Cleaning robot, control method thereof and cleaning robot charging system
阅读说明:本技术 清洁机器人、其控制方法以及清洁机器人充电系统 (Cleaning robot, control method thereof and cleaning robot charging system ) 是由 金在明 于 2020-03-27 设计创作,主要内容包括:本公开涉及一种清洁机器人、其控制方法和清洁机器人充电系统,更具体地,涉及一种当清洁机器人返回充电装置进行充电时清洁机器人通过考虑充电装置是否被占用以及距充电装置的距离来选择充电装置的技术。清洁机器人包括:主体;移动模块,使主体移动;通信模块,被配置为向另一清洁机器人请求被所述另一清洁机器人占用的充电装置的标识信息;以及控制器,被配置为基于通过通信模块从所述另一清洁机器人接收到的充电装置的标识信息,确定未被所述另一清洁机器人占用的充电装置,并控制移动模块将所述主体移动到未被占用的充电装置。(The present disclosure relates to a cleaning robot, a control method thereof, and a cleaning robot charging system, and more particularly, to a technique in which a cleaning robot selects a charging device by considering whether the charging device is occupied and a distance from the charging device when the cleaning robot returns to the charging device for charging. The cleaning robot includes: a main body; a moving module which moves the main body; a communication module configured to request identification information of a charging device occupied by another cleaning robot from the another cleaning robot; and a controller configured to determine a charging device not occupied by the other cleaning robot based on the identification information of the charging device received from the other cleaning robot through the communication module, and to control the moving module to move the main body to the unoccupied charging device.)
1. A cleaning robot, comprising:
a body including a battery;
a moving module that moves the main body;
a communication module configured to request identification information of a charging device occupied by another cleaning robot from the another cleaning robot; and
a controller configured to:
determining an unoccupied charging device that is not occupied by the other cleaning robot based on the identification information of the charging device received from the other cleaning robot through the communication module, and
controlling the movement module to move the main body to the unoccupied charging device.
2. The cleaning robot of claim 1,
there are a plurality of unoccupied charging devices, and
the controller is further configured to:
calculating a straight-line distance between the main body and each of the plurality of unoccupied charging devices based on the identification information of the charging devices,
controlling the main body to move to a charging device located at the shortest distance among the calculated straight distances among the plurality of unoccupied charging devices.
3. The cleaning robot of claim 1, wherein the controller is further configured to:
determining a route from the subject to the unoccupied charging device, and
when an obstacle exists in the route, determining a route of the subject avoiding the obstacle.
4. The cleaning robot of claim 3, wherein there are a plurality of unoccupied charging devices and a plurality of routes to the plurality of unoccupied charging devices, and the controller is further configured to:
determining an unoccupied charging device of the plurality of unoccupied charging devices for charging the main body based on a shortest route of the plurality of routes,
controlling the movement module to move the main body to the determined unoccupied charging device.
5. The cleaning robot of claim 1, wherein the identification information of the charging device includes:
information on whether the other cleaning robot is docked with the charging device,
a time remaining until charging is completed of the other cleaning robot docked with the charging device, and
a charging progress of the other cleaning robot docked with the charging device.
6. The cleaning robot of claim 5, wherein the controller is configured to: when all of a plurality of charging devices are docked by one of a plurality of other cleaning robots, one of the plurality of charging devices for charging the main body is determined based on a charging progress of each of the plurality of other cleaning robots docked with the one of the plurality of charging devices.
7. The cleaning robot of claim 5, wherein the controller is further configured to:
determining, when all of a plurality of charging devices are docked by one of the other cleaning robots, a charging device docked with one of the other cleaning robots having a charging progress of 100% among the plurality of charging devices to charge the main body, and
controlling the moving module to move the main body to the determined charging device.
8. The cleaning robot of claim 1, further comprising: a memory configured to store location information of each of a plurality of charging devices located in a predefined area,
wherein the controller is further configured to calculate a straight-line distance between the main body and each of the plurality of charging devices based on the position information of each of the plurality of charging devices.
9. The cleaning robot of claim 8, further comprising:
a docking module configured to detect docking between the body and any one of the plurality of charging devices; and
a data obtainer configured to obtain identification information of a charging device, of the plurality of charging devices, that is docked with the body,
wherein the memory stores identification information of a charging device docked with the body obtained when the body is docked with the charging device.
10. The cleaning robot of claim 9, wherein the communication module is further configured to: transmitting occupancy information of a charging device docked with the main body to the another cleaning robot based on the obtained identification information of the charging device docked with the main body, wherein the occupancy information indicates whether the main body is docked with the charging device.
