Disclosure of Invention
Problems to be solved by the invention
In the case of a sweeper that is not driven by a wheel but is moved by the friction of a mop that is rotated without a wheel, it is difficult to correct the position value input in the lower image sensor by measuring the number of revolutions of the wheel. The present invention for solving the above problems aims to provide a mobile robot for accurately sensing the position of the mobile robot without depending on the rotational speed of a wheel-less turn-around cloth.
Another object of the present invention is to provide a mobile robot capable of sensing an accurate position of the mobile robot by a lower image sensor without delaying the mopping of a turn head cloth and without being disturbed by the mopping of the turn head cloth in a sweeper that mops the floor by rotating the turn head cloth without being driven by wheels.
Another object of the present invention is to provide a mobile robot capable of collecting a lower image by a lower image sensor in a state where a floor is free from foreign matter, and capable of accurately sensing rotation and movement of the mobile robot by one lower image sensor, in a sweeper that is towed by rotation of a turn head cloth without wheel driving.
Another object of the present invention is to provide a mobile robot and a method for calculating a movement distance of the mobile robot, which calculate a movement distance of the mobile robot having a slip turn cloth.
Another object of the present invention is to increase friction between a mop and the floor regardless of a change in a water level of a sink so that a floor sweeping robot effectively drags and travels and can perform a mode travel for achieving thorough sweeping by accurate travel.
The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.
Means for solving the problems
In order to achieve the above object, the present invention includes: a main body; the left turn head cloth and the right turn head cloth are rotatably arranged on the main body and support the main body; a left cloth motor and a right cloth motor for supplying driving force to the left turn cloth and the right turn cloth, and provided to the main body; and a sensing module disposed on a bottom surface of the main body, the sensing module being positioned in front of a virtual center horizontal line connecting the turn rotation shaft of the left turn cloth and the turn rotation shaft of the right turn cloth, the sensing module acquiring at least one of a moving distance and a moving speed during a predetermined time period by sensing a lower side of the main body.
In addition, the present invention includes: a main body; a left turn cloth and a right turn cloth rotatably provided to the main body and supporting the main body; a left cloth motor and a right cloth motor for supplying driving force to the left turn cloth and the right turn cloth, and provided to the main body; and a sensing module disposed on a bottom surface of the main body, the sensing module acquiring at least one of a moving distance and a moving speed during a predetermined time period by sensing a lower side of the main body, the sensing module being located between a virtual front horizontal line connecting a front end of the left turn cloth and a front end of the right turn cloth and a virtual rear horizontal line connecting a rear end of the left turn cloth and a rear end of the right turn cloth.
In addition, the present invention may further include left and right casters supporting the main body and contacting the floor.
The present invention may further include a cleaning module that is disposed in front of the plurality of turn cloths in the main body and is spaced apart from the plurality of turn cloths to collect foreign matters on the floor.
The present invention may further include a water tank that stores water supplied to the cloth module and is disposed in the main body.
Here, the sensing module may be located at a rear side than a virtual front horizontal line connecting the front end of the left turn cloth and the front end of the right turn cloth.
The sensing module may be located at a rear side than the left and right casters.
The sensing module may be located on a virtual center vertical line vertically crossing the center horizontal line at a center of the virtual center horizontal line connecting the turn rotation shaft of the left turn cloth and the turn rotation shaft of the right turn cloth.
The center of the sweep module may be located on a virtual center vertical line.
The sweep module may be disposed in front of the sense module.
May be disposed at the rear side than the sensing module.
The center of the tub may be located at the rear side than a virtual rear horizontal line connecting the rear ends of the left and right turn cloths.
The sensing module may be biased toward the front horizontal line side between the front horizontal line and the rear horizontal line.
In addition, the sensing module may be biased toward the rear horizontal line side between the center horizontal line and the rear horizontal line.
In addition, the mobile robot of the present invention includes: a main body forming an outer shape; a cloth module including a turn cloth disposed at a lower portion of the main body and laterally disposed and rotatable in a lateral direction when viewed from an upper side, a turn rotation shaft perpendicular to the rotating disk, and a cloth driving portion connected to the turn rotation shaft and providing a driving force to the turn cloth; an encoder for acquiring data of one or more of an angular velocity, a rotation direction, a rotation number, and an inclination of the rotating disk, and transmitting the data to a control unit; a sensing module arranged on the main body and configured to acquire at least one of data of a moving distance and a moving speed during a predetermined time period by sensing an external condition; and a control unit that calculates a movement distance or a rotation angle from the data acquired by the encoder, and corrects the movement distance or the rotation angle based on the data acquired by the sensing module.
The storage unit may store data on an average slip ratio belonging to a predetermined range of a floor of a general material. The control unit may correct the movement distance of the mobile robot without considering the slip ratio based on the average slip ratio stored in the storage unit, so that the final movement distance may be calculated.
The sensing module may further include an obstacle sensor that senses a position of surrounding obstacles. The obstacle sensor measures a distance between the obstacle and the mobile robot, and a relative speed of the mobile robot can be calculated. The control unit may calculate the instantaneous slip ratio from the relative speed, and may calculate the final movement distance by correcting the movement distance of the mobile robot without considering the slip ratio.
The sensing module may also include an underlying image sensor that acquires underlying image data. The lower image sensor may measure a change in position of the mobile robot at a specific time. The control unit may calculate the instantaneous slip ratio from the position change, and may calculate the final movement distance by correcting the movement distance of the mobile robot without considering the slip ratio. Or the control section may directly calculate the final movement distance based on the measured amount of change in position.
The lower image sensor may be disposed behind a collection module that performs dry cleaning. The lower image sensor may be disposed behind a turn cloth that performs wet cleaning.
The mobile robot may further include casters supporting the load and caster wheels disposed at bottom surfaces of the casters, and the sensing module may further include wheel sensors sensing the number of revolutions of the caster wheels. The wheel sensor may sense the number of revolutions of the caster wheel. The control section may calculate the moving distance based on the number of revolutions of the caster wheel. In the case where the caster wheels do not slip, the control portion may calculate the final moving distance of the mobile robot based on the number of revolutions of the caster wheels. In the case where partial slip occurs on the caster wheels, the control portion calculates the instantaneous slip ratio, and can calculate the final movement distance by correcting the movement distance of the mobile robot without considering the slip ratio.
The mobile robot may include at least two sensing modules spaced apart. The separate sensing modules may acquire different data. The control section may correct the rotation angle of the mobile robot irrespective of the slip ratio based on the difference of the data, so that the final rotation angle may be calculated.
The details of other embodiments are included in the detailed description and accompanying drawings.
Effects of the invention
According to the mobile robot and the method for calculating the moving distance of the mobile robot of the present invention, one or more of the following effects can be obtained.
First, there is an advantage that a more accurate final moving distance with respect to the ground of a general material is calculated by storing the average slip ratio in the storage section and correcting the moving distance based on the average slip ratio.
Second, there is an advantage in that the position of surrounding obstacles is sensed using the obstacle sensor, thereby calculating a relative speed and an instantaneous slip ratio, and the moving distance is corrected based on this, thereby calculating a more accurate final moving distance.
Third, there is an advantage in that a position change on the X-Y plane of the mobile robot is measured using the lower image sensor, and the moving distance is corrected based on this, thereby calculating a more accurate final moving distance.
Fourth, there are advantages in that there are provided casters supporting the mobile robot, caster wheels provided to the casters, wheel sensors measuring the number of revolutions of the caster wheels, so that a more accurate final moving distance is calculated by calculating the moving distance through the number of revolutions of the caster wheels.
Fifth, it is an advantage that a more accurate final rotation angle is calculated based on the difference of the data acquired in the two or more sensing modules that are spaced apart.
