Robot cleaner and method for controlling same

Abstract

This robot cleaner comprises: a main body; a driving wheel provided at a lower portion of the main body for moving the main body; a mopping unit provided at a lower portion of the main body; and a rotation unit, wherein the rotation unit includes: a bridge connected to the mopping unit; and a first motor for rotating the bridge such that the mopping unit moves to one of a first position and a second position, and wherein the mopping unit may be disposed at a lower portion of the main body on the basis of the first position and may be disposed to protrude outwardly from the main body on the basis of the second position.

Description

Robot vacuum cleaner and its control method

[0001] The present disclosure relates to a robot vacuum cleaner and a method for controlling the same.

[0002] As technology advances, robots are being utilized in various fields to replace human labor. Robots have been utilized in factories, construction, medical settings, aerospace, and other fields. Recently, their applications have expanded, with robots being developed for use in everyday homes. A prime example of this type of robot is the robot vacuum cleaner.

[0003] Conventional vacuum cleaners were cleaned by having a person sweep the area to be cleaned, but with the development and use of robot vacuum cleaners, robot vacuum cleaners can now perform dry and wet cleaning of the cleaning area on their own.

[0004] However, conventional robot vacuum cleaners have a problem in that they cannot clean spaces under furniture, such as beds or sofas, if they cannot enter those spaces.

[0005] According to one embodiment of the present disclosure, a robot cleaner may include: a main body; a driving wheel provided at a lower portion of the main body for moving the main body; a mopping unit provided at a lower portion of the main body; and a rotating unit. The rotating unit may include: a bridge connected to the mopping unit; and a first motor for rotating the bridge so that the mopping unit moves to one of the first position and the second position. The mopping unit may be disposed at a lower portion of the main body with respect to the first position, and may be disposed to protrude outward from the main body with respect to the second position.

[0006] The above morphing part comprises: a morphing pad; a second motor for rotating the morphing pad; and

[0007] The robot cleaner may further include at least one sensor; and a memory that, when executed by the at least one processor, controls the first motor so that the robot cleaner moves the morphing unit to one of the first position and the second position based on the sensing value of the at least one sensor.

[0008] The above body is circular, and the morphing pad may be positioned on the inner side of the outer diameter of the body based on the morphing part being at the first position, and may be positioned to protrude from the outer diameter of the body to the outside of the body within a preset range based on the morphing part being at the second position.

[0009] The above rotating part further includes a passive joint arranged on the bridge, and the at least one processor can change the position of the morphing part according to the magnitude of the external force when an external force is applied to the morphing pad while the morphing part is moved to the second position, and return the morphing part to the second position when the external force disappears.

[0010] The at least one sensor may include a contact detection sensor arranged along an outer periphery of the morphing pad, and the contact detection sensor may be configured to detect contact between the morphing pad and a surrounding object. A first diameter of the contact detection sensor may be larger than a diameter of the morphing pad.

[0011] The at least one sensor may include a distance detection sensor for recognizing surrounding objects.

[0012] The at least one processor may activate the distance detection sensor based on the morphing part of the robot cleaner moving to the second position.

[0013] The at least one processor may measure a distance from the surrounding object located in the driving direction of the driving path of the robot cleaner to the outer circumference of the morphing pad based on the first sensing value of the distance detection sensor after the morphing unit moves to the second position, and control the first motor to rotate the morphing unit toward the first position if the measured distance is within a preset range.

[0014] The above-described preset range may include a preset duration range, and at least one processor may control the first motor to rotate the morphing unit to the first position based on a calculated duration that the robot cleaner has within the preset duration range, and the preset duration may be determined based on a value obtained by dividing the measured distance by a moving speed of the robot cleaner.

[0015] The at least one processor may be configured to command the robot cleaner to generate a map of a space in which the robot cleaner is placed based on at least one sensing value of a space recognition sensor among the at least one sensor, store the map in a memory, and determine a movement path based on the generated map.

[0016] The at least one processor may execute a command that causes the robot cleaner to generate a map based on simultaneous localization and mapping (SLAM).

[0017] The at least one processor may determine a measured separation height between the floor and the floor surface of the first surrounding object placed on the movement path of the morphing unit based on the first sensing value of the distance detection sensor, and control the first motor to rotate the morphing unit toward the first position if the measured separation height is within a preset range.

[0018] According to one embodiment of the present disclosure, a method for controlling a robot cleaner including a morphing unit may include: a step of cleaning by driving through a space in which the robot cleaner is disposed while the morphing unit is disposed at a lower portion of the main body; a step of rotating the morphing unit to protrude outward from the main body when it reaches a specific position within the space, and performing cleaning using the protruded morphing unit; and a step of detecting a collision detection result or a possibility of collision between a surrounding object and the morphing unit based on a sensing value of at least one sensor disposed on the morphing unit, and changing a position of the morphing unit based on the detection result.

[0019] The morphing unit includes a morphing pad, a second motor for rotating the morphing pad, and at least one sensor, and is connected to the main body by the rotating unit, the rotating unit includes a bridge connected to the morphing unit and a first motor for rotating the bridge, and the step of performing the cleaning may include driving the first motor to protrude the morphing unit outward from the main body.

[0020] The step of determining the detection result may include: a step of detecting a collision based on a first sensing value of a contact detection sensor among the at least one sensor; and a step of moving the morphing part in a downward direction of the main body when the collision is detected.

[0021] The step of determining the detection result may include: a step of determining a distance between the surrounding object and the morphing part based on a first sensing value of a distance detection sensor among the at least one sensor; and a step of moving the morphing part in a downward direction of the main body if the detected distance value is within a preset range.

[0022] The step of determining the detection result may include: a step of measuring a height at which a lower surface of the first surrounding object located on a path through which the morphing unit passes is separated from the ground, based on a first sensing value of a distance detection sensor among the at least one sensor; and a step of moving the morphing unit in a downward direction of the main body if the measured separation height is within a preset range.

[0023] The method may further include a step of deactivating the at least one sensor based on the morphing part being positioned at the lower portion of the main body, and activating the at least one sensor based on the morphing part protruding outward from the main body.

