M1 and M2.

12D shows the phase of the marker M changed by the rolling motion (X-axis rotation) of the handle 140 in the acquired image. The marker constituents M1, M2, and M3 correspond to each other It can be seen that the position has been maintained as it is and the whole has been rotated. The marker information obtaining unit 231 can obtain information on the X-axis rotation angle of the knob 140 from the rotation angle of the marker constituent.

Fig. 13 is for explaining the relativity of a pattern to be grasped through a marker M composed of three marker constituents. 13A shows a triangle formed by three marker constructors in an acquired image and FIG. 13B shows a state where the marker M is rolled away from the main body 200 , It can be seen that the area defined by the three marker constituents in the acquired image, that is, the area of the triangle, is reduced from A to A '.

The marker M composed of the three marker constituents is used to determine the distance from the body 200 to the handle 140 from the position of the marker M in the acquired image as well as the various motions described above with reference to Figures 12 and 13, And the direction in which the knob 140 is moved with respect to the main body 200 can be determined according to the displacement of the marker M as a whole.

As shown in FIG. 14, the markers M may include markers of different sizes or of different colors. This type of marker enables the marker information obtaining unit 231 to obtain more accurate information on the phase change of the marker.

The marker shown in Fig. 14 (a) is composed of one marker constituent M1 which is gray or small in size as shown in Fig. 11 (c), and two markers M1 and M2 which are black or larger than the first marker constituent, (Distance between M1 and M2 or distance between M1 and M3) between the gray marker constituent M1 and the black marker constituent is constituted by the constituents M2 and M3 and the black marker constituents M2 and M3, And other isosceles triangular structures. After the position of the gray marker constituent M1 is changed by the pitching motion of the marker, the marker constituents M1, M2 and M3 are arranged at the respective vertexes of the equilateral triangle, (+ X, 45 degrees), and the case where the -X axis is rotated by 45 degrees (-X, 45 degrees rolling). As shown in the figure, the markers are arranged in an equilateral triangle structure when the marker is rotated by 45 degrees on the + X axis and by 45 degrees on the -X axis. However, since M1 is a color different from M2 or M3, The direction of the rotation of the marker can be grasped. Also, even if the colors are the same, the markers can be classified according to their sizes.

The marker may include marker constructors having different shapes. In this case as well, since a morphological characteristic is added in addition to the arrangement relationship of the marker constructors in the case of color assignment, More information about the change of posture that can be made.

FIG. 15 is a diagram for explaining a method of determining a movement of a vacuum cleaner according to a movement of a marker of the vacuum cleaner of the present invention.

After the basic data for the marker is stored by the pattern recognition unit 235, the marker information acquisition unit 231 can extract the marker from the acquired image and determine the movement of the suction device 100. [

When the cleaner performs the cleaning, the marker information obtaining unit 231 extracts the marker at the first point of time and determines the coordinates thereof, as shown in FIG. 15A. At the second point of time, And extracts the marker to calculate movement information.

The marker information acquiring unit 231 compares the two markers to calculate the moving distance D61 of the suction device 100 and further determines that the suction mechanism is in the first angle R51). The marker information acquisition unit 231 inputs the movement information of the marker to the travel operation setting unit 232. [

When the movement information of the marker is input from the marker information acquisition unit 231, the travel operation setting unit 232 sets the movement of the main body based on the movement information. However, the traveling operation setting unit 232 does not immediately move the main body even if the movement of the suction device 100 is detected based on the movement information, but sets the main body to move when the suction device moves over a certain distance. The travel control section 233 controls the travel section 250 in accordance with the setting in the travel operation setting section 232 so that the main body 200 moves following the suction apparatus 100 to move.

FIG. 16 is a flowchart referred to for explaining a control method according to the movement tracking of the vacuum cleaner of the present invention.

16, the travel control unit 233 determines whether the handle, that is, the handle is moved based on the sensing data input from the sensor unit (S310).

The driving control unit 233 determines that the vacuum cleaner is operating, and accordingly, the marker output unit 190 outputs a light source during the vacuum cleaner operation so that the marker is projected on the ceiling.

The pattern recognition unit 235 analyzes the acquired image input from the image acquisition unit 220 and extracts the marker.

The driving control unit 233 performs pattern calibration before performing the active tracking using the marker (S320). Since the shape of the marker may be changed according to the space, it is determined whether the shape of the marker is changed due to the change of the space or the shape of the marker is changed due to another cause, and the marker of the normal state in the space is recognized .