Sixth, there is an advantage in that in the present invention, the lower image sensor is disposed on the center vertical line of the main body, and is located in front of the virtual center horizontal line connecting the turn rotation shaft of the left turn cloth and the turn rotation shaft of the right turn cloth, so that malfunction of the lower image sensor due to wetting of the floor by mopping of the floor by water through the turn cloth is reduced, and the position of the sensor is deviated from the rotation center (position parallel to the center horizontal line) of the mobile robot, so that the rotation motion of the mobile robot can be sensed.
Seventh, there is an advantage in that, in the present invention, the lower image sensor is disposed on the center vertical line of the main body and is located in front of the virtual center horizontal line connecting the turn rotation shaft of the left turn cloth and the turn rotation shaft of the right turn cloth, so that in the case of the turn cloth, it is not allowed to climb up the carpet because it is wheel-free, and the carpet can be found as early as possible by the lower image sensor.
Eighth, there is an advantage in that in the present invention, the lower image sensor is disposed on the center vertical line of the main body and between the virtual center horizontal line and the rear horizontal line connecting the turn rotation shaft of the left turn cloth and the turn rotation shaft of the right turn cloth, thereby removing foreign matter on the floor by mopping of the turn cloth, thus reducing sensing errors based on the foreign matter, and the position of the sensor is deviated from the rotation center (position parallel to the center horizontal line) of the mobile robot, thus enabling sensing of the rotation motion of the mobile robot.
Ninth, there is an advantage in that in the present invention, the main body is formed in a circular shape, the dry module does not protrude to the outside of the main body, so that free rotation can be achieved at any position of the cleaning area, a large width of the pulsator can be maintained, and thus the cleaning range is wide, and the mopping action is performed while collecting relatively large foreign materials.
The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those skilled in the art through the description in the claims.
Detailed Description
The advantages and features of the present invention and the method of accomplishing the same may become more apparent by reference to the accompanying drawings and the detailed description of the embodiments. The present invention is not limited to the embodiments disclosed below, but may be embodied in various forms different from each other, which are provided to more completely complete the disclosure of the present invention and to more clearly understand the scope of the present invention by those skilled in the art to which the present invention pertains, and the present invention is limited only by the scope of the claims. Like reference numerals refer to like elements throughout the specification.
The expressions of the directions indicated by "front (F)/rear (R)/left (Le)/right (Ri)/up (U)/down (D)" and the like mentioned below are defined based on the traveling direction of the mobile robot 1. The direction in which the charging stand is stopped by the mobile robot 1 is referred to as a front direction, and the opposite direction of the front direction is referred to as a rear direction. The left/right direction is determined based on the observation of the charging stand from the upper side. This is intended to be described with reference to the accompanying drawings so that the invention can ultimately be more clearly understood, and the directions can be defined differently depending on the reference.
For example, a direction parallel to a virtual line connecting the center axis of the left turn cloth and the center axis of the right turn cloth is defined as a left-right direction, a direction perpendicular to the left-right direction and parallel to the center axes of the plurality of turn cloths or having an error angle of 5 degrees or less is defined as an up-down direction, and a direction perpendicular to the left-right direction and the up-down direction is defined as a front-back direction. Of course, the front may refer to a main traveling direction of the mobile robot or a main traveling direction of a mode traveling of the mobile robot. Here, the main traveling direction may refer to a vector sum value of directions traveling in a certain time.
The terms "first", "second", and "third", etc., added to the above-mentioned constituent elements are merely for avoiding confusion of the constituent elements, and are not related to the order, importance, master-slave relationship, etc. between the constituent elements. For example, an invention may be implemented which includes only the second component and no first component.
The "mop" mentioned below may use various materials, such as fabric or paper materials, etc., which may be reusable or disposable by washing.
The present invention can be applied to a mobile robot 1 in which a user manually moves, a robot for sweeping floor which runs autonomously, or the like. In the following, the present embodiment will be described with reference to the mobile robot 1.
The mobile robot 1 according to an embodiment of the present invention includes a main body 30 having a control section 200. The mobile robot 1 includes a cloth module 40, and the cloth module 40 contacts a floor (a surface to be cleaned) to perform mopping. The mobile robot 1 includes a cleaning module 2000, and the cleaning module 2000 collects foreign substances on the floor.
The cloth module 40 is disposed at the lower side of the main body 30, and can support the main body 30. The cleaning module 2000 is disposed below the main body 30 and can support the main body 30. In this embodiment, the main body 30 is supported by the cloth module 40 and the cleaning module 2000. The body 30 forms an external appearance. The main body 30 is configured to connect the cloth module 40 and the cleaning module 2000.
The cloth module 40 may form an external appearance. The cloth module 40 is disposed on the lower side of the main body 30. The cloth module 40 is disposed behind the cleaning module 2000. The cloth module 40 provides propulsion for moving the mobile robot 1. In order to move the mobile robot 1, the cloth module 40 is preferably disposed on the rear side of the mobile robot 1.
The cloth module 40 comprises at least one mop 411, at least one of said mops 411 mopping the floor while rotating. The cloth module 40 includes at least one turn cloth 41, and the turn cloth 41 is reversely rotated in a clockwise direction or a counterclockwise direction when viewed from the upper side. The turnout fabric 41 is in contact with the floor.
In this embodiment, the cloth module 40 may include a pair of swivel cloths 41a, 41b. The pair of swivel cloths 41a, 41b rotates in a clockwise direction or a counterclockwise direction when viewed from the upper side, and the floor is towed by the rotation. When viewed from the front of the traveling direction of the mobile robot 1, the left turn cloth is defined as the left turn cloth 41a and the right turn cloth is defined as the right turn cloth 41b of the pair of turn cloths 41a and 41b.
The left turn cloth 41a and the right turn cloth 41b rotate about respective rotation axes. The rotation shaft is disposed along the up-down direction. The left turn cloth 41a and the right turn cloth 41b can be rotated independently, respectively.
The left turn cloth 41a and the right turn cloth 41b each include a mop 411, a rotary plate 412, and a turn rotary shaft (SPIN SHAFT) 414. The left turn cloth 41a and the right turn cloth 41b include water supply accommodating portions 413, respectively. The left turn cloth 41a and the right turn cloth 41b are rotatably provided to the main body 30 and support the main body 30. The present invention further includes a cloth motor (not shown) that is provided to the main body 30 so as to supply driving force to the left turn cloth 41a and the right turn cloth 41 b. The cloth motor includes a left cloth motor (not shown) and a right cloth motor (not shown). The rotation shaft of the cloth motor may extend up and down. The left cloth motor and the right cloth motor are arranged symmetrically with respect to the center vertical line Po.
The center vertical line Po refers to a line parallel to the front-rear direction and passing through the geometric center Tc of the main body. Of course, the center vertical line Po may be defined as a line perpendicularly intersecting a virtual line connecting the center axis of the left turn cloth and the center axis of the right turn cloth and passing through the geometric center Tc of the main body.
The sweep module 2000 may form an external appearance. The cleaning module 2000 is disposed in front of the cloth module 40. In order to prevent foreign matter on the floor from contacting the cloth module 40, the cleaning module 2000 is preferably disposed in front of the traveling direction of the mobile robot 1.
The sweep module 2000 is spaced apart from the cloth module 40. The cleaning module 2000 is disposed in front of the cloth module 40 and contacts the floor. The cleaning module 2000 collects foreign materials of the floor.
The cleaning module 2000 is in contact with the floor, and foreign matter located in front of the cleaning module 2000 is collected inside the cleaning module when the mobile robot 1 moves. The cleaning module 2000 is disposed below the main body 30. The left-right width of the sweep module 2000 is smaller than the left-right width of the cloth module 40.