[0024] The method comprises the steps of moving the morphing part to a position before moving based on a calculated value indicating that the robot cleaner has passed the first surrounding object based on the morphing part being moved to a position lower than the main body; wherein the calculated value may be based on a second sensing value of the distance detection sensor among the at least one sensor or a third sensing value of the space recognition sensor.

[0025] According to one embodiment of the present disclosure, a robot cleaner including a morphing unit may provide a non-transitory computer-readable recording medium having recorded thereon a command, which, when executed by at least one processor, may include: a step of disposing the morphing unit on a lower surface of a main body of the robot cleaner, and performing cleaning based on the robot cleaner moving through a space; a step of rotating the morphing unit so as to protrude outward from the main body, and performing cleaning through the morphing unit based on the robot cleaner reaching a preset position within the space; and a step of determining a collision detection result or a possibility of collision between a surrounding object and the morphing unit based on a sensing value of at least one sensor disposed on the morphing unit, and changing a position of the morphing unit based on the detection result.

[0026] FIG. 1 is a perspective view of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0027] FIG. 2 is a bottom view of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0028] FIG. 3 is a perspective view of a robot vacuum cleaner excluding a housing according to at least one embodiment of the present disclosure.

[0029] FIGS. 4 and 5 are drawings for explaining changes in the position of a morphing pad of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0030] FIG. 6 is a drawing for explaining a passive joint of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0031] FIG. 7 is an exploded perspective view of a passive joint of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0032] FIG. 8 is a drawing for explaining a change in the position of a morphing part by a passive joint of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0033] FIG. 9 is a block diagram illustrating a cleaning operation of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0034] FIG. 10 is a drawing for explaining a contact detection sensor of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0035] FIG. 11 is a drawing for explaining a distance detection sensor of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0036] FIG. 12 is a flowchart for explaining a change in the position of a morphing portion according to at least one embodiment of the present disclosure.

[0037] FIG. 13 is a drawing for explaining a change in the position of a morphing part by a contact detection sensor of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0038] FIG. 14 is a drawing for explaining a change in the position of a morphing part by a distance detection sensor of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0039] The embodiments described in this disclosure and the configurations illustrated in the drawings are merely examples of embodiments, and various modifications may be made without departing from the scope and spirit of the present disclosure.

[0040] The various embodiments of this document and the terminology used therein are not intended to limit the technical features described in this document to specific embodiments, but should be understood to include various modifications, equivalents, or substitutes of the embodiments. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of the items, unless the context clearly indicates otherwise. In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" may include any one of the items listed together in the corresponding phrase among the phrases, or all possible combinations thereof. The term "and / or" includes a combination of a plurality of related listed components or any one of the plurality of related listed components. Terms such as "first," "second," or "first" or "second" may be used merely to distinguish one component from another, and do not limit the components in any other respect (e.g., importance or order). When a component (e.g., a first component) is referred to as "coupled" or "connected" to another (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or via a third component. The terms "comprises" or "has" and the like specify the presence of a feature, number, step, operation, component, part, or combination thereof described herein, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.When a component is said to be "connected," "joined," "supported," or "in contact with" another component, this includes not only cases where the components are directly connected, joined, supported, or in contact, but also cases where the components are indirectly connected, joined, supported, or in contact through a third component. When a component is said to be "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where another component exists between the two components.

[0041] Hereinafter, a robot vacuum cleaner according to various embodiments will be specifically described with reference to the attached drawings.

[0042] FIG. 1 is a perspective view of a robot cleaner according to at least one embodiment of the present disclosure. Referring to FIG. 1, the main body (10) of the robot cleaner (1) may be formed in a circular shape. Specifically, the main body (10) may be formed in the shape of a disk. The main body (10) may be composed of an upper housing (11) forming an exterior, a lower housing (12, see FIG. 2), and a side housing (13).

[0043] The upper housing (11) is a configuration that forms one side of the main body (10) facing in the opposite direction (Z) to the ground. The upper housing (11) may include a display unit, operation buttons, etc. so that a user can control the operation of the robot cleaner (1), and various sensors such as a lidar sensor may be mounted thereon.

[0044] The lower housing (12) is configured to form one side of the main body (10) facing the ground, opposite the upper housing (11). The upper housing (11) and the lower housing (12) can be formed in a circular shape corresponding to each other.

[0045] The side housing (13) connects the upper housing (11) and the lower housing (12) and forms a side surface of the main body (10). The side housing (13) may be formed integrally with the upper housing (11) or the lower housing (12), or may be provided as a separate member.

[0046] Since the main body (10) of the robot cleaner (1) has a circular shape due to the housing (11, 12, 13), the robot cleaner (1) can have a degree of freedom regarding the turning radius when driving to perform cleaning. For example, when the robot cleaner (1) drives to clean a square space, it can pass through the angled area by only changing the driving direction without having to reverse when changing the driving path at the angled area.

[0047] FIG. 2 is a bottom view of a robot cleaner according to at least one embodiment of the present disclosure. Referring to FIG. 2, the robot cleaner (1) may include a driving wheel (20), a suction unit (30), a brush (40), and a mopping unit (50) in the lower housing (12) area.

[0048] The driving wheel (20) is a configuration provided at the lower portion of the main body (10) to move the main body (10). The lower portion of the main body (10) refers to the lower housing (12) region, and specifically, the driving wheel (20) may be arranged to penetrate the lower housing (12). The driving wheel (20) may be configured as a single or multiple number, and in the present disclosure, at least one embodiment in which a pair of driving wheels (20) is provided as illustrated in FIG. 2 will be described.

[0049] A pair of drive wheels (20) can be symmetrically arranged based on the center line (L) of the main body (10). The drive wheels (20) transmit the weight of the main body (10) to the ground, and rotate by receiving power generated by the driving motor, thereby moving the robot cleaner (1) forward or backward.

[0050] In addition, the robot cleaner (1) may include an auxiliary wheel (21) for changing the driving direction of the main body (10). The auxiliary wheel (21) may be placed on the center line (L) of the main body (10). The rotation of the auxiliary wheel (21) may be controlled by the processor (100). As the auxiliary wheel (21) rotates, the driving wheel (20) may move the robot cleaner (1) forward or backward, thereby changing the driving direction of the robot cleaner (1).