The pattern recognition unit 235 calculates the basic position of the handle based on the sensing data input from the sensor unit (S330), and recognizes the pattern of the marker (S340).

When the grip position is changed (S350), the marker information obtaining unit 231 extracts the marker of the acquired image to calculate the movement information of the marker, and the travel operation setting unit 232 sets the position of the marker corresponding to the position change amount And sets driving (S360).

The travel operation setting unit 232 sets the movement direction or the movement distance of the main body based on the movement information according to the change of the position of the marker. When the movement amount of the marker is less than a predetermined value, the main body is made to wait without moving, and when the movement amount exceeding a predetermined value occurs, the running is set.

When the running is set, the running control unit 233 applies a control command to the running unit 250, and the running unit 250 controls the motor so that the main body moves (S370). At this time, it is preferable that the main body moves to a position distant from the suction mechanism 100 by a predetermined distance.

When an obstacle is sensed from the obstacle detection unit 260 during movement of the main body 200 (S380), the travel control unit 233 changes the travel route so that the main body avoids the obstacle and then travels the travel unit 250 (S390).

An obstacle existing in the movement path to the destination performs the obstacle avoidance using the obstacle avoidance algorithm. Impedance control can be used as an obstacle avoidance algorithm. Impedance control is one of PFM (Potential Field Method) which determines the moving direction and velocity of the main body by assuming the repulsive force between attraction and obstacle between the main body and the target point. Modeling with a damper to generate a potential vector to determine the direction and speed of movement.

On the other hand, the travel control unit 2330 determines that the handle position can not be determined when the handle position is not changed (S400), and applies data to end the active follow (S410).

When the marker can not be extracted from the acquired image, or when the marker extracted from the acquired image is not a normally output marker, the marker information acquisition unit 231 acquires data indicating that the position of the handle can not be determined To the travel control unit 233, and accordingly the travel control unit 233 can terminate the active follow-up (S410).

If the initial pattern calibration fails, the pattern recognition unit 235 applies data to the travel control unit 233 indicating that the grip position can not be determined, and accordingly the travel control unit 233 can terminate the active follow-up.

Accordingly, the travel controller 233 cancels the active follow-up and moves manually in response to the tension of the hose as the suction device 100 moves. The travel controller 2330 allows the wheels of the travel unit 250 to rotate autonomously.

Accordingly, the main body moves, dust is sucked from the suction device 100, and cleaning is performed (S420).

17 is a flowchart referred to for explaining a marker recognition method according to the movement tracking of the vacuum cleaner of the present invention.

17, the sensor unit 180 senses the movement of the suction device 100 when the inclination or attitude of the suction device 100 is changed, and the driving unit 250 senses the wheel speed of the wheel at step S450. The inclination of the intake pipe can be sensed through the sensor unit 180 or the user can sense the movement of the handle through the sensor provided on the handle itself to detect whether the user holds the handle.

The driving control unit 233 determines the movement of the handle according to the sensing data input from the sensor unit 180 in step S460 and further performs the operation of the cleaner on the basis of the wheel speed of the driving unit 250 of the main body 200 .

If the knob does not move, the travel controller 233 cancels the active follow and stops the wheel operation control (S560). The travel control unit 233 can periodically determine the movement of the handle and set the active follow.

When stopping the control for the wheel operation, it does not mean that the running control according to the active follow-up is stopped but the operation of the cleaner is stopped. That is, when the movement of the handle can not be detected, the active follow-up is canceled, but when the cleaning is performed by the suction mechanism, the main body is manually moved according to the tension of the lake.

If the handle is normally moved, the travel controller 233 performs pattern calibration before performing the active follow-up using the marker (S320). Since the shape of the marker can be changed according to the angle of the space or handle, it is determined whether the shape of the marker has changed due to the change of the space or whether the shape of the marker has been changed due to another cause. .

The driving control unit 233 determines whether the inclination of the suction device 100 is normal based on the sensing data input from the sensor unit 180 (S470). That is, the travel control unit 233 determines whether the suction mechanism 100 is in a normal state and is capable of outputting a marker.

When the handle is moved and the inclination of the suction mechanism is normal, the travel control unit 233 applies a control command to the marker output unit 190, so that the marker output unit 190 operates the light source, (S480).