The caster 58 is disposed at the lower portion of the mobile robot 1, and partially supports the load of the mobile robot 1. The caster 58 may be disposed in front of the mobile robot 1. Casters 58 may be disposed on either side of the front. Casters 58 may be disposed in front of cloth module 40. Casters 58 may be disposed in front of the sweeper module 2000. The casters include caster wheels (not shown).
Casters 58 support body 30 in contact with the floor and reduce friction between it and the floor. Casters 58 may include left and right casters.
Hereinafter, the present invention will be described with reference to drawings for explaining a mobile robot and a method of calculating a moving distance of the mobile robot according to some embodiments of the present invention.
The sensing module 100 is a device that senses various information related to the motion or state of the mobile robot 1 or the external condition.
An encoder (encoder) is disposed inside the main body 30, and senses the rotation speed or the revolution of the rotating head cloth 41. Specifically, the larger the load to which the mop 411 is subjected, the slower the rotation speed corresponding to the rotation signal (current value or voltage value, etc.) applied to the cloth motor, and the encoder can acquire the load information by sensing the information of the rotation speed.
The encoder is a sensing module 100 that acquires various data from the turn head cloth 41 of the mobile robot and transmits the data to the control unit. The encoder may measure the angular velocity, rotation direction, rotation number or inclination of the rotating disc 412 and transmit its data to the control part 200. The inclination includes an angle of forward/backward inclination and an angle of left/right inclination between the rotary disk 412 and the ground.
The obstacle sensing sensor 120 senses an external obstacle spaced apart from the mobile robot 1. The mobile robot 1 may have a plurality of obstacle sensing sensors 120. The obstacle sensing sensor 120 may sense an obstacle ahead. The obstacle sensing sensor 120 may be configured to the main body 30. The obstacle sensing sensor 120 may include an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, a PSD (Position SENSITIVE DEVICE) sensor, and the like.
The lower image sensor 130 acquires external image information, i.e., image information of the floor (running surface). The lower image sensor 130 may use an Optical Flow Sensor (OFS) that acquires image information using light. The optical flow sensor includes: an image sensor that acquires image information by capturing an image; and a light source for adjusting the light quantity. The image sensor may include a lens that may use a short focal length and deep depth of field pan focal lens. The light source is disposed adjacent to the image sensor, and irradiates light to an area photographed by the image sensor.
The sensing module 100 may include a position signal sensor that determines a position by receiving an identification signal from the outside. For example, the position signal sensor may be a Ultra Wide Band (UWB) sensor using UWB signals. The control unit 200 can grasp the position of the mobile robot 1 from the signal received from the position signal sensor.
The sensing module 100 may include a cliff sensing sensor (not shown) that senses whether a cliff exists on the floor. The cliff sensing sensor may sense whether a cliff exists in front of and/or behind the mobile robot 1.
The gyro sensor senses a rotation direction and detects a rotation angle when the mobile robot 1 moves according to an operation mode. The gyro sensor detects the angular velocity of the mobile robot 1 and outputs a voltage value proportional to the angular velocity. The control unit 200 calculates the rotation direction and the rotation angle using the voltage value output from the gyro sensor.
The wheel sensor 140 is connected to the caster wheel 51 and senses the number of revolutions of the caster wheel. Here, the wheel sensor 140 may be a rotary encoder (Rotary Encoder).
The acceleration sensor senses a change in the speed of the mobile robot 1, for example, a change in the mobile robot 1 caused by departure, stop, steering, collision with an object, and the like.
The mobile robot 1 includes a control unit 200 that controls autonomous travel. The control part 200 may be implemented by a main PCB (Co) disposed inside the main body 30. The control unit 200 may process a signal input by an input unit (not shown) or a signal input by the communication unit (not shown). The control part 200 may control the travel of the sweeper by receiving the sensing signal of the sensing module 100.
The mobile robot 1 includes a storage unit 300 that stores various information. The storage section 300 may include a volatile or nonvolatile recording medium. The storage unit 300 may store algorithms for controlling various error response actions of the mobile robot 1.
In addition, the present invention includes a water tank 81 for storing water. A part of the water tank 81 is disposed in the main body 30. The water tank 81 is disposed at the rear side of the main body 30. Specifically, a partial region of the water tank 81 may be exposed to the outside of the main body 30. The water in the water tank is supplied to the respective turn-around cloths 41.
The present invention may also include a battery (not shown) that provides power to the cloth motor and the sweep module 200.
If the bottom surfaces of the pair of turn cloths 41a, 41b, which are bilaterally symmetrical with respect to the center vertical line Po, are arranged horizontally with respect to the horizontal plane, the robot cannot stably travel, and travel control becomes difficult. Therefore, in the present invention, the respective turn cloths 41 are arranged to be inclined downward toward the outside front direction. The tilting and movement of the turner cloth 41 will be described below.
Referring again to fig. 3, the point where the turn rotation shaft Osa of the left turn cloth 41a and the lower side surface of the left turn cloth 41a intersect is shown, and the point where the turn rotation shaft Osb of the right turn cloth 41b and the lower side surface of the right turn cloth 41b intersect is shown. When viewed from the lower side, the clockwise direction in the rotation direction of the left turn cloth 41a is defined as a first forward direction w1f, and the counterclockwise direction is defined as a first reverse direction w1r. When viewed from the lower side, the counterclockwise direction in the rotation direction of the right turn cloth 41b is defined as a second positive direction w2f, and the clockwise direction is defined as a second negative direction w2r. When viewed from the lower side, "an acute angle formed by the inclination direction of the lower side surface of the left turn cloth 41a (40 a) and the left-right direction axis" and "an acute angle formed by the inclination direction of the lower side surface of the right turn cloth 41b (40 b) and the left-right direction axis" are defined as inclination direction angles Ag1a, ag1b. The inclination angle Ag1a of the left turn cloth 41a (40 a) and the inclination angle Ag1b of the right turn cloth 41b (40 b) may be the same. Referring to fig. 6, the "angle formed by the virtual horizontal plane H and the lower side surface I of the left turn cloth 41a (40 a)" and the "angle formed by the virtual horizontal plane H and the lower side surface I of the left turn cloth 41a (40 a)" are defined as the inclination angles Ag2a, ag2b.
Of course, the right side end of the left turn cloth 41a and the left side end of the right turn cloth 41b may be in contact with or close to each other. Therefore, the floor space that occurs between the left turn cloth 41a and the right turn cloth 41b can be reduced.
When the left turn cloth 41a rotates, a point Pla of the lower surface of the left turn cloth 41a, at which the maximum friction force is received from the floor, is disposed on the left side of the rotation center Osa of the left turn cloth 41 a. The point Pla in the lower side of the left turn head cloth 41a transmits a larger load to the ground than other points, thereby generating the greatest friction force at the point Pla. In the present embodiment, the site Pla is disposed forward and leftward of the rotation center Osa, but in another embodiment, the site Pla may be disposed rearward and leftward with respect to the rotation center Osa.
When the right turn cloth 41b rotates, a point Plb on the lower side surface of the right turn cloth 41b, at which the maximum friction force is received from the floor, is disposed on the right side of the rotation center Osb of the right turn cloth 41 b. The location Plb in the underside of the right turn head cloth 41b transfers a greater load to the ground than other locations, thereby creating the greatest friction at location Plb. In the present embodiment, the spot Plb is disposed in front of the right side of the rotation center Osb, but in another embodiment, the spot Plb may be disposed on the right side precisely with reference to the rotation center Osb or may be disposed behind the right side.