11. A control method of a cleaning robot, wherein the cleaning robot includes a main body having a battery and a moving module for moving the main body, the control method comprising:
requesting, from another cleaning robot, identification information of a charging device occupied by the another cleaning robot;
receiving the requested identification information from the other cleaning robot;
determining an unoccupied charging device that is not occupied by the another cleaning robot based on the received identification information of the charging device; and is
Controlling the movement module to move the main body to the unoccupied charging device.
12. The control method according to claim 11, further comprising:
receiving identification information of a plurality of unoccupied charging devices;
calculating a straight-line distance between the main body and each of the plurality of unoccupied charging devices based on identification information of the charging devices;
determining an unoccupied one of the plurality of unoccupied charging devices that is located at a shortest distance of the calculated straight distances to be used for charging the subject; and is
Controlling the main body to move to the determined unoccupied charging device.
13. The control method according to claim 11, further comprising:
determining a route from the subject to the unoccupied charging device; and is
When an obstacle exists in the route, determining a route of the subject avoiding the obstacle.
14. The control method according to claim 13, wherein there are a plurality of unoccupied charging devices and a plurality of routes to the plurality of unoccupied charging devices, and the control method further comprises:
determining an unoccupied charging device of the plurality of unoccupied charging devices for charging the main body based on a shortest route of the plurality of routes; and is
Controlling the main body to move to the determined unoccupied charging device.
15. The control method according to claim 11, further comprising:
determining one of a plurality of charging devices for charging the main body according to a charging progress of each of the plurality of other cleaning robots docked with one of the plurality of charging devices, based on all of the plurality of charging devices being docked with the one of the plurality of other cleaning robots; and is
Controlling the main body to move to the determined charging device,
wherein the determining of one of the plurality of charging devices for charging the main body according to the charging progress of each of the plurality of other cleaning robots docked with one of the plurality of charging devices includes:
determining a charging device, among the plurality of charging devices, that is docked with one of the other cleaning robots having a charging progress of 100%, to charge the main body.
Technical Field
The present disclosure relates to a cleaning robot, a control method of the cleaning robot, and a cleaning robot charging system, and more particularly, to a technique in which the cleaning robot selects a charging device by considering whether the charging device is occupied and a distance from the charging device when the cleaning robot returns to the charging device for charging.
Background
A cleaning robot is a device for automatically cleaning a room by sucking foreign substances such as dust on a floor while autonomously moving back and forth in the room without user intervention. That is, the cleaning robot cleans a room while moving around in the room.
Generally, the cleaning robot automatically cleans a room along a route planned in the cleaning robot regardless of the user's intention. When an obstacle is detected while moving along the planned route, the cleaning robot generates and follows a detour route to avoid the obstacle.
The cleaning robot includes a battery. The electric energy stored in the battery enables the cleaning robot to move around in a room and suck dust. The cleaning robot cleans the space based on the charged battery, and therefore, when the battery is exhausted, the cleaning robot has to return to a charging station to charge the battery, and resumes the cleaning operation after the charging.
When there is more than one cleaning robot and charging station, the cleaning robot typically returns to the nearest charging station. Therefore, the cleaning robot may collide with another cleaning robot at the nearest charging station at which the another cleaning robot is performing charging. Further, when the number of charging stations is less than the number of cleaning robots, the cleaning robots may collide with each other for one charging station.
Therefore, recently, it has become increasingly important to control the cleaning robot to move to a charging station other than the occupied charging station by obtaining information about the occupied charging station.
Disclosure of Invention
The present disclosure provides a cleaning robot, a control method of the cleaning robot, and a cleaning robot charging system, in which by the cleaning robot charging system, the cleaning robot receives occupancy information of charging stations when returning to one of the charging stations for charging, and moves to a charging station other than the occupied charging station for charging.
According to an embodiment of the present disclosure, there is provided a cleaning robot.
The cleaning robot includes: a body including a battery; a moving module that moves the main body; a communication module configured to request identification information of a charging device occupied by another cleaning robot from the another cleaning robot; and a controller configured to: determining a charging device that is not occupied by the other cleaning robot based on identification information of the charging device received from the other cleaning robot through the communication module, and controlling the moving module to move the main body to the unoccupied charging device.
The unoccupied charging device may be plural, and the controller may calculate a straight distance between the main body and each of the plural unoccupied charging devices based on identification information of the charging device, and control the main body to move to the charging device located at a shortest distance among the calculated straight distances.
The controller may determine a moving route from the main body to the unoccupied charging device, and when an obstacle exists in the moving route, determine a shortest route along which the main body avoids the obstacle and reaches the unoccupied charging device.
