KR20020080897A - Obstacle shape detecting apparatus of robot cleaner and method therefor - Google Patents

Abstract

PURPOSE: An apparatus and method for sensing an obstacle shape of a robot cleaner is provided to enhance an obstacle avoidance performance of the robot cleaner by sensing exactly the obstacle shape existing in a driving path of the robot cleaner. CONSTITUTION: A robot cleaner comprises a driving portion(110), a cleaning portion(120), an intake detector(126), a dust collecting portion, a vision portion, a cell distance measuring portion(140), a fall preventing portion(150), an obstacle sensing portion(160), an impact sensing portion(166), a charging apparatus(170), a remote controller emitting portion(180), an RF receiving/transmitting portion(185), and a control section(190). The driving portion includes four wheels(116), a motor(114) for rotating the wheel respectively, and a PWM control section(112). The obstacle sensing portion includes a sensor installing portion, an optical guiding portion, a light emitting portion, and a light receiving portion.

Description

Obstacle shape detecting apparatus of robot cleaner and method therefor}

The present invention relates to an apparatus and method for detecting an obstacle shape of a robot cleaner, and more particularly, an obstacle type detection device for scanning an obstacle shape by sequentially operating a plurality of sensors installed at a predetermined position of a robot cleaner in a predetermined direction. It is about a method.

In general, the robot cleaner (robot cleaner) is a movable moving part, a suction part installed at a predetermined position of the main body to suck dust and dirt, an obstacle type for detecting the presence of obstacles such as a dust collecting part for collecting the sucked dust, a wall, etc. It is composed of a sensing device, a control unit for controlling the overall operation of the robot cleaner and a power supply unit for supplying power to each part of the robot cleaner.

The conventional robot cleaner may drive by driving the driving unit of the main body and sucks dust such as dust in the cleaning target area, and recognizes an obstacle present in the driving direction by the obstacle type sensing device to move the obstacle by itself.

Conventional robot cleaners have moved by avoiding obstacles by determining the distance to the obstacle in the driving direction by an ultrasonic sensor installed at the lower end. The ultrasonic sensor includes an ultrasonic light emitting unit for emitting ultrasonic waves and an ultrasonic light receiving unit for receiving reflected ultrasonic waves reflected by an obstacle. The controller measured the time between the emitted ultrasonic signal and the received ultrasonic signal, and calculated the distance from the measured time to the obstacle to control the motor of the driving unit. According to the control operation of the controller, the robot cleaner was able to travel while avoiding obstacles.

However, the apparatus and method for detecting the obstacle shape of the conventional robot cleaner can detect the existence of the obstacle present at a predetermined height and the distance to the obstacle, but cannot accurately identify the shape of the obstacle.

In addition, since the shape of the obstacle cannot be accurately understood, when the obstacle is wide or has an irregular outer line (envelope), it is necessary to adjust the avoidance path frequently, thereby degrading the performance of the cleaner.

The present invention has been made to solve the above problems, and an object of the present invention is to provide an obstacle type detecting apparatus and method for a robot cleaner capable of detecting a shape of an obstacle present in a driving direction of the robot cleaner.

In addition, another object of the present invention is to provide an apparatus and method for detecting an obstacle shape of a robot cleaner which can prevent the robot cleaner from frequently setting the avoidance path by accurately identifying the shape of the obstacle.

1 is a block diagram showing the function of a robot cleaner according to a preferred embodiment of the present invention.

Figure 2 is a perspective view showing a schematic configuration of a robot cleaner equipped with an obstacle shape detection apparatus according to the present invention.

3 is a front view of the obstacle shape detecting unit of FIG. 2;

4 is a flowchart illustrating a method for detecting an obstacle shape according to the present invention.

FIG. 5 is a view illustrating an operation and an obstacle detection result of the obstacle shape detecting device of FIG. 1.

Explanation of symbols on the main parts of the drawings

100: robot cleaner 110: driving unit

120: cleaning unit 130: vision unit

140: ceiling distance measuring unit 150: fall prevention unit

160: obstacle shape detection device 170: charging device

185: RF transceiver 190: control unit

In order to achieve the above object, in the obstacle type detection device of the robot cleaner for detecting an obstacle present around the main driving path of the robot cleaner, the obstacle type detection device of the robot cleaner: parallel to the running surface of the main body A light emitting unit having a plurality of light emitting units installed; A light receiving unit having a plurality of light receiving units corresponding to the plurality of light emitting units; A shape detecting controller configured to control the light emitting unit and the corresponding light receiving unit to sequentially operate; And a shape detector for detecting an envelope of the obstacle from the reflected light sequentially received by the obstacle.

It is preferable that the shape detecting controller sequentially operates the light emitting unit from the right side to the left side or the left side to the right side in the main driving direction.