The lower side surface of the left turn cloth 41a and the lower side surface of the right turn cloth 41b are disposed obliquely, respectively. The inclination angle Ag2a of the left turn cloth 41a and the inclination angles Ag2a, ag2b of the right turn cloth 41b form an acute angle. The inclination angles Ag2a and Ag2b are points Pla and Plb at which friction force becomes maximum, and can be set to be small in such a way that the entire lower surface of the mop 411 can be brought into contact with the floor in accordance with the rotation operation of the left and right turn cloths 41a and 41 b.
The lower side surface of the left turn cloth 41a is inclined downward in the left direction as a whole. The lower side surface of the right turn cloth 41b is inclined downward in the right direction as a whole. Referring to fig. 6, the lower side surface of the left turn tarpaulin 41a forms the lowest point Pla at the left side portion. The lower side surface of the left turn cloth 41a forms the highest point phaat the right side portion. The lower side surface of the right turn cloth 41b forms a lowest point Plb on the right side portion. The lower side surface of the right turn cloth 41b forms the highest point Phb on the left side.
According to an embodiment, the inclination angles Ag1a, ag1b may be 0 degrees. In addition, according to the embodiment, when viewed from the lower side, the inclination direction of the lower side surface of the left turn cloth 41a (120 a) may form an inclination direction angle Ag1a in the clockwise direction with respect to the left-right direction axis, and the inclination direction of the lower side surface of the right turn cloth 41b (120 b) may form an inclination direction angle Ag1b in the counterclockwise direction with respect to the left-right direction axis. In the present embodiment, when viewed from the lower side, the inclination direction of the lower side surface of the left turn cloth 41a (120 a) forms an inclination direction angle Ag1a in the counterclockwise direction with respect to the left-right direction axis, and the inclination direction of the lower side surface of the right turn cloth 41b (120 b) forms an inclination direction angle Ag1b in the clockwise direction with respect to the left-right direction axis.
The movement of the cleaning machine 1 is effected by the friction with the ground generated by the cloth module 40.
The cloth module 40 may generate a "forward moving frictional force" that moves the main body 30 forward or a "rearward moving frictional force" that moves the main body rearward. The cloth module 40 may generate a "left moment friction force" that turns the main body 30 left or a "right moment friction force" that turns the main body 30 right. The cloth module 40 may generate a friction force combining any one of the front moving friction force and the rear moving friction force and any one of the left moment friction force and the right moment friction force.
In order to generate the forward moving friction force of the cloth module 40, the left turn cloth 41a may be rotated in the first positive direction w1f at a predetermined rpm (R1), and the right turn cloth 41b may be rotated in the second positive direction w2f at the rpm (R1).
In order to generate the rear movement friction force of the cloth module 40, the left turn cloth 41a may be rotated in the first reverse direction w1R at a predetermined rpm (R2), and the right turn cloth 41b may be rotated in the second reverse direction w2R at the rpm (R2).
In order to generate a right moment friction force in the cloth module 40, the left turn cloth 41a may be rotated at a predetermined rpm (R3) in the first positive direction w1f, and the right turn cloth 41b may be operated in any of the following ways: i) rotate in a second reverse direction w2R, ii) stop not rotate, iii) rotate in a second forward direction w2f at an rpm (R4) less than rpm (R3).
In order to generate a left moment friction force in the cloth module 40, the right turn cloth 41b may be rotated at a predetermined rpm (R5) in the second positive direction w2f, and the left turn cloth 41a may be operated in any of the following ways: i) rotate in a first reverse direction w1R, ii) stop not rotate, iii) rotate in a first forward direction w1f at an rpm (R6) less than rpm (R5).
Hereinafter, the arrangement of each configuration for improving the frictional force of the turn cloth 41 arranged along the left and right sides, improving the stability in the left and right directions and the front and rear directions, and stably traveling irrespective of the water level in the water tank 81 will be described.
In order to increase the friction force of the rotor cloth 41 and to restrict the eccentricity of the mobile robot in one direction when the mobile robot rotates, a relatively heavy cloth motor and battery may be disposed above the rotor cloth 41.
Specifically, the left cloth motor may be disposed above the left turn cloth 41a, and the right cloth motor may be disposed above the right turn cloth 41 b. That is, at least a part of the left cloth motor may overlap with the left turn cloth 41a in the vertical direction. Preferably, the entire left cloth motor may overlap with the left turn cloth 41a in the vertical direction. At least a portion of the right cloth motor may overlap the right turn cloth 41b in the vertical direction. Preferably, the entire right cloth motor may overlap with the right turn cloth 41b in the vertical direction.
More specifically, the left cloth motor and the right cloth motor may be arranged to overlap in the vertical direction with a virtual center horizontal line CHL connecting the turn rotation shaft Osa of the left turn cloth 41a and the turn rotation shaft Osb of the right turn cloth 41 b. Preferably, the center of gravity MCa of the left cloth motor and the center of gravity MCb of the right cloth motor may be arranged to overlap in the vertical direction with a virtual center horizontal line CHL of the turn rotation shaft Osb connecting the turn rotation shaft Osa of the left turn cloth 41a and the turn rotation shaft Osb of the right turn cloth 41 b. Or the geometric center of the left cloth motor and the geometric center of the right cloth motor may be arranged to overlap in the vertical direction with the virtual center horizontal line CHL connecting the turn rotation shaft Osa of the left turn cloth 41a and the turn rotation shaft Osb of the right turn cloth 41 b. Of course, the left cloth motor and the right cloth motor are symmetrically arranged with respect to the center vertical line Po.
Since the center of gravity MCa of the left cloth motor and the center of gravity MCb of the right cloth motor are arranged laterally symmetrically to each other without being separated from the upper side of the turn cloth 41, the running performance and the lateral balance can be maintained while improving the friction force of the turn cloth 41.
Hereinafter, the turn rotation shaft Osa of the left turn cloth 41a is referred to as a left turn rotation shaft Osa, and the turn rotation shaft Osb of the right turn cloth 41b is referred to as a right turn rotation shaft Osb.
The water tank 81 is disposed rearward of the center horizontal line CHL, and the amount of water in the water tank 81 can be changed, so that the left cloth motor can be biased in the left direction from the left turn shaft Osa in order to maintain stable front-rear balance regardless of the water level of the water tank 81. The left cloth motor may be disposed so as to be biased in the left forward direction from the left turn shaft Osa. Preferably, the geometric center of the left cloth motor or the center of gravity MCa of the left cloth motor may be offset in the left direction from the left turn head rotation shaft Osa, or the geometric center of the left cloth motor or the center of gravity MCa of the left cloth motor may be offset in the left front direction from the left turn head rotation shaft Osa.
The right cloth motor may be biased in the right direction from the right turn shaft Osb. The right cloth motor may be disposed so as to be biased in a rightward front direction from the right turn shaft Osb. Preferably, the geometric center of the right cloth motor or the center of gravity MCb of the right cloth motor may be offset from the right turn rotation shaft Osb toward the right direction, or the geometric center of the right cloth motor or the center of gravity MCb of the right cloth motor may be offset from the right turn rotation shaft Osb toward the right front direction.
Since the left cloth motor and the right cloth motor apply pressure at positions offset to the front and outer sides from the center of each of the turn cloths 41, the pressure is concentrated to the front and outer sides of each of the turn cloths 41, and thus the running performance can be improved by the rotational force of the turn cloths 41.
The left swivel rotation shaft Osa and the right swivel rotation shaft Osb are disposed rearward of the center of the main body 30. The center horizontal line CHL is disposed rearward of the geometric center Tc of the main body 30 and the center of gravity WC of the mobile robot. The left swivel rotation shaft Osa and the right swivel rotation shaft Osb are arranged to be spaced apart from the center vertical line Po by the same distance.
In this embodiment, a plurality of batteries are provided. At least a portion of the battery is disposed above the left turn cloth 41a and the right turn cloth 41 b. The relatively heavy battery is disposed above the turn cloth 41, so that the friction of the turn cloth 41 is increased, and the eccentricity caused by the rotation of the mobile robot can be reduced.