The controller may determine a charging device for charging the main body based on a shortest route along which the main body avoids an obstacle and reaches an unoccupied charging device, and control the moving module to move the main body to the determined charging device.
The identification information of the charging device may include: whether the other cleaning robot is docked with the charging device, a time remaining until completion of charging of the other cleaning robot docked with the charging device, and a charging progress of the other cleaning robot docked with the charging device.
When there is no unoccupied charging device among the plurality of charging devices, the controller may determine one of the plurality of charging devices for charging the main body based on a charging progress of each of the other cleaning robots docked with the plurality of charging devices.
When there is no unoccupied charging device among the plurality of charging devices, the controller may determine a charging device among the plurality of charging devices that is docked with one of the other cleaning robots having a charging progress of 100% to charge the main body, and control the moving module to move the main body to the determined charging device.
The cleaning robot may further include: a memory storing position information of the charging devices located in the predefined area, and the controller may calculate a straight-line distance between the main body and each of the charging devices based on the position information of the charging devices.
The cleaning robot may further include: a docking module configured to detect docking between the body and a charging device; and a data obtainer configured to obtain identification information of a charging device docked with the main body, and the memory may store the identification information of the charging device obtained when the main body is docked with the charging device.
The communication module may transmit occupancy information indicating whether the main body occupies the charging device of the charging device to the another cleaning robot based on the obtained identification information of the charging device.
According to another embodiment of the present disclosure, there is provided a control method of a cleaning robot.
A control method of a cleaning robot including a main body having a battery and a moving module for moving the main body includes: requesting, from another cleaning robot, identification information of a charging device occupied by the another cleaning robot; receiving the requested identification information from the other cleaning robot; determining a charging device that is not occupied by the another cleaning robot based on the received identification information of the charging device; and controlling the moving module to move the main body to an unoccupied charging device.
The control method may further include: receiving identification information of a plurality of unoccupied charging devices; calculating a straight-line distance between the main body and each of the plurality of unoccupied charging devices based on identification information of the charging devices; determining a charging device located at a shortest distance among the calculated linear distances to be used for charging the subject; and controlling the main body to move to the determined charging device.
The control method may further include: determining a movement route from the main body to an unoccupied charging device; when an obstacle exists in the moving route, the shortest route, in which the subject avoids the obstacle and reaches the unoccupied charging device, is determined.
The control method may further include: determining a charging device for charging the subject based on a shortest route by which the subject avoids an obstacle and reaches an unoccupied charging device; and controlling the main body to move to the determined charging device.
The control method may further include: determining one of the plurality of charging devices for charging the main body based on a charging progress of each of the other cleaning robots docked with the plurality of charging devices when there is no unoccupied charging device among the plurality of charging devices.
The control method may further include: determining, when there is no unoccupied charging device among the plurality of charging devices, a charging device docked with one of the other cleaning robots having a charging progress of 100% among the plurality of charging devices to charge the main body; and controlling the main body to move to the determined charging device.
The control method may further include: storing location information of charging devices located in a predefined area; calculating a straight-line distance between the main body and each of the charging devices based on the position information of the charging devices.
The control method may further include: detecting a docking between the body and a charging device; obtaining identification information of a charging device docked with the body; storing identification information of a charging device obtained when the main body is docked with the charging device.
The control method may further include: transmitting occupancy information indicating whether the main body occupies the charging device of the charging device to the other cleaning robot based on the obtained identification information of the charging device.
According to another embodiment of the present disclosure, there is provided a cleaning robot charging system.
The cleaning robot charging system includes: at least one charging device configured to charge the cleaning robot; a first cleaning robot configured to request occupancy information of the at least one charging device from another cleaning robot; a second cleaning robot configured to detect docking with one of the at least one charging device, obtain identification information of the docked charging device, and transmit occupancy information of the docked charging device to the first cleaning robot based on the obtained identification information of the charging device, wherein the first cleaning robot is configured to: upon receiving occupancy information of the charging devices from the second cleaning robot, one of the at least one charging device for charging the first cleaning robot is determined based on a distance between the first cleaning robot and each of the at least one charging devices other than the charging device occupied by the second cleaning robot, and moved to the determined charging device.
Before proceeding with the following detailed description, it may be helpful to set forth definitions of certain words and phrases used throughout this patent document: the terms "include" and "comprise," as well as derivatives thereof, mean inclusion without limitation; the term "or" is inclusive, meaning and/or; the phrases "associated with … …" and "associated therewith," and derivatives thereof, may mean including, included within, interconnected with … …, inclusive, included within, connected to … … or connected with … …, coupled to … … or coupled with … …, communicable with … …, cooperative with … …, staggered, juxtaposed, proximate to … …, bound to … … or bound to … …, having the property of … …, and the like; the term "controller" refers to any device, system or part thereof that controls at least one operation, such a device may be implemented in hardware, firmware or software, or some combination of at least two of the same. It should be noted that the functionality associated with any particular controller may be centralized or distributed, whether locally or remotely.