[0051] In the drawing, the number of auxiliary wheels (21) is shown as a single number, but in some cases, it may be configured as a plurality of wheels.

[0052] Meanwhile, the driving direction of the robot cleaner (1) may be changed by the driving wheel (20) itself rotating without the auxiliary wheel (21) changing the driving direction of the robot cleaner (1).

[0053] The suction unit (30) is configured to suck up dust or dirt existing on the ground in the direction in which the robot cleaner (1) is moving. The suction unit (30) may include a suction port (31), a filter, a suction motor, a suction fan, and a suction vane.

[0054] The suction motor can rotate the suction fan at high speed to form an air pressure within the suction vane lower than atmospheric pressure. Since the air pressure within the suction vane is lower than atmospheric pressure, an air flow can be formed from the outside of the main body (10) toward the suction vane. The speed of the air flow can be inversely proportional to the pressure of the suction vane.

[0055] When the suction motor operates, outside air can be sucked in from the outside of the main body (10) through the suction port (31), and in this process, dust or dirt around the suction port (31) can be sucked in as well. The sucked dust or dirt can be filtered out by the filter.

[0056] The brush (40) is configured to move dust or dirt accumulated or adhered to the ground toward the suction unit (30). The brush (40) can be symmetrically arranged on both sides based on the center line (L) of the main body (10).

[0057] The brush (40) can rotate by receiving power from a brushing motor. The rotation direction of a pair of brushes (40) may be a direction (C) from the outside of the main body (10) toward the center point of the main body (10).

[0058] As the brush (40) rotates, dust or dirt that is strongly adhered to the ground or entangled with each other can be separated from the ground or scattered and flow toward the suction unit (30). As a result, the suction unit (30) can suck up the dust or dirt.

[0059] The morphing unit (50) is configured for wet cleaning of the cleaning target area. The morphing unit (50) may include a morphing pad (51) and a second motor (52, see FIG. 3). In addition, the morphing unit (50) may include a contact detection sensor and a distance detection sensor, which will be described later.

[0060] The morphing pad (51) may be formed in a circular shape. A cleaning member such as a mop or other cotton material may be attached to the morphing pad (51). The morphing pad (51) may be provided with a protrusion to facilitate attachment of the cleaning member, and may further include a hole or a clamp for inserting the cleaning member. The morphing pad (51) may receive moisture from a water tank inside the main body (10) and transfer it to the cleaning member, or may discharge the moisture toward the front in the direction of movement of the cleaning member. The morphing pad (51) may be positioned so as to be exposed to the lower part of the main body (10), for example, the outside of the lower housing (12).

[0061] The second motor (52) is configured to rotate the morphing pad (51). The morphing pad (51) can rotate by receiving power from the second motor (52). The rotation direction of the morphing pad (51) may be a direction from the center point of the main body (10) toward the outside of the main body (10). In the case of a pair of morphing pads (51), the rotation directions of each morphing pad (51) may be opposite.

[0062] As described above, the robot cleaner (1) can perform dry cleaning on an area of ​​a driving path by using the suction unit (30) and the brush (40) while driving by the driving wheel (20), and can simultaneously perform wet cleaning by using the mopping unit (50).

[0063] FIG. 3 is a perspective view of a robot cleaner excluding a housing according to at least one embodiment of the present disclosure. Referring to FIG. 3, the robot cleaner (1) may include a mopping unit (50) and a rotating unit (60).

[0064] The second motor (52) of the morphing unit (50) may be placed on the upper side of the morphing pad (51). The second motor (52) and the morphing pad (51) may be mutually coupled by a morphing shaft (53). For example, the morphing shaft (53) may have one end coupled to the second motor (52) and the other end coupled to the morphing pad (51). Accordingly, when the second motor (52) rotates, the morphing shaft (53) may be rotated, and the morphing pad (51) connected to the morphing shaft (53) may also be rotated.

[0065] The rotating part (60) is configured to rotate the morphing part (50). For example, the rotating part (60) can rotate the morphing part (50) so that it moves to one of a first position at the bottom of the main body (10) and a second position protruding outward from the main body, or to any position between the first position and the second position. The rotating part (60) can have one area coupled to the inside of the main body (10), and another area coupled to the morphing part (50).

[0066] The rotating part (60) may include a bridge (61) and a first motor (62).

[0067] The bridge (61) is a structure for connecting the morphing section (50) and the rotating section (60). The bridge (61) may be formed of a material having integral rigidity. However, the structure of the bridge (61) is not limited thereto, and may be formed by combining multiple structures. In the present disclosure, at least one embodiment in which the bridge (61) is formed by combining multiple structures will be described.

[0068] The first motor (62) is configured to rotate the bridge (61). One end of the bridge (61) can be coupled with the first motor (62), and the other end can be coupled with the morphing part (50).

[0069] As the first motor (62) operates, the bridge (61) can rotate by a certain angle. Since one end of the bridge (61) is coupled to the first motor (62) and the other end is coupled to the morphing unit (50), the morphing unit (50) can rotate in response to the rotation of the bridge (61). For example, power from the first motor (62) can be transmitted to the morphing unit (50) by the bridge (61).

[0070] The direction of rotation of the bridge (61) by the first motor (62) may be from the inside to the outside of the main body (10). For example, the first motor (62) may rotate the morphing part (50) in the X direction with the first motor (62) as the center. A specific description of the rotation of the morphing part (50) will be described later with reference to FIG. 4.

[0071] FIGS. 4 and 5 are drawings for explaining changes in the position of a morphing pad in a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0072] Referring to FIG. 4, the morphing part (50) can be rotated to a first position so that the morphing pad (51) is placed on the inner side of the outer diameter of the main body (10).

[0073] The first position refers to a position where the morphing pad (51) is positioned on the inner side of the outer diameter of the main body (10). For example, when the morphing part (50) is in the first position, the morphing pad (51) does not protrude further outward than the outer diameter of the main body (10), so that components other than the main body (10) may not collide with surrounding objects while the robot cleaner (1) is moving and passing through them.