Specifically, a portion of the left side of the battery overlaps the left turn cloth 41a in the vertical direction, and a portion of the right side of the battery may overlap the right turn cloth 41b in the vertical direction. The cells are arranged to overlap the center horizontal line CHL in the vertical direction, and may be arranged to overlap the center vertical line Po in the vertical direction.
More specifically, the center of gravity BC of the battery or the geometric center of the battery may be disposed on the center vertical line Po and may be disposed on the center horizontal line CHL. Of course, the center of gravity BC of the battery or the geometric center of the battery may be disposed on the center vertical line Po, may be disposed forward of the center horizontal line CHL, and may be disposed rearward of the geometric center Tc of the main body 30.
The center of gravity BC of the battery or the geometric center of the battery may be disposed further forward than the center of gravity PC of the water tank 81 or the water tank 81. The center of gravity BC of the battery or the geometric center of the battery may be located rearward of the center of gravity SC of the sweeper module 2000.
Since one battery is disposed midway between the left and right turn cloths 41a and 41b and on the center horizontal line and the center vertical line Po, a heavier battery helps to keep the center when the plural turn cloths 41 rotate and to increase the friction force of the turn cloths 41 by applying weight to the turn cloths 41.
The batteries may be disposed at the same height (the height of the lower end) or on the same plane as the left cloth motor and the right cloth motor. The battery may be disposed between the left cloth motor and the right cloth motor. The battery is disposed in a hollow space between the left cloth motor and the right cloth motor.
At least a portion of the water tank 81 is disposed above the left turn cloth 41a and the right turn cloth 41 b. The water tank 81 is disposed rearward of the center horizontal line and may be disposed so as to overlap the center vertical line Po in the vertical direction.
More specifically, the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed on the center vertical line Po and may be positioned ahead of the center horizontal line. Of course, the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed on the center vertical line Po and may be disposed rearward of the center horizontal line. Here, the placement of the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 further to the rear than the center horizontal line means that the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 overlaps a region that is further to the rear than the center horizontal line in the vertical direction. Of course, the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 is arranged to overlap the main body 30 in the vertical direction without being separated from the main body 30.
The center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed rearward of the center of gravity BC of the battery. The center of gravity PC of the sump 81 or the geometric center of the sump 81 may be located rearward of the center of gravity SC of the sweeper module 2000.
The water tank 81 may be disposed at the same height (lower end height) or on the same plane as the left cloth motor and the right cloth motor. The water tank 81 may be disposed to be offset rearward in a space between the left cloth motor and the right cloth motor.
A part of each turn cloth 41 is overlapped with the main body 30 in the vertical direction, and the other part of each turn cloth 41 is exposed to the outside of the main body 30. Preferably, the proportion of the area where each turn cloth 41 overlaps the main body 30 in the vertical direction is 85% to 95% of each turn cloth.
Specifically, an angle between a line connecting the right side end of the main body and the right side end of the right turn cloth 41b and a vertical line connected to the center vertical line Po in parallel from the right side end of the main body may be 0 degrees to 5 degrees.
The length of the region of each turn cloth 41 exposed to the outside of the main body is preferably 1/2 to 1/7 of the radius of each turn cloth 41. The length of the region of each turn cloth 41 exposed to the outside of the main body may refer to a distance from one end of each turn cloth 41 exposed to the outside of the main body to the rotation axis of each turn cloth 41.
The distance from one end of the region of each turn cloth 41 exposed to the outside of the main body to the geometric center TC may be greater than the average radius of the main body.
The exposed position of each turn cloth is between the side and rear of the main body 30 in consideration of the relationship with the sweep module. That is, when the main body is viewed from below, the exposed positions of the respective turnout cloths may be in the 2/4 quadrant or the 3/4 quadrant of the main body 30 when the quadrants are arranged in the clockwise direction.
The cleaning module 2000 is disposed in the main body in front of the plural turn cloths 41, the battery, the water tank 81, the right cloth motor, and the left cloth motor.
The center of gravity SC of the sweep module 2000 or the geometric center of the sweep module 2000 may be located on the center vertical line Po and may be disposed forward of the geometric center Tc of the main body 30. The body 30 has a circular shape when viewed from above, and the base 32 may be circular in shape. The geometric center Tc of the body 30 refers to the center of the body 30 when it is circular. Specifically, when the main body 30 is viewed from the upper portion, it has a circular shape with a radius error within 3%.
Specifically, the center of gravity SC of the sweeper module 2000 or the geometric center of the sweeper module 2000 is located on the center vertical line Po, and may be disposed in front of the center of gravity BC of the battery, the center of gravity PC of the water tank 81, the center of gravity Mca of the left cloth motor, the center of gravity MCb of the right cloth motor, and the center of gravity WC of the mobile robot.
Preferably, the center of gravity SC of the sweeping module 2000 or the geometric center of the sweeping module 2000 is located forward of the center horizontal line and the front ends of the plurality of turn cloths 41.
As described above, the sweep module 2000 may include the stirrer 2200 and the sweep motor (not shown).
The rotation axis of the stirrer 2200 is arranged in parallel with the central horizontal line, and the center of the stirrer 2200 is located on the virtual central vertical line Po. Accordingly, the large foreign matter flowing into the turn cloth 41 is effectively removed by the agitator 2200. The rotational axis of the stirrer 2200 is located forward of the geometric center Tc of the main body 30. The length of the stirrer 2200 is preferably longer than the distance from the left-hand turn head rotation axis Osa to the right-hand turn head rotation axis Osb. The rotation shaft of the agitator 2200 may be disposed adjacent to the front end of the turn-around cloth 41.
Both ends of the sweeper module 2000 may also include left and right casters 58a, 58b that contact the floor. The left caster 58a and the right caster 58b contact the floor and roll, and can be moved up and down by elastic force. The left and right casters 58a, 58b support the sweeper module 2000, supporting a portion of the main body.
The left caster 58a and the right caster 58b are disposed on a line parallel to the center horizontal line and may be disposed in front of the center horizontal line and the agitator 2200. The virtual line connecting the left caster 58a and the right caster 58b may be disposed forward of the center horizontal line, the agitator 2200, and the geometric center Tc of the main body 30. Of course, the left caster 58a and the right caster 58b may be symmetrically disposed about the center vertical line Po. The left and right casters 58a, 58b may be disposed to be spaced apart from the center vertical line Po by the same distance.
In the virtual quadrangle in which the left caster 58a, the right caster 58b, the right turn head rotation shaft Osb, and the left turn head rotation shaft Osa are sequentially connected, the geometric center Tc of the main body 30, the center of gravity WC of the mobile robot, the center of gravity SC of the sweep module 2000, and the center of gravity BC of the battery are arranged, the battery having a relatively heavy weight, the left turn head rotation shaft Osa, and the right turn head rotation shaft Osb are arranged close to the center horizontal line, so that the main load of the mobile robot is applied to the turn head cloth 41, and the remaining sub-loads are applied to the left caster 58a and the right caster 58b.
Therefore, the center of gravity of the mobile robot that is displaced forward is maintained irrespective of the water level of the water tank 81 that is disposed rearward, so that the friction force against the rotating head cloth 41 is increased, and the center of gravity WC of the mobile robot can be placed close to the geometric center Tc of the main body 30, and stable running can be realized.
The center of gravity WC of the mobile robot may be located on the center vertical line Po, may be located forward of the center horizontal line, may be located forward of the center of gravity BC of the battery, may be located forward of the center of gravity PC of the water tank 81, may be located rearward of the center of gravity SC of the sweeper module 2000, and may be located rearward of the left caster 58a and the right caster 58 b.