Further, various functions described below may be implemented or supported by one or more computer programs, each of which is formed from computer readable program code and embodied in a computer readable medium. The terms "application" and "program" refer to one or more computer programs, software components, sets of instructions, procedures, functions, objects, classes, instances, related data, or a portion thereof adapted for implementation in suitable computer readable program code. The phrase "computer readable program code" includes any type of computer code, including source code, object code, and executable code. The phrase "computer readable medium" includes any type of medium capable of being accessed by a computer, such as Read Only Memory (ROM), Random Access Memory (RAM), a hard disk drive, a Compact Disc (CD), a Digital Video Disc (DVD), or any other type of memory. A "non-transitory" computer-readable medium does not include a wired, wireless, optical, or other communication link that transmits transitory electrical or other signals. Non-transitory computer readable media include media that can permanently store data and media that can store data and then rewrite data, such as rewritable optical disks or erasable storage devices.
Definitions for certain words and phrases are provided throughout this patent document, those of ordinary skill in the art should understand that in many, if not most instances, such definitions apply to prior uses, as well as future uses, of such defined words and phrases.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent to those of ordinary skill in the art by describing in detail exemplary embodiments thereof with reference to the attached drawings, in which:
fig. 1 illustrates a cleaning robot and a charging device according to an embodiment of the present disclosure;
fig. 2 illustrates a control block diagram of a cleaning robot according to an embodiment of the present disclosure;
fig. 3 illustrates an external view of a cleaning robot according to an embodiment of the present disclosure;
fig. 4 shows an interior view of a cleaning robot according to an embodiment of the present disclosure;
fig. 5 illustrates a bottom view of a cleaning robot according to an embodiment of the present disclosure;
fig. 6 illustrates a configuration of a power module included in a cleaning robot according to an embodiment of the present disclosure;
fig. 7 shows a block diagram of a charging device according to an embodiment of the present disclosure;
fig. 8 is a flowchart illustrating a control method of a cleaning robot according to an embodiment of the present disclosure;
fig. 9 illustrates how the cleaning robot determines a charging device for charging based on the shortest distance between the charging device and the cleaning robot;
fig. 10 illustrates how the cleaning robot determines a charging device for charging based on the shortest distance between the charging device and the cleaning robot;
fig. 11 illustrates how a cleaning robot determines a charging device for charging based on the shortest route by which the cleaning robot avoids an obstacle and reaches the charging device, according to an embodiment of the present disclosure;
fig. 12 illustrates how a cleaning robot determines a charging device for charging based on the shortest route by which the cleaning robot avoids an obstacle and reaches the charging device, according to an embodiment of the present disclosure;
fig. 13 illustrates how to select a charging device when a plurality of cleaning robots share the charging device according to an embodiment of the present disclosure;
fig. 14 illustrates how to select a charging device when a plurality of cleaning robots share the charging device according to an embodiment of the present disclosure;
fig. 15 illustrates how a cleaning robot determines a charging device for charging based on a charging schedule or a charging time of the charging device according to an embodiment of the present disclosure; and
fig. 16 illustrates how a cleaning robot determines a charging device for charging based on a charging schedule or a charging time of the charging device according to an embodiment of the present disclosure.
Detailed Description
Figures 1 through 16, discussed below, and the various embodiments used to describe the principles of the present disclosure in this patent document are by way of illustration only and should not be construed in any way to limit the scope of the disclosure. Those skilled in the art will understand that the principles of the present disclosure may be implemented in any suitably arranged system or device.
Like reference numerals refer to like elements throughout the specification. Not all elements of the embodiments of the present disclosure will be described, and descriptions that are known in the art or overlap each other in the embodiments will be omitted. Terms such as "component," "module," "member," "block," and the like, as used throughout this specification, may be implemented in software and/or hardware, and multiple "components," "modules," "members," or "blocks" may be implemented in a single element, or a single "component," "module," "member," or "block" may include multiple elements.
It will be further understood that the term "connected," or derivatives thereof, refers to both direct and indirect connections, and that indirect connections include connections through a wireless communication network.
Unless otherwise mentioned, the term "comprises (or includes.. or" comprises ")" or "includes (or includes.. or" of ") is inclusive or open-ended and does not exclude other, unrecited elements or method steps.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or section from another region, layer or section.