[0074] When the morphing part (50) is in the first position, a pair of morphing pads (51) can be arranged symmetrically on both sides with respect to the center line (L) of the main body. In this way, when the morphing part (50) is in the first position, the morphing pads (51) may not collide with surrounding objects that do not come into contact with the outer diameter of the main body (10) along the driving path of the main body (10).

[0075] Meanwhile, when the morphing part (50) is in the first position, there is a problem in that the robot cleaner (1) cannot clean a space where the main body (10) cannot enter, for example, a space where the floor and furniture are separated, such as the bottom of a storage cabinet.

[0076] Referring to FIG. 5, the morphing part (50) may be at a second position. The second position means a position where a part of the morphing part (50), for example, a morphing pad (51), protrudes from the outer diameter of the main body (10) to the outside of the main body (10) within a preset range according to the rotation of the morphing part (50).

[0077] The preset range of the second position refers to the range of the distance (D1, hereinafter referred to as the protrusion distance) from the outer diameter of the main body (10) to the outer diameter of the protruding morphing pad (51), which can be set during the design and manufacturing stages of the robot cleaner (1). For example, the protrusion distance (D1) can be up to 3 cm. For example, the second position of the morphing unit (50) can be a position where the protrusion distance (D1) exceeds 0 cm and is within 3 cm.

[0078] When the morphing part (50) is in the second position, the robot cleaner (1) can clean spaces that the main body (10) cannot enter when driving to perform cleaning. Specifically, the robot cleaner (1) can clean an area that the protruding morphing pad (51) passes along the driving path of the robot cleaner (1) according to the protrusion distance (D1) of the morphing part (50).

[0079] However, when the morphing part (50) is in the second position, there may be a surrounding object that the morphing part (50) protrudes by the protrusion distance (D1) and may collide with, but does not come into contact with the outer diameter of the main body (10) or collide with the main body (10) along the driving path of the robot cleaner (1). When the protruding morphing part (50) collides with a surrounding object, there is a problem that one component of the morphing part (50) and / or the rotating part (60) may be damaged depending on the size of the impact. To solve this problem, the robot cleaner (1) may include a passive joint (63, see FIG. 6). A detailed description thereof will be provided later in the description of FIG. 6.

[0080] FIG. 6 is a diagram illustrating a passive joint of a robot cleaner according to at least one embodiment of the present disclosure. FIG. 7 is an exploded perspective view of a passive joint of a robot cleaner according to at least one embodiment of the present disclosure. Referring to FIGS. 6 and 7, the rotating part (60) of the robot cleaner (1) may include a passive joint (63).

[0081] The passive joint (63) is configured to prevent damage to one component of the morphing portion (50) and / or the rotating portion (60) when the morphing portion (50) collides with a surrounding object when the morphing portion (50) is in the second position.

[0082] Specifically, the passive joint (63) can be provided in the bridge (61) so that when an external force is applied to the morphing pad (51) while the morphing portion (50) is moved to the second position, the position of the morphing portion (50) changes depending on the magnitude of the external force, and when the external force disappears, the morphing portion (50) returns to the second position.

[0083] The passive joint (63) may include a torsion spring (631) and first to third bearings (632, 633, 634). The torsion spring (631) refers to a spring in which a coil is wound so as to have a torsional stress of a certain strength. The stress of the torsion spring (631) can be set during its manufacturing process. The stress of the torsion spring (631) can be determined by the K value of the spring. The first to third bearings (632, 633, 634) may be arranged to be positioned on the upper, lower, and side portions of the torsion spring (631). The passive joint (63) configured in this manner may have one side coupled to the first motor (62) of the rotating part (60), and the other side coupled to the bridge (61) of the rotating part (60).

[0084] FIG. 8 is a drawing for explaining a change in the position of a morphing pad by a passive joint of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0085] Referring to Fig. 8, when the morphing part (50) is moved to the second position by the rotating part (60), the morphing part (50) can maintain the position by the passive joint (63). Specifically, the morphing part (50) can maintain the second position by the stress of the torsion spring (631).

[0086] In this way, when the robot cleaner (1) performs cleaning with the morphing part (50) positioned at the second position, if the morphing pad (51) collides with a surrounding object (B1) along the driving path of the robot cleaner (1), the morphing pad (51) may receive an external force in the direction opposite to the driving path of the robot cleaner (1).

[0087] At this time, the bridge (61) can rotate by an angle corresponding to the torsion spring (631) of the passive joint (63) as it is wound. As the bridge (61) rotates, the morphing part (50) and the morphing pad (51) can rotate by an angle corresponding to the rotation angle of the bridge (61).

[0088] Thereafter, as the main body (10) continues to drive and the collision process between the morphing pad (51) and the surrounding object (B1) ends, the morphing part (50) can return to the second position before the collision by the passive joint (63). For example, the passive joint (63) can move the morphing part (50) to the second position before the collision by the stress of the torsion spring (631).

[0089] Specifically, the torsion spring (631) is returned to its pre-collision state by the torsional stress, and as the torsion spring (631) is returned, rotational force can be transmitted to the bridge (61) by the first to third bearings (632, 633, 634). The bridge (61) can rotate correspondingly according to the return movement of the torsion spring (631). The morphing portion (50) coupled with the bridge (61) can rotate by an angle corresponding to the rotation of the bridge (61) and return to the second position before colliding with the surrounding object (B1).

[0090] As described above, when the robot cleaner (1) is moving while the morphing part (50) of the robot cleaner (1) is moved to a second position protruding from the main body (10) and the morphing pad (51) collides with a surrounding object (B1), the position of the morphing pad (51) can be dynamically changed by the passive joint (631). As a result, even if the protruding morphing part (50) collides with a surrounding object (B1), damage to the components of the morphing part (50) and / or the rotating part (60) can be prevented.

[0091] FIG. 9 is a block diagram illustrating a cleaning operation of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0092] According to FIG. 9, the robot vacuum cleaner includes a driving wheel (20), a mopping part (50), a rotating part (60), and a processor (100).