The respective components are symmetrically arranged with respect to the center vertical line Po or are arranged in consideration of the weight of each other, whereby the center of gravity WC of the mobile robot is located on the center vertical line Po. If the center of gravity WC of the mobile robot is located on the center vertical line Po, there is an advantage in that stability in the left-right direction is improved.
The sensing module is configured on the bottom surface of the main body and acquires data of at least one of a moving distance or a moving speed during a certain time period by sensing the lower side of the main body.
The sensing module may be located at the front side than a virtual center horizontal line CHL connecting the turn rotation shaft osa of the left turn cloth 41a and the turn rotation shaft osb of the right turn cloth 41 b. Specifically, the sensing module includes an underlying image sensor 130. Next, description will be made with reference to a case where the sensing module is the lower image sensor 130.
Preferably, the lower image sensor 130 may be located at the rear side than a virtual front horizontal line FHL connecting the front ends of the left and right turn cloths 41a and 41 b. If the lower image sensor 130 is disposed between the front horizontal line FHL and the center horizontal line CHL, there is an advantage in that a malfunction of the lower image sensor due to wetting of the floor by mopping of the floor by the turn cloth is reduced, and there is an advantage in that the sensor is eccentric in position from the rotation center of the mobile robot (a position parallel to the center horizontal line CHL), so that the rotation operation of the mobile robot can be sensed.
Of course, since the main body is circular, in the case where the mobile robot is set to rotate with reference to the geometric center Tc of the main body 30, the lower image sensor 130 is preferably set eccentrically from the geometric center Tc of the main body 30 between the front horizontal line FHL and the center horizontal line CHL.
The lower image sensor 130 may be located at the rear side of the left and right casters 58a, 58 b. Accordingly, since foreign matter of the floor is removed by the stirrer 2200, sensing errors generated by the foreign matter can be reduced.
The lower image sensor 130 may be located on a virtual center vertical line Po vertically crossing the center horizontal line CHL at the center of the virtual center horizontal line CHL connecting the turn rotation shaft osa of the left turn cloth 41a and the turn rotation shaft osb of the right turn cloth 41 b.
The center Sc of the sweep module 2000 is located on the virtual center vertical line Po, and the sweep module 2000 may be disposed in front of the lower image sensor 130. The water tank 81 may be disposed at the rear side of the lower image sensor 130.
The center PC of the water tank 81 may be located at the rear side of a virtual rear horizontal line RHL connecting the rear end of the left turn cloth 41a and the rear end of the right turn cloth 41 b.
The lower image sensor 130 may be located between a virtual front horizontal line FHL connecting the front end of the left turn cloth 41a and the front end of the right turn cloth 41b and a virtual rear horizontal line RHL connecting the rear end of the left turn cloth 41a and the rear end of the right turn cloth 41 b.
Preferably, the lower image sensor 130 is offset to the side of the front horizontal line FHL between the front horizontal line FHL and the rear horizontal line RHL. Accordingly, the sweep module 2000 scans the floor before mopping the floor by the turn around cloth after removing foreign substances of the floor in front, and thus there is an advantage in that an accurate image is ensured and accurate sensing is possible.
A mobile robot and a method for calculating a moving distance of the mobile robot will be described with reference to fig. 1 to 5.
The control section 200 may calculate the moving distance L of the mobile robot based on the data acquired from the encoder.
When the rotary disk 412 rotates, a part of the force cleans the floor by slip (slide), and the rest moves the mobile robot 1. That is, the force or energy for the movement of the mobile robot 1 can be calculated by subtracting the force or energy generated by the slip after calculating the force or energy generated according to the rotation of the rotating disk 412. Therefore, the movement amount of the mobile robot can be known.
The moving distance of the mobile robot is proportional to the angular velocity and the number of rotations of the rotating disk 412. When the rotation directions of the left and right turn cloths 41b (41) are different, the mobile robot 1 moves in a predetermined direction, and when the rotation directions of the left and right turn cloths 41b (41) are the same, the mobile robot 1 can rotate. As the angular velocity of the rotating disc 412 increases, the velocity of the mobile robot also increases. As the number of rotations of the rotary disk 412 increases, the moving distance of the mobile robot also increases.
The moving distance of the mobile robot varies according to the inclination of the rotating disk 412 or the rotating shaft of the turn head. In the case where the inclination of the rotating disk 412 or the rotation shaft of the rotor is inclined, a part of the area of the rotating disk 412 is in contact with the floor, while the remaining area is not in contact with the floor. When the inclination of the rotating disk 412 further increases, a part of the area where the rotating disk 412 contacts the floor decreases, the load applied to the contacted area increases, and the friction force in the contacted area increases. In the case where the inclination of the rotating disk 412 is inclined sideways or forward/backward, the load applied to a part of the area in contact with the floor is different, and thus the moving distance of the mobile robot 1 is different.
The control unit 200 may calculate the movement distance or the rotation angle L' of the mobile robot without considering the slip ratio by comprehensively considering the angular velocity, the rotation direction, the rotation number, and the inclination of the rotating disk 412. Hereinafter, in the first to fifth embodiments, a method of performing correction for calculating a movement distance of a mobile robot will be described.
< First embodiment >
According to the first embodiment, the control section 200 corrects the moving distance L' based on the stored average slip ratio SR1, so that the final moving distance L1 of the mobile robot can be calculated. That is, the control unit 200 may calculate the average slip amount of the mobile robot slip from the average slip ratio SR1, and may calculate the corrected movement distance L1 by correcting the movement distance L' of the mobile robot without considering the slip ratio.
As the rotating disk 412 rotates, friction with the ground continues to occur and slippage continues to occur. At this time, the slip rate is different according to the Condition of the floor and the Condition (Condition) of the mop attached to the lower portion of the rotating plate 412. However, the slip ratio distribution in the material of the floor used in the actual home is within a prescribed range.
The storage unit 300 may store data on the average slip ratio SR1 belonging to a predetermined range of the floor of a general material. The control unit 200 receives data on the average slip ratio SR1 to correct the movement distance L' of the mobile robot without considering the slip ratio, and thus can calculate the corrected movement distance L1.
The effect of the first embodiment is that the final moving distance L1 is calculated more quickly using the data already stored in the storage section 300 without separately analyzing or processing the data.
< Second embodiment >
According to the second embodiment, the control section 200 corrects the moving distance L' of the mobile robot irrespective of the slip ratio by the objects existing around the mobile robot 1, so that the moving distance L2 of the mobile robot can be calculated.
The obstacle sensing sensor may sense the position of an obstacle existing around the mobile robot 1. The obstacle includes a wall, furniture, a home appliance, and an object having a shape that the obstacle sensing sensor can sense. The obstacle sensing sensor may measure a distance from the mobile robot 1 to the obstacle.
The obstacle sensing sensor may measure the relative speed v2 of the mobile robot by continuously measuring the distance between the obstacle sensing sensor and the obstacle for a certain time. The obstacle sensing sensor may transmit the relative velocity v2 to the control section 200.
The control section 200 may calculate the instantaneous slip ratio SR2 based on the relative speed v2 received from the obstacle sensing sensor and the data acquired from the encoder. The instantaneous slip ratio SR2 is the slip ratio in the current floor condition, the current mop state, and the current state of the mobile robot 1.
The control unit 200 may correct the final movement distance L2 based on the instantaneous slip ratio SR2 calculated from the movement distance L' of the mobile robot without considering the slip ratio.
The control unit 200 may repeatedly calculate the instantaneous slip ratio SR2 at predetermined intervals, and may calculate the final movement distance L2 more accurately by updating the value of the instantaneous slip ratio SR 2.