In the obstacle type detection method of the robot cleaner for detecting an obstacle present around the main driving path of the robot cleaner, the obstacle type detection method includes: a) when the obstacle detection signal is input, select the operation target light emitting unit and set the total number of units Doing; b) initializing the unit variable; c) operating a light emitting unit corresponding to the unit variable to irradiate light to an obstacle; d) receiving reflected light reflected from the obstacle in response to the irradiated light; e) mapping the received reflected light into distance information; f) comparing the total number of units with the unit variable to determine whether scanning is complete; g) if the total number of units does not match the unit variable, increasing the unit variable and proceeding to the light irradiation step (a); And h) estimating the envelope of the obstacle from the mapped information if the total unit number and the unit variable match.

In the envelope estimating step (h), an envelope of the obstacle may be formed so as to form a rectangle based on the point closest to the robot cleaner body among the mapping information.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the obstacle type detection apparatus and method of the robot cleaner according to a preferred embodiment of the present invention having the configuration as described above. In describing the present embodiment, the same reference numerals are used for the same components, and description thereof will be omitted.

A robot cleaner equipped with an obstacle shape detecting apparatus according to the present invention will be described below with reference to FIGS. 1 and 2.

The robot cleaner 100 includes a traveling part 110, a cleaning part 120, a suction presence detection part 166, a dust collecting part 128, a vision part 130, a ceiling distance measuring part 140, and a fall prevention part 150. , An obstacle detecting device 160, an impact detecting unit 166, a charging device 170, a remote control light emitting unit 180, an RF transmitting and receiving unit 185, and a controller 190.

The driving unit 110 includes four wheels 116, a motor 114 for rotating each wheel 116, and a PWM controller 112 for driving the motor 114 under the control of the controller 190. do.

The cleaning unit 120 collects the dust collected by the brush and the brush motor 122 that operates the brush for drawing the dust on the plane to be cleaned into the cleaner body 105 along the driving path of the robot cleaner 100. And a suction motor 164 generating a suction force for suction into the 128. The dust suction presence detector 166 detects the presence of dust suction.

The vision unit 130 includes a front camera 132, a location camera 134, and a camera selector 136.

The front camera 132 is for photographing an obstacle or a situation inside the cleaning area that exists in the front of the driving direction of the robot cleaner 100.

The location camera 134 is located at the upper center of the robot cleaner 100 to photograph the ceiling of the space where the robot cleaner 100 is located. The photographed information provides reference information for determining the position and driving route of the robot cleaner 100 in the space where the robot cleaner 100 is currently located, through various objects such as various lights installed on the ceiling.

The camera selector 136 selectively operates the front camera 132 and the position camera 134 according to a user's needs.

The ceiling distance measuring unit 140 measures a distance from the ceiling.

The fall prevention unit 150 detects a state of the floor to prevent the robot cleaner 100 from falling when cleaning the table or the stairs.

The obstacle detecting device 160 detects an obstacle such as a wall existing within a predetermined range around the driving path of the main body 105.

The charging device 170 provides operating power to the robot cleaner 100.

The remote controller light emitting unit 180 receives remote control information of the robot cleaner 100.

The RF transceiver 185 is for transmitting and receiving image information or command information with the robot cleaner 100, a home network, a home server or a personal computer.

The controller 190 controls the overall operation of the robot cleaner 190. In particular, the controller 190 drives the driving unit 110 according to the sensing information from the obstacle sensor 164. The controller 190 controls the robot cleaner 100 to stop or change a movement path when an obstacle is detected.

The detailed configuration of the obstacle shape detecting apparatus according to the preferred embodiment of the present invention will be described below.

The obstacle shape detecting device 160 includes a sensor installation unit 162, a light guide unit 164, a light emitting unit 166, and a light receiving unit 168.

The sensor installation unit 162 is installed at a predetermined position on the front of the main body 105 in the traveling direction. The light emitting unit 166 and the light receiving unit 168 are installed in the sensor installation unit 162 as an example of the non-contact sensor.

The light emitter 166 includes a first light emitter 166a and a second light emitter 166b.

The first light emitting unit 166a includes a plurality of first light emitting units 167 for detecting an obstacle present in the first height section. The first light emitting part 166a is provided at a predetermined height on the lower end side of the main body 105. The first light emitter 166a radiates the first light to the obstacle. Four central units 167b, 167c, 167c, 167d, and 167e of the first light emitting units 167 are installed at the front center of the main body 105 at equal intervals, and the other two side units 167a and 167f are provided. It is installed at a predetermined angle apart from both sides.

The second light emitting unit 166b includes a plurality of second light emitting units for detecting an obstacle present in the second height section. The second light emitting unit 166b is installed above the first light emitting unit 166a to detect an obstacle existing in the second height section. The plurality of second light emitting units are provided at equal intervals. The second light emitting unit 166b irradiates the obstacle with the second light. Four central units 169b, 169c, 169c, 169d, and 169e of the second light emitting units 169 are installed at the front center of the main body 105 at equal intervals, and the other two side units 169a and 169f are provided. It is installed at a predetermined angle apart from both sides.

The light guide part 164 is partitioned in the state penetrating the front surface of the sensor installation part 162 in a predetermined shape, and guide part 164a which guides the light irradiated from the 1st-2nd light emitting parts 166a and 166b. Has

The obstacle type detecting device 160 detects the height of the obstacle existing in the omnidirectional direction of the main body 105 from the first and second reflected light received through the receiver 168.