[0093] The processor (100) can perform control for each component included in the robot cleaner (1).

[0094] The processor (100) may include one or more of a digital signal processor, a microprocessor, a central processing unit (CPU), a micro controller unit (MCU), a micro processing unit (MPU), a controller, an application processor, a graphics-processing unit (GPU) or a communication processor, or an advanced reduced instruction set computer (RISC) machines (ARM) processor, or may be defined by the terms thereof. In addition, the processor (100) may be implemented as a system on chip (SoC) or large scale integration (LSI) having a built-in processing algorithm, or may be implemented in the form of a field programmable gate array (FPGA). In addition, the processor (100) may perform various functions by executing computer executable instructions stored in a built-in memory or a memory separately provided in the robot cleaner (1). The processor (100) may generate a map of a space in which the robot cleaner (1) is placed, and store the generated map in the memory. Specifically, the processor (100) can generate a map corresponding to the space where the robot cleaner (1) is placed using a SLAM (Simultaneous Localization And Mapping) algorithm.

[0095] For example, the processor (100) may receive sensing values ​​from at least one sensor provided in the robot cleaner (1) while the robot cleaner (1) is moving in order to generate a map, and based on the sensing values, obtain the distance to the input surrounding objects, the rotation angle of the robot cleaner (1), and the movement distance. The processor (100) may identify location information through the obtained information and a SLAM algorithm, and generate a map.

[0096] The spatial recognition sensor used for map generation may be a lidar sensor, but is not limited to this type. Various sensors may be provided on the front or upper area of ​​the main body (10).

[0097] The processor (100) can calculate the rotation angle of the robot cleaner (1) based on the angular velocity of the robot cleaner (1) acquired through the gyro sensor, and can calculate the movement distance of the robot cleaner (1) based on the rotational speed of the driving wheel (20) acquired through the encoder. Thereafter, the processor (100) can generate a map corresponding to the space from the reference position to the acquired position based on the distance between the robot cleaner (1) and surrounding objects acquired through the space recognition sensor while the robot cleaner (1) moves from the reference position to the acquired position. However, the method of generating the map by the processor (100) is not limited thereto.

[0098] The processor (100) determines a driving path within a space based on the generated map, and performs cleaning by controlling the driving wheels (20) according to the driving path to move the main body. As the robot cleaner (1) drives along the map to clean, the space recognition sensor can continuously measure the distance to surrounding objects. At this time, the space recognition sensor can measure the height between the surrounding objects and the ground or floor. If the measured height is a height that the main body (10) can pass through, for example, if the measured height is higher than the upper maximum height of the main body (10), the robot cleaner (1) can drive and enter the space while the morphing unit (50) is positioned at the first position, thereby performing cleaning. Conversely, if the measured height is a height that the main body (10) cannot pass through but the morphing unit (50) can pass through, the processor (100) can control the first motor (62) to move the morphing unit (50) to the second position. Information about the upper maximum height of the main body (10) or the upper maximum height of the morphing part (50) may be measured in advance and stored in memory.

[0099] Specifically, when the height of the surrounding objects measured by the spatial recognition sensor and the distance between the floor or ground and the ground is higher than the height that the preset morphing unit (50) can pass through, the processor (100) can drive the first motor (62) to rotate the bridge (61) toward the outside of the main body (10). Accordingly, the morphing unit (50) coupled with the bridge (61) can be moved to the second position. As the morphing unit (50) is moved to the second position, the morphing pad (51) can protrude toward the outside of the main body (10). The morphing pad (51) protruding toward the outside of the main body (10) can enter the lower space of the surrounding objects. The robot cleaner (1) can perform cleaning for the lower space of the surrounding objects that the main body (10) cannot enter by performing cleaning driving while the morphing unit (50) is moved to the second position. Meanwhile, if the height between the surrounding objects and the floor or ground measured by the space recognition sensor is a height that the morphing unit (50) cannot pass through, the robot cleaner (1) continues cleaning while the morphing unit (50) is fixed in the first position, and may not clean the space below the surrounding objects.

[0100] FIG. 10 is a diagram illustrating a contact detection sensor of a robot cleaner according to at least one embodiment of the present disclosure. Referring to FIG. 10, the morphing unit (50) may include a contact detection sensor (54). The contact detection sensor (54) is configured to detect a collision between the morphing pad (51) and a surrounding object when the robot cleaner (1) is moving while the morphing unit (50) is positioned at the second position.

[0101] The contact detection sensor (54) may be a pressure detection sensor, but its type is not limited thereto. For example, the contact detection sensor (54) may be implemented as an electrostatic sensor that senses capacitance that changes according to contact with a surrounding object.

[0102] The contact detection sensor (54) may be arranged along the outer circumference of the morphing pad (51) and spaced apart from the outer circumference of the morphing pad (51). The contact detection sensor (54) may have a circular ring shape, and the diameter of the contact detection sensor (54) may be larger than the diameter of the morphing pad (51).

[0103] Due to this, the contact detection sensor (54) may collide with the surrounding object first before the morphing pad (51) directly collides with the surrounding object on the driving path of the main body (10) and receives the impact.

[0104] However, the shape of the contact detection sensor (54) is not limited thereto. For example, the contact detection sensor (54) may be arranged only in the front area (A1) of the morphing pad (51). The robot cleaner (1) can perform cleaning while moving the main body (10) forward, and as long as the main body (10) does not move backward, only collisions with surrounding objects existing in the direction of travel of the main body (10) can occur. In this case, the manufacturing cost of the contact detection sensor (54) can be reduced, and the weight of the contact detection sensor (54) can be reduced, so that the weight of the robot cleaner (1) can be reduced. The contact detection sensor (54) may be implemented as a plurality of sensors that are distributed and arranged at arbitrary intervals on the outer periphery of the morphing pad (51).

[0105] FIG. 11 is a diagram illustrating a distance detection sensor of a robot cleaner according to at least one embodiment of the present disclosure. The distance detection sensor (55) is configured to recognize objects surrounding the robot cleaner (1). The distance detection sensor (55) may be provided on a portion of the morphing unit (50). In FIG. 11, the distance detection sensor (55) is illustrated as being arranged on one surface of the second motor (52) among the morphing units (50), but this is merely an example, and the arrangement position of the distance detection sensor (55) may be varied.