The effect of the second embodiment is that data is acquired from the positions of objects around the mobile robot 1 and the data is used to calculate the accurate moving distance of the mobile robot 1 without being affected by the ground state.
< Third embodiment >
According to the third embodiment, the control section 200 measures the positional change x3 of the mobile robot by acquiring the image data of the lower side, and can correct the movement distance L' based on the positional change to acquire the corrected movement distance L3.
The lower image sensor 130 is disposed on the bottom surface of the main body 30, and can acquire lower image data. The lower image sensor 130 may acquire image data of the floor. The lower image sensor 130 includes a mouse imager, a laser light source, or an IR light source. The lower image sensor 130 may measure a position change X3 on the X-Y plane of the mobile robot. The image sensor 130 may transmit the acquired data x3 to the control section 200.
In the case of the lower image sensor 130, an error may occur due to a signal disconnection phenomenon. The signal disconnection phenomenon includes all obstacle factors that prevent an image from being accurately sensed, including a case where the floor is a reflective material, a case where the surface is uneven.
If the signal disconnection phenomenon does not occur, the control part 200 may directly calculate the moving distance L3 based on the position change x3' of the mobile robot during the entire time.
If a partial signal disconnection phenomenon occurs, the control part 200 may calculate the instantaneous speed v3 based on the position change x3 of the mobile robot during a partial time. The control unit 200 may calculate the instantaneous slip ratio SR3 from the instantaneous speed v3. The control unit 200 may correct the movement distance L 'of the mobile robot, which does not consider the slip ratio, based on the instantaneous slip ratio SR3 calculated from the movement distance L' of the mobile robot, which does not consider the slip ratio, and thus may calculate the final movement distance L3.
The third embodiment includes the lower image sensor 130 capable of measuring a two-dimensional positional change on the X-Y plane, thereby having the effect of being able to calculate an accurate moving distance L3 on the X-Y plane.
The lower image sensor 130 may repeatedly capture lower images or calculate the instantaneous slip ratio SR3 at predetermined intervals, and may calculate the final movement distance L3 by repeatedly updating the instantaneous slip ratio SR3 to more accurately correct the movement distance L'.
Referring to fig. 3, according to an embodiment of the present invention, the lower image sensor 130 may be disposed at the rear of the sweep module 2000. The lower image sensor 130 may capture an image of the floor after the cleaning module 2000 cleans foreign substances, and thus has an effect of precisely calculating the moving distance L3 by precisely measuring the position change.
According to another embodiment of the present invention, the lower image sensor 130 may be disposed at the rear of the cloth module 40. The lower image sensor 130 may be disposed behind the turn cloth 41 or the mop 411. After the mop disposed at the lower portion of the turn cloth 41 or the mop 411 wipes the cleaning foreign matter, the lower image sensor 130 can take an image of the floor, and thus has an effect of calculating an accurate moving distance L3 by accurately measuring the position change.
< Fourth embodiment >
According to the fourth embodiment, the control section 200 can correct the moving distance L' by the number of revolutions N4 of the caster wheel, so that the final moving distance L4 of the mobile robot can be calculated.
The caster 58 of the support body 30 may further include a wheel sensor 140 that senses the number of revolutions of the caster wheel. The wheel sensor 140 may sense the number of revolutions N4 of the caster wheel.
If the caster wheels 51 satisfy the condition of being always in contact with the floor and not slipping, the moving distance L4 of the mobile robot can be directly calculated using ((diameter of the wheels) x (pi) x (number of revolutions of the wheels N4')).
If the condition (partial slip of the wheels occurs) is not satisfied, the number of revolutions N4 of the caster wheels may be measured during a prescribed time, and the moving distance of the mobile robot during the prescribed time may be calculated. The instantaneous slip ratio SR4 may be calculated based on the moving distance x4 during a prescribed time. Therefore, the control unit 200 can calculate the corrected movement distance L4 based on the instantaneous slip ratio SR4 calculated from the movement distance L' of the mobile robot without considering the slip ratio.
The control unit 200 may repeatedly calculate the instantaneous slip ratio SR4 at predetermined intervals, and may calculate the final movement distance L4 by updating the value of the instantaneous slip ratio SR 4.
The fourth embodiment has the effect of measuring the final moving distance L4 of the mobile robot relatively simply and accurately using only the number of revolutions N4 of the caster wheel.
< Fifth embodiment >
According to the fifth embodiment, the mobile robot 1 can measure or correct the rotation angle θ of the mobile robot based on data acquired by two or more sensing modules 100 that are spaced apart.
The control part 200 may calculate the rotation angle θ' of the mobile robot irrespective of the slip ratio through data on the angular velocity, rotation direction, rotation number, or inclination of the rotating disc 412 acquired by the encoder. The control part 200 may correct the rotation angle θ' of the mobile robot without considering the slip ratio based on the data acquired by the two or more sensing modules 100, so that the final rotation angle θ may be calculated.
In the case of a first sensor and a second sensor which are spaced apart and only in translational movement, the first sensor and the second sensor acquire the same data, but in the case of a concomitant rotational movement the first sensor and the second sensor acquire different data. The control part 200 may measure or correct the rotation angle θ' of the mobile robot through the data difference acquired by the first sensor and the second sensor.
The control part 200 may determine a first center line R1 passing through the centers of the two or more sensing modules 100 spaced apart before moving, and may determine a second center line R2 passing through the centers of the two or more sensing modules 100 spaced apart after moving. The control section 200 may calculate the rotation angle θ5 of the mobile robot by measuring an angle formed by the first center line R1 and the second center line R2.
The mobile robot 1 can rotate according to the difference in the number of rotations of the turn head cloth, but since slippage occurs continuously, it is difficult to measure an accurate rotation angle. According to the fifth embodiment, there is an effect of accurately measuring the final rotation angle θ5 of the mobile robot using two or more sensing modules 100 spaced apart.
In case that the respective sensing modules 100 have a large separation distance, the error can be further reduced.
The sensing module 100 for measuring the rotation angle may include at least one lower image sensor 130. The sensing module 100 for measuring the rotation angle may include a wheel sensor 140 sensing the number of revolutions of at least one caster wheel. The sensing module 100 for measuring the rotation angle may also include one lower image sensor 130 and the wheel sensor 140 at the same time. In addition, the above-described sensing module 100 may be included in addition to the lower image sensor 130 or the wheel sensor 140.
The mobile robot 1 may include the obstacle sensing sensor, the lower image sensor 130, or the wheel sensor 140 of the caster, respectively, or may include them at the same time. Therefore, the control section 200 can combine the correction data calculated in the first to fifth embodiments, and can further accurately calculate the moving distance of the mobile robot. Each of the first to fifth embodiments contains a problem that a certain error may occur, and thus the control section 200 can correct the moving distance more accurately by combining at least two data in the first to fifth embodiments.
According to the above-described components, a control method for measuring the movement distance L or the rotation angle θ of the mobile robot is as follows.
The control unit 200 receives data of one or more of the inclination, the rotation direction, the rotation speed, and the rotation number of the rotary disk 412 from the encoder connected to the turn cloth 41 (S100), and can calculate the movement distance L 'or the rotation angle θ' (S200) regardless of the slip ratio.
The control unit 200 may acquire at least one data of a moving distance, a moving speed, or a position change during a predetermined time period through the sensing module 100 disposed in the main body 30 (S300).
The control part 200 may correct a moving distance or a rotation angle regardless of a slip ratio through data acquired from the sensing module 100, so that the moving distance of the mobile robot may be calculated (S400).
According to the first embodiment, it may further include a step of transmitting the average slip ratio SR1 stored in the storage section 300 to the control section 200 (S411) and a step of calculating the final moving distance L1 by correcting the moving distance L' of the mobile robot without considering the slip ratio based on the average slip ratio SR1 (S412).