It is to be understood that the singular forms include plural referents unless the context clearly dictates otherwise.
The reference numerals used for the method steps are only used for convenience of explanation and are not intended to limit the order of the steps. Thus, unless the context clearly dictates otherwise, the order of writing may be implemented differently.
Principles and embodiments of the present disclosure will now be described with reference to the drawings.
Fig. 1 illustrates a cleaning robot and a charging device according to an embodiment of the present disclosure.
Referring to fig. 1, a cleaning robot charging system 1 includes a
The cleaning
The cleaning
The cleaning
The charging
The charging
The cleaning
The charging
The construction and operation of the
Fig. 2 illustrates a control block diagram of a cleaning robot according to an embodiment of the present disclosure. Fig. 3 illustrates an external view of a cleaning robot according to an embodiment of the present disclosure. Fig. 4 illustrates an interior view of a cleaning robot according to an embodiment of the present disclosure. Fig. 5 illustrates a bottom view of a cleaning robot according to an embodiment of the present disclosure. Fig. 6 illustrates a configuration of a power module included in a cleaning robot according to an embodiment of the present disclosure. Fig. 7 shows a block diagram of a charging device according to an embodiment of the present disclosure.
Referring to fig. 2 to 6, the cleaning
As shown in fig. 3, the
At least a portion of the
The
The
The cleaning
The cleaning
Specifically, the cleaning
The components included in the
As shown in fig. 3, the
The input buttons 111 may receive control commands from a user. The input buttons 111 may include a power button for turning on or off the
The input buttons 111 may include a push button switch and a membrane switch, both of which are activated by pressure of a user, or a touch switch activated by touch of a body part of a user.
The
The display 121b may include a Light Emitting Diode (LED) panel, an Organic Light Emitting Diode (OLED) panel, a Liquid Crystal Display (LCD) panel, and the like.
Alternatively, the
The
The acceleration sensor 121 and the gyro sensor 122 may measure acceleration, moving speed, motion displacement, and moving direction of the
The acceleration sensor 121 may detect linear motion. For example, the acceleration sensor 121 may measure a linear acceleration, a linear velocity, a linear displacement, and the like of the
The gyro sensor 122 may also be referred to as a gyro or an angle sensor that detects a steering motion of the
The
The
The
The first impact sensor 123 and the second impact sensor 124 may be arranged at different positions on the
The first and second impact sensors 123 and 124 may each transmit an impact signal to the
The
The
The
As shown in fig. 4, the
The
The
The reflection member 132 may be disposed on top of the
The light emitted from the
The
The
As shown in fig. 5, the
The first and
These separate rotations of the first and
The moving
The
As shown in fig. 5, the drum brush 151 is disposed in a dust inlet 101e formed at the bottom surface 101d of the main body. The drum brush 151 may agitate dust on the floor into the dust inlet 101e while rotating about a rotation axis arranged parallel to the floor.
The brush motor 152 may be disposed beside the drum brush 151 to rotate the drum brush 151 in response to a control signal from the
A suction fan 153 may be provided inside the
The suction motor 154 may be installed near the suction fan 153 to rotate the suction fan 153 according to a control signal from the
In addition, the
The
The
The
The
Further, the
The
The power supply module 170 includes a
The
The
The charging
The
The
For example, the charging
The
The
The
The first and
The
The signal receiver 181 may wirelessly receive the sensing signal transmitted from the charging
The signal receiver 181 may include a plurality of receivers arranged along an outer surface of the
The
The charging
The first docking identifier 182 may be provided to identify whether the cleaning
The first docking identifier 182 may transmit a docking identification signal indicating whether the second docking member disposed in the
When the cleaning
The data obtainer 183 may be implemented using a short-range communication module, such as a Near Field Communication (NFC) module, or may be implemented in such a form that identification information of the
The communication module 185 may transmit or receive various types of data related to the operation and charging state of the
When the cleaning
The communication module 185 may be implemented with a communication chip, an antenna, and associated components to connect to at least one of a wired communication network or a wireless communication network. That is, the communication module 185 may be implemented in various types that enable short-range communication or remote communication with another cleaning robot.