Obstacle shape detection device 160 may further include a side obstacle detection unit.

When the height of the obstacle is detected as described above, the obstacle detecting apparatus 160 detects the shape of the obstacle.

An operation obstacle shape detection method of the obstacle type detection device of the robot cleaner according to the present invention will be described below with reference to FIGS. 4 and 5. In describing the present embodiment, it is assumed that the obstacle is detected only at the second height, and the scanning direction of the obstacle proceeds from the left side to the right side of the obstacle. However, the present invention is not limited thereto, and various modifications can be made, of course.

Obstacle type detection method of the robot cleaner includes the operation target light emitting unit selection step (S62), variable initialization step (S64), light irradiation step (S66), reflected light receiving step (S68), reception information mapping step (S70), scanning completion determination Step S72, variable increase step S74, and envelope estimation step S76.

In the operation target light emitting unit selection step S62, when the obstacle height detection signal is input, the operation target light emitting unit 166b is selected according to the input height information. The total unit variable T is six, which is the total number of the light emitting units 169 constituting the operation target light emitting unit 166b.

In the variable initialization step S64, the unit variable n and the scanning direction variable are set. The unit variable n is a value for counting the light emitting unit 169 and an initial value thereof is set to one. The scanning direction variable d is a value for setting the scanning direction of the obstacle. The scanning direction may be set from the left side of the obstacle to the right side or from the right side to the left side. In addition, the scanning direction may be preset in one of the above directions, or may be determined according to the obstacle detection result. The emission of each light emitting unit in sequence is to prevent the reflected light information from interfering with each other.

In the light irradiation step S66, light is irradiated to the obstacle by operating the light emitting unit 169f corresponding to the unit variable n according to the scanning direction.

In the reflected light receiving step S68, the reflected light reflected from the obstacle is received in response to the irradiated light.

The reception information mapping step S70 maps the received reflected light into distance information.

In the scanning completion determination step (S72), the scanning completion is determined by comparing the total number of units T and the unit variable n.

If the total number of units T and the unit variable n do not match, the variable increasing step S74 increases the unit variable n and proceeds to the light irradiation step S66. That is, the light emitting unit 169e is operated. In this way, the light emitting unit is operated sequentially.

The envelope estimating step S76 estimates the envelope of the obstacle 250 from the mapping information shown in FIG. 5A when the total number of units T and the unit variable n coincide. The envelope estimating step S76 may be a quadrangle based on the point D closest to the robot cleaner body among the mapping information illustrated in FIG. 5A. The envelope 250 ′ of the obstacle 250 is shown in b) of FIG. 5. The envelope estimation step S76 may be formed in a semicircular shape based on the point D from the mapped information.

According to the obstacle shape detection apparatus and method according to the present invention, the shape of the obstacle can be determined by scanning the obstacle to detect the envelope. In addition, by accurately identifying the shape of the obstacle it is possible to prevent the frequent setting of the avoidance path of the robot cleaner.

Although preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the above-described specific preferred embodiments, and the technology to which the present invention pertains without departing from the gist of the present invention as claimed in the following claims. Those skilled in the art will be able to implement various modifications.

Claims (4)

In the obstacle type detection device of the robot cleaner for detecting an obstacle present around the main driving path of the robot cleaner, the obstacle type detection device of the robot cleaner includes: A light emitting unit having a plurality of light emitting units installed in parallel with a running surface of the main body; A light receiving unit having a plurality of light receiving units corresponding to the plurality of light emitting units; A shape detecting controller configured to control the light emitting unit and the corresponding light receiving unit to sequentially operate; And Shape detection unit for detecting the envelope of the obstacle from the reflected light sequentially received reflected by the obstacle; obstacle type detection device of a robot cleaner, characterized in that it comprises a. The method of claim 1, wherein the shape detection control unit Obstacle type detection device of the robot cleaner, characterized in that for sequentially operating the light emitting unit from the right to the left or left to the right of the main travel direction. In the obstacle type detection method of the robot cleaner for detecting an obstacle present around the main driving path of the robot cleaner, the obstacle type detection method is: a) selecting an operation target light emitting unit and setting a total number of units when an obstacle detection signal is input; b) initializing the unit variable; c) operating a light emitting unit corresponding to the unit variable to irradiate light to an obstacle; d) receiving reflected light reflected from the obstacle in response to the irradiated light; e) mapping the received reflected light into distance information; f) comparing the total number of units with the unit variable to determine whether scanning is complete; g) if the total number of units does not match the unit variable, increasing the unit variable and proceeding to the light irradiation step (a); And h) estimating the envelope of the obstacle from the mapped information if the total number of units and the unit variable match. The method of claim 3, wherein the envelope estimation step (h) The obstacle type detection method of the robot cleaner, characterized in that the envelope of the obstacle is formed to form a rectangle based on the point closest to the robot cleaner main body of the mapping information.