The image acquiring unit 220 photographs the ceiling projected by the marker, and the pattern recognizing unit 235 extracts the marker from the acquired image to initially recognize the shape of the marker (S490). That is, the marker type of the acquired image is determined and recognized corresponding to the inclination or angle of the handle. It is determined whether or not a marker of a certain type is detected at a specific slope.

The pattern recognition unit 235 analyzes the pattern of the marker and recognizes the marker that changes according to the space (S500). As described above, the pattern recognition unit 235 can analyze the patterns of the markers to determine whether the markers are changed according to the height of the ceiling or the structure of the ceiling, and whether the marker output itself is abnormal.

The pattern recognition unit 235 determines whether the marker is normally output based on the analysis result (S510). When the marker is normally output, the pattern recognition unit stores basic data for the marker that changes according to the space.

If the marker is normally output, the pattern recognition unit 235 calculates the basic position of the current handle based on the coordinates of the marker (S520), and compares the basic position of the handle with the wheel motion (S530).

The pattern recognition unit 235 calculates the distance from the center of the main body 200 to the handle 140 and calculates the distance using the position change amount from the previous position to the current position, i.e., the wheel odometry information, Position. Since the handle is connected to the body and the hose, the movable distance can be predicted. In addition, SW Filter (median filter, etc.) is utilized to reduce the influence of external force. The pattern recognition unit 235 determines whether the distance between the main body 200 and the handle 140 is normal and determines whether the moving distance of the wheel in accordance with the position of the handle is normal.

If the movement of the wheel is normal according to the position of the handle, the marker information obtaining unit 231 calculates the position of the handle by extracting the marker from the acquired image, and calculates the movement information according to the movement of the marker (S570).

The travel operation setting unit 232 sets the travel route in accordance with the movement information and inputs the travel route to the travel control unit 233 (S580).

The traveling operation setting unit 232 performs path planning from the current main body position to the handle position, and generates a trajectory based on the set path.

The travel controller 233 controls the travel unit 250 to move the main body 200 along the set travel route. Accordingly, the wheel of the traveling unit 250 moves to the designated route (S590). Finally, the wheel control is performed based on the generated trajectory. The wheel control uses a widely used PID controller.

The travel control unit 233 periodically performs pattern calibration even while driving to determine the exact position of the handle using the marker, and ends the active follow if the position of the handle can not be determined.

If the inclination of the suction mechanism is not normal during pattern calibration (S320), the travel control unit 233 determines whether the position of the pre-stored handle is the same as the position of the current handle (S550).

If the positions of the knobs are not the same, the travel control unit 233 cancels the active follow and stops the wheel operation control (S560). At this time, it does not mean that the control for the wheel operation is stopped and the active follow-up is stopped, but the vacuum cleaner stops operating. When the active follow-up is released, when the cleaning is performed by the suction mechanism, the main body is manually moved in accordance with the tension of the lake.

Also, even if the movement of the wheel is not normal due to the basic position of the handle, the handle position is compared with the previous position (S550). If the positions of the handle are the same, the main body 200 is actively followed If not, the active follow-up is canceled and the wheel is turned off so that the main body 200 is manually operated.

Therefore, according to the present invention, since the marker is projected on the ceiling, the marker can be easily extracted from the acquired image because the marker does not disappear due to the user or the surrounding environment, the marker is initially recognized, The marker can be easily recognized even if the environment of the cleaning area is changed. Therefore, according to the present invention, the main body can be actively followed by setting the running of the main body based on the movement of the marker.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention.

100: Suction mechanism 200:
220: image acquiring unit 230:
231: marker information acquisition unit 232:
233: running control unit 234:
235: pattern recognition unit
240: suction force supply unit 250:
260:

Claims (24)