The
The image processor 191 may receive image data acquired by the
The main processor 192 may receive the output from the
The main processor 192 may receive the distance to the obstacle and the direction angle of the obstacle from the image processor 191, generate a movement control signal for avoiding the obstacle based on the distance to the obstacle and the direction angle of the obstacle, and transmit the movement control signal to the
The main processor 192 may receive the docking identification signal output from the first docking identifier 182 and identify whether the cleaning
The memory 193 may load programs and data from the
The memory 193 may temporarily store user inputs received through the
Upon receiving occupancy information of at least one charging device from the at least one cleaning robot through the communication module 185, the
The configuration and operation of the
Referring to fig. 7, the charging
The charging
The charging
The
The dc-
Although charging
The
When the
The
The signal transmitter 281 may wirelessly output a sensing signal to guide the
The signal transmitter 281 may output a plurality of sensing signals for guiding the
Fig. 8 illustrates a flowchart of a control method of a cleaning robot according to an embodiment of the present disclosure. Fig. 9 illustrates how the cleaning robot determines the charging device for charging based on the shortest distance between the charging device and the cleaning robot, and fig. 10 illustrates how the cleaning robot determines the charging device for charging based on the shortest distance between the charging device and the cleaning robot. Fig. 11 illustrates how a cleaning robot determines a charging device for charging based on a shortest route by which the cleaning robot avoids an obstacle and reaches the charging device, and fig. 12 illustrates how a cleaning robot determines a charging device for charging based on a shortest route by which the cleaning robot avoids an obstacle and reaches the charging device, according to an embodiment of the present disclosure; fig. 13 illustrates how to select a charging device when a plurality of cleaning robots share the charging device according to an embodiment of the present disclosure, and fig. 14 illustrates how to select a charging device when a plurality of cleaning robots share the charging device according to an embodiment of the present disclosure. Fig. 15 illustrates how a cleaning robot according to an embodiment of the present disclosure determines a charging device for charging based on a charging progress or charging time of the charging device, and fig. 16 illustrates how a cleaning robot according to an embodiment of the present disclosure determines a charging device for charging based on a charging progress or charging time of the charging device.
A cleaning robot and a control method of the cleaning robot according to an embodiment of the present disclosure will now be described with reference to fig. 8.
Referring to fig. 9, a cleaning robot charging system for charging a
For convenience of explanation, in fig. 9, three cleaning
When the first cleaning robot 100-1 needs to be charged while sweeping the area or after sweeping the area, the first cleaning robot 100-1 may move to the charging device at the shortest distance based on the location information of the charging devices 200-1 and 200-2 stored in the
In a conventional case, referring to fig. 9, even when the second cleaning robot 100-2 is charging at the first charging device 200-1, because the first charging device 200-1 is located at the shortest distance, the first cleaning robot 100-1 moves to the first charging device 200-1 and may collide with the second cleaning robot 100-2 that is already being charged.
In an embodiment of the present disclosure, the first cleaning robot 100-1 requests occupancy information of at least one charging device 200-1 or 200-2 to at least one of the other cleaning robots 100-2 and 100-3 through the communication module 185 at 1000.
Upon receiving a request for occupancy information of a charging device from the first cleaning robot 100-1, the second and third cleaning robots 100-2 and 100-3 may each transmit occupancy information of the charging device, which is docked with the cleaning robot and charges the cleaning robot, to the first cleaning robot 100-1.
Specifically, when the cleaning robot is docked with the charging device, the cleaning robot may obtain identification information of the charging device (e.g., an ID or an identification number of the charging device, etc.) through the data obtainer.
The cleaning robot may transmit occupancy information of the charging device to another cleaning robot based on the identification information of the charging device. The occupancy information of the charging device may include at least one of: whether the cleaning robot is docked with the charging device for charging, a time remaining until charging is completed for the cleaning robot being charged, and a charging schedule for the cleaning robot being charged.
Referring to fig. 9, upon receiving a request for occupancy information of a charging device from the first cleaning robot 100-1, the second cleaning robot 100-2 may transmit occupancy information of the first charging device 200-1, which is docked with the second cleaning robot 100-2 and charges the second cleaning robot 100-2, to the first cleaning robot 100-1.
Specifically, when the second cleaning robot 100-2 is docked with the first charging device 200-1 and is being charged at the first charging device 200-1, the second cleaning robot 100-2 may transmit information regarding at least one of the following to the first cleaning robot 100-1 based on the identification information of the first charging device 200-1: whether the second cleaning robot 100-2 is docked with the first charging device 200-1, the time remaining until the charging of the second cleaning robot 100-2 is completed, and the charging schedule of the second cleaning robot 100-2.
Accordingly, the first cleaning robot 100-1 can be prevented from moving to the first charging device 200-1 already occupied by the second cleaning robot 100-2 and colliding with the second cleaning robot 100-2.
Meanwhile, since the third cleaning robot 100-3 is not charged at any one of the first and second charging devices 200-1 and 200-2, the third cleaning robot 100-3 may not transmit occupancy information of any charging device to the first cleaning robot 100-1.