According to the second embodiment, a step of sensing the position of surrounding obstacles by the obstacle sensing sensor and measuring the distance between the sensed obstacles and the mobile robot 1 may be included (S320). The step of measuring the distance between the obstacle and the mobile robot again at regular intervals may be further included. A step of calculating a relative speed v2 of the mobile robot based on the measured distance and time may be further included (S421). A step of calculating an instantaneous slip ratio SR2 of the mobile robot based on the calculated relative speed v2 of the mobile robot may be further included (S422). A step of correcting the moving distance L' calculated in step S200 based on the calculated instantaneous slip ratio SR2 may be further included (S423), and the final moving distance L2 of the mobile robot may be calculated.
According to the third embodiment, the sensing module 100 may include a lower image sensor 130, the lower image sensor 130 being configured at the bottom surface of the main body 30 and acquiring lower image data. The lower image sensor 130 may capture an image of the floor. The lower image sensor 130 may measure the position change amount X3 in the X-Y coordinates by photographing an image of the floor during a prescribed time (S330 step).
In case that the signal disconnection phenomenon does not occur in the lower image sensor 130 (S331), the control part 200 may include a step of measuring a position change of the mobile robot during the entire time (S332 ') and a step of correcting the moving distance calculated in the B step (S341').
In the case where the signal disconnection phenomenon occurs in the lower image sensor 130 (S331), the control section 200 further includes a step of measuring a position change amount x3 of the mobile robot during a predetermined time (S332), a step of calculating an instantaneous speed v3 of the mobile robot based on the measured position change amount (S341), a step of calculating an instantaneous slip ratio SR3 based on the calculated instantaneous speed (S342), and a step of correcting the moving distance based on the calculated instantaneous slip ratio SR3 (S343), whereby the final moving distance L3 can be corrected and calculated.
According to the fourth embodiment, the sensing module 100 may further include a wheel sensor 140 sensing the number of revolutions of the caster wheel. The wheel sensor 140 may measure the number of revolutions N4 of the caster wheel.
In the case where the caster wheel 51 does not slip (S341), the control part 200 may include a step of measuring the number of revolutions N4' of the caster wheel during the entire time (S342 '), and a step of calculating the moving distance x4' of the moving robot during the prescribed time based on the number of revolutions N4' of the caster wheel (S441 '). ((diameter of castor wheel) x (pi) x (number of revolutions of castor wheel N4')). The control unit 200 may set the calculated movement distance x4' during the predetermined time period as the final movement distance L4 of the mobile robot.
In the case where the caster wheel 51 is partially slipped (S341), a step of measuring the number of revolutions N4 of the caster wheel during a prescribed time by the wheel sensor 140 (S342) may be included. A step of calculating a moving distance x4 during a prescribed time based on the number of revolutions N4 of the caster wheel may be included (S441). A step of calculating the instantaneous slip ratio SR4 based on the moving distance x4 during the prescribed time may also be included (S442). A step of correcting the movement distance L' calculated in step S200 based on the calculated instantaneous slip ratio SR4 may be further included (S443), and the final movement distance L4 of the mobile robot may be calculated.
According to the fifth embodiment, in order to measure or correct the rotation angle of the mobile robot, the mobile robot may acquire data by activating two or more sensing modules 100 spaced apart (S351). A step (S451) of determining a first center line R1 passing through centers of the first sensor and the second sensor before the movement (t 1) and a step (S452) of determining a second center line R2 passing through centers of the first sensor and the second sensor after the movement (t 2) may be included. Further, the method includes a step of measuring a rotation angle θ formed by the first center line R1 and the second center line R2 after crossing one point by moving the first center line R1 or the second center line R2 (S453), the rotation angle θ may be calculated by correcting the rotation angle θ' of the mobile robot, or the rotation angle θ may be directly calculated.
Referring to fig. 12, the differences between the embodiment of fig. 12 and the embodiment of fig. 3 will be mainly described. The configuration not specifically described in fig. 12 is regarded as the same as that of fig. 3.
Compared to the embodiment of fig. 3, the present embodiment is different in the position of the lower image sensor 130.
The lower image sensor 130 may be offset to the rear horizontal line RHL side between the front horizontal line FHL and the rear horizontal line RHL. Specifically, the lower image sensor 130 may be offset to the rear horizontal line RHL side between the center horizontal line CHL and the rear horizontal line RHL. The lower image sensor 130 may be disposed at a position not overlapping the water tank 81 and the turn cloth 41.
Accordingly, after the cleaning module 2000 removes foreign matter of the floor in front, the liquid foreign matter of the floor is completely removed by the turn head cloth 41, and then the lower image sensor 130 scans the floor, so there is an advantage in that an accurate image can be ensured and accurate sensing can be achieved.
In addition, since the lower image sensor 130 is eccentric from the geometric center Tc of the main body 30, the in-situ rotation of the mobile robot can be easily sensed.
Referring to fig. 13, the differences between the embodiment of fig. 13 and the embodiment of fig. 3 will be mainly described. The configuration not specifically described in fig. 13 is regarded as the same as that of fig. 3.
In this embodiment, the sweep module 20 of the embodiment of FIG. 3 is eliminated. A castor 58 is provided on the body 30. The caster 58 is disposed forward of the center of gravity BC of the battery Bt, the center of gravity WC of the mobile robot, the right swivel rotation shaft Osb, the left swivel rotation shaft Osa, and the geometric center Tc of the main body 30 on the center vertical line Po. The center of gravity WC of the robot and the geometric center Tc (Tc) of the main body 30 are located within a virtual triangle connecting the caster 58, the right-hand swivel rotation shaft Osb, and the left-hand swivel rotation shaft Osa in this order. The center of gravity MCa of the left cloth motor, the center of gravity MCb of the right cloth motor, and the center of gravity PC of the tub may be located outside the virtual triangle.
The center of gravity WC of the mobile robot, the geometric center Tc (Tc) of the main body 30, and the center of gravity BC of the battery Bt are located in a virtual triangle connecting the caster 58, the right swivel rotation shaft Osb, and the left swivel rotation shaft Osa in this order.
Referring to fig. 14, the differences between the embodiment of fig. 14 and the embodiment of fig. 13 will be mainly described. The configuration not specifically described in fig. 14 is regarded as the same as that of fig. 13.
Compared with the embodiment of fig. 13, the present embodiment is different in the position of the lower image sensor 130.
The lower image sensor 130 may be offset to the rear horizontal line RHL side between the front horizontal line FHL and the rear horizontal line RHL. Specifically, the lower image sensor 130 may be offset to the rear horizontal line RHL side between the center horizontal line CHL and the rear horizontal line RHL. The lower image sensor 130 may be disposed at a position not overlapping the water tank 81 and the turn cloth 41.
The lower image sensor 130 is located outside a virtual triangle that connects the caster 58, the right swivel rotation shaft Osb, and the left swivel rotation shaft Osa in this order.
Accordingly, after the cleaning module 2000 removes foreign matter of the floor in front, the liquid foreign matter of the floor is completely removed by the turn head cloth 41, and then the lower image sensor 130 scans the floor, so there is an advantage in that an accurate image is ensured and accurate sensing can be achieved.
In addition, since the lower image sensor 130 is eccentric from the geometric center Tc of the main body 30, the in-situ rotation of the mobile robot can be easily sensed.
Therefore, the cleaner can realize a mode running of thorough cleaning by accurate running.
While the preferred embodiments of the present invention have been shown and described, the present invention is not limited to the specific embodiments described above, and various modifications may be made by those skilled in the art without departing from the gist of the present invention as claimed in the claims, and of course, such modifications should not be construed as in any way departing from the technical spirit or scope of the present invention.