[0106] The distance detection sensor (55) can be implemented in various ways, such as an ultrasonic sensor, an IR (Infra Red) sensor, a light sensor, and an image sensor. When the distance detection sensor (55) is implemented as a light sensor, the distance detection sensor (55) emits light and detects the light that is reflected from surrounding objects and returned. When the distance detection sensor (55) detects the reflected light, the processor (100) can obtain information about the distance between the robot cleaner (1) and surrounding objects based on the difference between the emission time and the detection time.

[0107] When the distance detection sensor (55) is implemented as an image sensor, the processor (100) analyzes a plurality of image frames continuously acquired by the distance detection sensor (55), identifies changes in the size of surrounding objects within the image frames, and acquires the distance between the robot cleaner (1) and the surrounding objects based on the changes in size.

[0108] Meanwhile, the robot vacuum cleaner (1) may be equipped with both a distance detection sensor (55) and a contact detection sensor (54) of this type. In some cases, the contact detection sensor (54) and the distance detection sensor (55) may each be configured in multiple numbers.

[0109] In this case, when the contact detection sensor (54) detects a collision between the surrounding object and the morphing pad (51), and the morphing part (50) is moved to a second position or a first position where it does not touch the surrounding object by the processor (100), and the distance detection sensor (55) measures the distance from the main body (10) to the surrounding object, if the morphing part (50) is at the second position before the collision but is at a distance where it does not collide with the surrounding object, the processor (100) can control the rotating part (60) to move the morphing part (50) back to the second position before the collision.

[0110] FIG. 12 is a flowchart for explaining a method for controlling a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0111] According to FIG. 12, the robot cleaner can perform cleaning by moving through a space in which the robot cleaner is placed with the morphing part placed at the lower part of the robot cleaner's main body, for example, placed at a first position (S101). Thereafter, when the robot cleaner reaches a specific position within the space in which the robot cleaner is placed, the robot cleaner rotates the morphing part to protrude it outward from the main body (at a second position), and can perform cleaning using the protruding morphing part (S102).

[0112] A specific location refers to a space through which the main body cannot pass, but through which the morphing part or morphing pad can pass. For example, the specific location may be a space in which the height from the ground or floor to the lower surface of a surrounding object is lower than the height of the main body, but higher than the height of the morphing part or morphing pad (51).

[0113] After this, if a collision between a surrounding object and the morphing pad is detected based on a sensing value of a contact detection sensor provided in the morphing unit, or if a possibility of a collision between a surrounding object and the morphing pad is detected based on a sensing value of a sensor provided in the morphing unit (S103), the robot cleaner can move the morphing unit in the downward direction of the main body (S104).

[0114] Specifically, the robot cleaner can move the morphing part to a third position having a smaller protrusion distance than the second position before the collision. The robot cleaner can also move the morphing part to the first position.

[0115] Meanwhile, in FIG. 12, the method for detecting a collision or the possibility of a collision may be performed based on the sensing value of a distance detection sensor provided in the morphing unit. For example, the robot cleaner may perform cleaning by moving around the space in which the robot cleaner is placed with the morphing unit placed at the bottom of the robot cleaner's main body. Thereafter, when the robot cleaner reaches a specific location within the space in which the robot cleaner is placed, the robot cleaner may rotate the morphing unit to protrude outward from the main body, and perform cleaning using the protruding morphing unit.

[0116] After this, the robot vacuum cleaner can detect the possibility of collision between surrounding objects and the morphing pad based on the sensing value of the distance detection sensor equipped in the morphing unit. If a possibility of collision is detected, the morphing unit can be moved downwards on the main body.

[0117] Here, the step of detecting the possibility of collision may include a step of measuring the height of the lower surface of a surrounding object located on the path that the morphing unit passes along as the robot cleaner moves from the ground, based on the sensing value of a distance detection sensor provided in the morphing unit.

[0118] The step of moving the morphing part in the downward direction of the main body may include the step of moving the morphing part in the downward direction of the main body if the measured height is within a preset range.

[0119] The preset range can be set by considering the driving speed of the robot cleaner and the height from the ground to the lower surface of surrounding objects, etc. For example, the distance between the lower surface of surrounding objects located in front of the robot cleaner on the driving path and the ground, for example, the minimum value for the time it takes for the robot cleaner to reach a point where the height from the ground to the lower surface of the surrounding object is lower than the height of the morphing part, can be preset.

[0120] In this way, if the robot cleaner determines that the sensing value sensed by the distance detection sensor is a space in which the lower part of the surrounding object is gradually closed, for example, a space in which the height from the ground to the lower part of the surrounding object is gradually lowered, the robot cleaner can move the morphing part toward the first position.

[0121] For example, when the robot vacuum cleaner is expected to have the morphing unit or morphing pad stuck in a closed area at the bottom of a surrounding object while driving, the robot vacuum cleaner may drive the first motor to rotate the morphing unit or morphing pad toward the first position at the bottom of the main body.

[0122] Meanwhile, the space between the surrounding objects and the floor or ground may be a plurality of spaces having different heights. In this case, the robot cleaner may control the first motor to move the morphing unit to either a first position or a second position based on the sensing values ​​of the space recognition sensor and the distance detection sensor. For example, assuming that there is a first space whose height is lower than the height of the main body but higher than the height of the morphing unit, and a second space whose height is lower than the height of the morphing unit, when the robot cleaner performs a cleaning operation in the first space, the robot cleaner may move the morphing unit to the second position and maintain the cleaning operation while the morphing unit is positioned at the second position.

[0123] On the other hand, when the robot cleaner moves past the first space and cleans the second space, the robot cleaner can move the morphing unit toward the first location. The robot cleaner can maintain the morphing unit moved toward the first location and clean until the second space is closed. Thereafter, if there is a space with the same conditions as the first space, the robot cleaner can move the morphing unit to the second location, and if the space is not the same as the first or second space, the robot cleaner can move the morphing unit to the first location.