At 1050, the communication module 185 of the first cleaning robot 100-1 may receive occupancy information of at least one charging device from at least one of the other cleaning robots. That is, the first cleaning robot 100-1 may receive the occupancy information of the first charging device 200-1 from the second cleaning robot 100-2.
When occupancy information of at least one charging device is received from another cleaning robot, the
In other words, at 1100, the
When it is determined that there are unoccupied charging devices, the
At 1250, the
In fig. 9, upon receiving occupancy information of the first charging device 200-1 from the second cleaning robot 100-2, the first cleaning robot 100-1 may determine that the second charging device 200-2 charges the first cleaning robot 100-1 instead of the first charging device 200-1 charging the first cleaning robot 100-1, and control the first cleaning robot 100-1 to move to the second charging device 200-2.
For example, the
In this case, the
On the other hand, referring to fig. 10, there may be three charging devices including a third charging device 200-3 in addition to the first and second charging devices 200-1 and 200-2.
In the case of fig. 10, similar to the case of fig. 9, upon receiving a request for occupancy information of a charging device from the first cleaning robot 100-1, the second cleaning robot 100-2 may transmit occupancy information of the first charging device 200-1, which is docked with the second cleaning robot and charges the second cleaning robot 100-2, to the first cleaning robot 100-1. Since the third cleaning robot 100-3 is not charged at any one of the first to third charging devices 200-1 to 200-3, the third cleaning robot 100-3 may not transmit occupancy information of any charging device to the first cleaning robot 100-1.
When the occupancy information of the first charging device 200-1 is received from the second cleaning robot 100-2, the
Returning to fig. 9, since there is one available charging device (i.e., the second charging device 200-2) that is not occupied, the
However, in fig. 10, since there are two charging devices (the second and third charging devices 200-2 and 200-3) that are not occupied by other cleaning robots, the
Based on the position information of the second and third charging devices 200-2 and 200-3 stored in the
At 1400, based on the calculated distance information, the
At 1450, the
In other words, the
In the case as shown in fig. 9, the first cleaning robot 100-1 may move to the second charging device 200-2 and interface with the second charging device 200-2 at 1500, and the data obtainer 183 of the first cleaning robot 100-1 may obtain identification information of the second charging device 200-2 at 1550 and store the identification information in the
In the case as shown in fig. 10, the first cleaning robot 100-1 may move to the third charging device 200-3 and interface with the third charging device 200-3 at 1500, and the data obtainer 183 of the first cleaning robot 100-1 may obtain identification information of the third charging device 200-3 at 1550 and store the identification information in the
Returning to fig. 8, when the
Referring to fig. 11, similar to that shown in fig. 9, upon receiving occupancy information of the first charging device 200-1 from the second cleaning robot 100-2, the first cleaning robot 100-1 may determine that the second charging device 200-2 charges the first cleaning robot 100-1 instead of the first charging device 200-1 charging the first cleaning robot 100-1, and the first cleaning robot 100-1 may move to the second charging device 200-2.
In this case, when there is an obstacle OB in the moving route from the first cleaning robot 100-1 to the unoccupied second charging device 200-2, the
Specifically, based on the position information of the second charging device 200-2 stored in the
The
Referring to fig. 12, there are two charging devices (the second and third charging devices 200-2 and 200-3) that are not occupied by other cleaning robots, similar to that shown in fig. 10, and thus the
Similar to that described in connection with fig. 11, based on the position information of the second charging device 200-2 stored in the
Further, the
Based on the calculated distance information, the
That is, although the straight distance to the second charging device 200-2 is shorter than the straight distance to the third charging device 200-3, the shortest route d3 avoiding the obstacle in the travel route to the second charging device 200-2 is longer than the straight distance d4 to the third charging device 200-3, and thus the
At 1450, the
In other words, the
In the case as shown in fig. 11, the first cleaning robot 100-1 may move to the second charging device 200-2 and interface with the second charging device 200-2 at 1500, and the data obtainer 183 of the first cleaning robot 100-1 may obtain identification information of the second charging device 200-2 at 1550 and store the identification information in the
In the case as shown in fig. 12, the first cleaning robot 100-1 may move to the third charging device 200-3 and interface with the third charging device 200-3 at 1500, and the data obtainer 183 of the first cleaning robot 100-1 may obtain identification information of the third charging device 200-3 at 1550 and store the identification information in the
Referring to fig. 13, a plurality of cleaning
Specifically, when the first charging device 200-1 is at the closest distance from the first and second cleaning robots 100-1 and 100-2, both the first and second cleaning robots 100-1 and 100-2 may return to the first charging device 200-1 for charging.