A suction mechanism that sucks dust and moves according to the movement of the handle;
And a main body connected to the suction mechanism by a hose to collect the dust sucked from the suction mechanism and to travel following the suction mechanism in accordance with the movement of the suction mechanism,
Wherein the suction mechanism includes a marker output portion for projecting a marker toward the ceiling,
Wherein the main body comprises: an image acquisition unit for photographing the ceiling projected by the marker;
A driving unit for providing driving force for driving the main body; And
Wherein the controller is configured to extract the marker from the acquired image photographed by the image acquiring unit, calculate the position of the handle corresponding to the movement of the marker, follow the handle in accordance with the position of the handle, And a control unit for controlling the traveling unit,
Wherein the control unit controls the traveling unit to operate according to the setting and controls the marker output unit to operate in response to the movement of the handle and the wheel movement of the traveling unit. The method according to claim 1,
Wherein the controller performs pattern calibration for the marker to control the main body using the marker when the handle or the main body is operated. delete The method according to claim 1,
And a pattern recognition unit for extracting the marker from the acquired image, analyzing a pattern of the marker, and determining whether the marker is normally output according to the inclination of the handle, and performing pattern calibration, . 5. The method of claim 4,
Wherein the pattern recognition unit sets basic data on a slope of the handle and a space in which the cleaner is located when the marker is normally output. 6. The method of claim 5,
Wherein the pattern recognizing unit compares a change in the position of the handle and a movement of the wheel in the traveling unit to determine a distance between the handle and the main body and determines whether the change in the position of the handle is normal. 5. The method of claim 4,
Wherein the travel control unit controls the pattern recognition unit to perform the pattern calibration at predetermined time intervals. The method according to claim 6,
Wherein the travel control unit sets the position of the knob to not follow the case where the position of the knob can not be determined, the case where the change of the position of the knob is not normal, or the case where the marker is not normally output And terminates the control on the traveling part. 9. The method of claim 8,
Wherein when the control by the travel control unit is terminated, the traveling unit causes the horses to autonomously travel based on the tension of the hose. 5. The method of claim 4,
Wherein the marker output unit outputs the marker formed of a plurality of marker constituent elements. 11. The method of claim 10,
Wherein the marker output unit includes a marker constituent that is different in color, shape and size from among the plurality of marker constituents. 11. The method of claim 10,
Wherein the marker output portion is provided in the handle,
And a light source for projecting the marker onto the ceiling. 11. The method of claim 10,
Wherein the marker output portion is provided at an upper end of a suction portion of the suction mechanism. 11. The method of claim 10,
Wherein the suction mechanism further comprises a sensor part including a plurality of sensors for sensing the inclination of the suction mechanism and the posture of the handle. 11. The method of claim 10,
Wherein the pattern recognition unit determines a shape of a space or a change in attitude of the handle in accordance with a size of the marker constituent or a distance change between the marker constituents. 5. The method of claim 4,
Wherein the controller includes a marker information obtaining unit for calculating a positional change of the handle in accordance with movement of the marker displayed on the acquired image after the pattern calibration is completed; And
Further comprising: a traveling operation setting unit that sets a traveling operation of the main body so that the main body follows the position of the handle in response to a change in the position of the handle. Outputting a marker from the handle when motion of the handle is detected;
Capturing a ceiling where the marker is projected and inputting an acquired image;
Analyzing a pattern of the marker from the acquired image to determine whether the marker is normally output;
Analyzing a movement of the marker from the acquired image to calculate a positional change of the handle when the marker is normally output; And
And controlling the main body to move following the handle in response to a change in the position of the handle. 18. The method of claim 17,
Further comprising the step of determining whether the inclination of the handle is normal at the time of outputting the marker,
And analyzing the pattern of the marker which changes according to the inclination of the handle when the inclination of the handle is normal. 19. The method of claim 18,
Further comprising the step of terminating the travel control for the main body and causing the main body to autonomously travel in the case where the position of the handle can not be determined and the marker is not normally output . 18. The method of claim 17,
Extracting the marker from the acquired image, analyzing a pattern of the marker, and determining whether the marker is normally output according to the inclination of the handle, thereby performing pattern calibration. 18. The method of claim 17,
Further comprising the step of determining a shape of the space or a change in attitude of the handle corresponding to a change in size, shape, and distance between the marker constituent elements of the plurality of marker constituent elements forming the marker, Way. 22. The method of claim 21,
Further comprising the step of setting the marker as basic data on a slope of the handle and a space in which the cleaner is located when the marker is output normally. 18. The method of claim 17,
Calculating a distance between the handle and the main body by comparing the change of the position of the handle with the movement of the wheel of the main body when the marker is outputted normally and determining whether the change of the position of the handle is normal And a control unit for controlling the vacuum cleaner. 18. The method of claim 17,
Repeatedly determining whether or not the marker is normally output at a predetermined time period,
Further comprising the step of, when the marker is not output normally, stopping the main body following the handle.

Images