[0124] Accordingly, when the robot cleaner continuously performs cleaning on the lower portions of multiple objects of different heights, it is possible to prevent the morphing portion or morphing pad from colliding with the lower portions of surrounding objects, thereby causing damage to the morphing portion and / or the rotating portion.

[0125] Meanwhile, there may be errors in the data regarding the lower space of surrounding objects detected by the spatial recognition sensor. Since the spatial recognition sensor may be provided on the front area of ​​the main body, the field of view of the spatial recognition sensor may be smaller than the field of view of the distance detection sensor arranged on the morphing part of the main body. For example, the distance from the main body to the surrounding objects measured by the spatial recognition sensor may be measured differently from the actual distance from the outer diameter of the morphing part or the morphing pad to the surrounding objects. In this case, if the robot cleaner moves the morphing part to the second position based on the distance information measured by the spatial recognition sensor and then moves, a problem of the morphing part colliding with the surrounding objects may occur.

[0126] To solve the above-described problem, the robot cleaner can control the position of the morphing unit based on the sensing value detected by the distance detection sensor. The distance detection sensor can measure the distance from a surrounding object located in the driving direction of the robot cleaner's driving path to the outer circumference of the morphing pad. If the distance measured by the distance detection sensor is within a preset range, the robot cleaner can control the first motor to rotate the morphing unit toward a first position. Here, the preset range may be a setting for the result value when the distance measured by the distance detection sensor is divided by the driving speed of the robot cleaner. For example, assuming that the morphing unit is set to move to the first position when the preset range is 6 seconds or less, if the measured distance from the morphing pad to a surrounding object is 50 cm and the robot cleaner is moving at a speed of 10 cm per second, the result value is 5 seconds, and therefore the robot cleaner can move the morphing unit to the first position. The preset range is not limited thereto, and may be preset during the design and manufacturing process of the robot cleaner, and the setting may be changed thereafter.

[0127] The aforementioned problem can also occur if there is an error in the height of the lower space of a surrounding object measured by the spatial recognition sensor. For example, even if the spatial recognition sensor recognizes the lower space of a surrounding object as a space with a height that the morphing part can pass through, if the lower space of the surrounding object slopes inward toward the lower space, resulting in a smaller height, the morphing part may collide with or become stuck in the lower space of the surrounding object.

[0128] To solve this problem, the robot cleaner can measure the height of the lower surface of an object located on the path that the morphing unit will pass through as the robot cleaner moves based on the sensing value of the distance detection sensor, and control the first motor to rotate the morphing unit toward the first position if the measured height is within a preset range. Here, the preset range may be a range for the height of the morphing unit at a specific distance to the lower surface of an object located in the driving direction of the robot cleaner. For example, if the preset range is a range set to be 10 cm in height within 5 cm from the morphing unit and the height of the morphing unit is 9 cm, if the height of the lower surface of an object measured by the distance detection sensor from the ground is 9.5 cm and the distance from that point to the morphing unit is 4 cm, the robot cleaner can control the first motor to rotate the morphing unit toward the first position.

[0129] Due to this, even if the sensing value sensed by the space recognition sensor of the main body and the sensing value sensed by the distance detection sensor are different, the morphing part can be prevented from colliding with surrounding objects or getting caught in the lower space of surrounding objects.

[0130] Meanwhile, when the morphing part is in the first position, the morphing pad is positioned inside the outer diameter of the main body, so that the morphing pad may not collide with surrounding objects outside the main body along the driving path of the robot cleaner while performing cleaning. Accordingly, when the morphing part is in the first position, damage to the morphing part due to collision with surrounding objects may not occur even if information about surrounding objects is not sensed by the distance detection sensor.

[0131] Meanwhile, the robot vacuum cleaner can activate the distance detection sensor when the morphing part moves to the second position. For example, the distance detection sensor can be kept inactive when the morphing part is in the first position, and then activated based on the morphing part moving to the second position.

[0132] In this way, since the distance detection sensor can be turned on / off, when sensing of surrounding objects by the distance detection sensor is unnecessary, such as when the morphing part is in the first position, the power consumption of the robot cleaner can be reduced by keeping the distance detection sensor in the off state.

[0133] The control method described in Fig. 12 can be performed by the robot cleaner described in Figs. 1 to 11, but is not necessarily limited thereto, and can also be performed by a robot cleaner having a different configuration.

[0134] FIG. 13 is a drawing for explaining a change in the position of a morphing part by a contact detection sensor of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0135] Referring to Fig. 13, when the robot cleaner (1) collides with a contact detection sensor (54) and a surrounding object (B2) while driving, the processor (100) can move the morphing part (50) to the lower side of the main body (10).

[0136] After this, if contact with a surrounding object (B2) is not detected by the contact detection sensor (54), the processor (100) can move the morphing part (50) back to the position before moving.

[0137] FIG. 14 is a drawing for explaining a change in the position of a morphing part by a distance detection sensor of a robot vacuum cleaner according to at least one embodiment of the present disclosure.

[0138] Referring to FIG. 14, when the distance between the morphing pad (51) and the surrounding object (B3) reaches a preset range while the robot cleaner (1) is moving, the processor (100) can move the morphing part (50) to the lower side of the main body (10).

[0139] Accordingly, the protrusion distance of the morphing part (50) protruding from the main body (10) can be reduced. The distance by which the protrusion distance of the morphing part (50) is reduced can correspond to a minimum value at which the morphing part (50) or the morphing pad (51) does not collide with the closed area of ​​the surrounding object (B3) while the robot cleaner (1) continues to drive. This value can be calculated by the processor (100) based on the driving speed of the robot cleaner (1) and the distance to the closed area of ​​the surrounding object (B3).

[0140] After this, if it is determined that the robot cleaner (1) has passed a surrounding object (B3) based on the value sensed by the distance detection sensor (55) or the space recognition sensor, the processor (100) can move the morphing unit (50) back to the position before moving.

[0141] The various embodiments of the present disclosure described above may be implemented as software containing instructions stored on a machine-readable storage medium that can be read by a machine (e.g., a computer). The device may include a device according to the disclosed embodiments, as a device capable of recalling instructions stored on the storage medium and performing operations according to the recalled instructions.

[0142] Specifically, a non-transitory readable storage medium storing software for sequentially performing the steps of: a step of cleaning a space in which a robot cleaner is placed while the morphing part is placed at the bottom of the main body of the robot cleaner; a step of rotating the morphing part to protrude outward from the main body of the robot cleaner when it reaches a specific position in the space and performing cleaning using the protruded morphing part; and a step of detecting a collision or possibility of collision between the morphing part and a surrounding object based on a sensing value of at least one sensor placed on the morphing part, and changing the position of the morphing part based on the detection result may be provided.

[0143] A device equipped with such a non-transitory readable medium can perform the control methods described in the various embodiments described above.

[0144] In the context of non-transitory readable storage media, 'non-transitory' means that the storage medium does not contain signals and is tangible, but does not distinguish between whether data is stored semi-permanently or temporarily on the storage medium.

[0145] Programs for performing the methods according to the various embodiments described above may be distributed online through an application store. In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily generated on a storage medium, such as the memory of a manufacturer's server, an application store server, or a relay server.

[0146] Although various embodiments of the present disclosure have been individually described above, each embodiment does not necessarily have to be implemented alone, and the configuration and operation of each embodiment may be implemented in combination with at least one other embodiment.

[0147] In addition, although the preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the above-described embodiments, and various modifications may be made by a person having ordinary skill in the art to which the present invention pertains without departing from the gist of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical idea or prospect of the present disclosure.

Claims

1. In robot vacuum cleaners, entity; A driving wheel provided at the lower part of the main body to move the main body; A mopping part provided at the lower part of the above main body; and including a rotating part; The above rotating part, a bridge connected to the above morphing section; and a first motor for rotating the bridge so that the morphing portion moves to one of the first position or the second position; The above morphing part, A robot cleaner, which is positioned at the lower part of the main body based on the first position and protrudes outward from the main body based on the second position.

2. In paragraph 1, The above morphing part, morphing pad; a second motor for rotating the above morphing pad; and comprising at least one sensor; The above robot vacuum cleaner, at least one processor; and A robot cleaner further comprising a memory that, when executed by the at least one processor, controls the first motor to move the morphing unit to one of the first position and the second position based on a sensing value of the at least one sensor.

3. In paragraph 2, The above body is circular, The above morphing pad, The position is located on the inner side of the outer diameter of the main body based on the above morphing part being in the first position, A robot cleaner, wherein the morphing part is at a position where it protrudes from the outer diameter of the main body within a preset range outward from the main body based on the second position.

4. In paragraph 2, The above rotating part, Further comprising a passive joint arranged on the above bridge; At least one of the above processors, A robot cleaner, wherein when an external force is applied to the morphing pad while the morphing part is moved to the second position, the position of the morphing part is changed according to the size of the external force, and when the external force disappears, the morphing part is returned to the second position.

5. In paragraph 2, At least one sensor above, a contact detection sensor arranged along the outer periphery of the above morphing pad; The above contact detection sensor, A robot cleaner configured to detect contact between the morphing pad and surrounding objects, wherein a first diameter of the contact detection sensor is larger than a diameter of the morphing pad.

6. In paragraph 2, At least one sensor above, A robot vacuum cleaner including a distance detection sensor for recognizing surrounding objects.

7. In paragraph 6, At least one of the above processors, A robot cleaner, wherein the robot cleaner activates the distance detection sensor based on the morphing part moving to the second position.

8. In paragraph 6, At least one of the above processors, After the morphing part moves to the second position, the distance from the surrounding object located in the driving direction of the driving path of the robot cleaner to the outer circumference of the morphing pad is measured based on the first sensing value of the distance detection sensor, A robot cleaner that controls the first motor to rotate the morphing part in the first position direction if the measured distance is within a preset range.

9. In paragraph 6, At least one of the above processors, A robot cleaner that measures the height of the lower surface of the surrounding object located on the path through which the morphing unit passes from the ground based on the first sensing value of the distance detection sensor, and controls the first motor to rotate the morphing unit in the first position direction if the measured height is within a preset range.

10. A method for controlling a robot vacuum cleaner including a morphing part, A step of cleaning by moving through a space where the robot cleaner is placed while arranging the morphing part at the lower part of the main body; A step of rotating the morphing part to protrude outward from the main body when reaching a specific position within the space, and performing cleaning using the protruded morphing part; and A control method, comprising: a step of detecting a collision detection result or a possibility of collision between a surrounding object and the morphing unit based on a sensing value of at least one sensor arranged in the morphing unit, and changing the position of the morphing unit based on the detection result.

11. In paragraph 10, The above morphing part, A morphing pad, comprising a second motor for rotating the morphing pad, and at least one sensor, and connected to the main body by the rotating part, The above rotating part includes a bridge connected to the above morphing part and a first motor that rotates the bridge, The steps for performing the above cleaning are: A control method for driving the first motor to protrude the morphing part outward from the main body.

12. In paragraph 10, The step of determining the above detection result is: A step of detecting a collision based on a first sensing value of a contact detection sensor among at least one of the above sensors; and A control method, comprising: a step of moving the morphing part in a downward direction of the main body when the above collision is detected.

13. In paragraph 10, The step of determining the above detection result is: A step of determining the distance between the surrounding object and the morphing part based on the first sensing value of the distance detection sensor among the at least one sensor; and A control method, comprising: a step of moving the morphing part in a downward direction of the main body if the detected distance value is within a preset range.

14. In paragraph 10, The step of determining the above detection result is: A step of measuring the height of the lower surface of the first surrounding object located on the path through which the morphing part passes from the ground based on the first sensing value of the distance detection sensor among the at least one sensor; and A control method, comprising: a step of moving the morphing part in a downward direction of the main body if the measured separation height is within a preset range.

15. In paragraph 10, A control method further comprising: a step of deactivating the at least one sensor based on the morphing portion being positioned at the lower portion of the main body, and activating the at least one sensor based on the morphing portion protruding outward from the main body.

Images