In this case, according to the charging system of the
Referring to fig. 13, when both the first and second cleaning robots 100-1 and 100-2 return to the first charging device 200-1 for charging, the first and second cleaning robots 100-1 and 100-2 may request occupancy information of the first charging device 200-1 from each other.
Since the first charging device 200-1 is not currently occupied, the first and second cleaning robots 100-1 and 100-2 may not receive the occupancy information of the first charging device 200-1 from each other, and thus the first and second cleaning robots 100-1 and 100-2 still move to the first charging device 200-1 for charging.
In this case, one of the first and second cleaning robots 100-1 and 100-2 may first reach the first charging device 200-1 and dock with the first charging device 200-1 according to a moving speed difference between the first and second cleaning robots 100-1 and 100-2 or a distance difference from the first charging device 200-1.
As in fig. 13, when the second cleaning robot 100-2 first arrives at the first charging device 200-1 and docks with the first charging device 200-1, the second cleaning robot 100-2 may obtain identification information of the first charging device 200-1 and transmit occupancy information of the first charging device 200-1 to the first cleaning robot 100-1 based on the obtained identification information.
The first cleaning robot 100-1 may receive the occupancy information of the first charging device 200-1 from the second cleaning robot 100-2 even while moving to the first charging device 200-1.
When the occupancy information of the first charging device 200-1 is received from the second cleaning robot 100-2, the
Referring to fig. 13, the
Under the control of the
Referring to fig. 14, similar to that described in connection with fig. 13, when both the first and second cleaning robots 100-1 and 100-2 are to return to the first charging device 200-1 for charging, the first and second cleaning robots 100-1 and 100-2 may request occupancy information of the first charging device 200-1 from each other.
When the second cleaning robot 100-2 first arrives at the first charging device 200-1 and docks with the first charging device 200-1, the second cleaning robot 100-2 may obtain identification information of the first charging device 200-1 and transmit occupancy information of the first charging device 200-1 to the first cleaning robot 100-1 based on the obtained identification information.
When the occupancy information of the first charging device 200-1 is received from the second cleaning robot 100-2, the
For example, when the second cleaning robot 100-2 docks with the first charging device 200-1 to perform charging, the first cleaning robot 100-1 may stop moving and wait until the charging of the docked second cleaning robot 100-2 is completed.
While the second cleaning robot 100-2 is charging and the first cleaning robot 100-1 is waiting, the first and second cleaning robots 100-1 and 100-2 may communicate occupancy information of the first charging device 200-1 through the communication module 185. Specifically, the second cleaning robot 100-2 may transmit data of a charging progress and a time remaining until the charging is completed to the first cleaning robot 100-1.
When the second cleaning robot 100-2 finishes charging and leaves the first charging device 200-1 after a certain time, the first cleaning robot 100-1 may move to the first charging device 200-1 and dock with the first charging device 200-1 to perform charging.
The data obtainer 183 of the first cleaning robot 100-1 may obtain identification information of the first charging device 200-1 and store the identification information in the
As described above, when a plurality of cleaning
Returning to fig. 8, the
When it is determined that all the charging
Referring to fig. 15, the second cleaning robot 100-2 is docked with the first charging device 200-1 and is being charged at the first charging device 200-1; the third cleaning robot 100-3 is docked with the second charging device 200-2 and is being charged at the second charging device 200-2; and the fourth cleaning robot 100-4 is docked with the third charging device 200-3 and is being charged at the third charging device 200-3.
The second, third, and fourth cleaning robots 100-2, 100-3, and 100-4 may transmit occupancy information of the charging devices 200-1, 200-2, and 200-3 to the first cleaning robot 100-1, respectively, and the
The occupancy information transmitted to the charging devices 200-1, 200-2, and 200-3 of the first cleaning robot 100-1 by the second, third, and fourth cleaning robots 100-2, 100-3, and 100-4 includes information on the remaining time until the completion of charging and the progress of charging of the second, third, and fourth cleaning robots 100-2, 100-3, and 100-4, which are docked with the charging devices 200-1, 200-2, and 200-3, respectively.
The
Referring to fig. 15, when the charging progress of the second cleaning robot 100-2 docked with the first charging device 200-1 is 0%, the charging progress of the third cleaning robot 100-3 docked with the second charging device 200-2 is 75%, and the charging progress of the fourth cleaning robot 100-4 docked with the third charging device 200-3 is 100%, the
That is, when the charging progress of the fourth cleaning robot 100-4 docked with the third charging device 200-3 is 100%, the
Although the first cleaning robot 100-1 moves to the third charging device 200-3 since the fourth cleaning robot 100-4 docked with the third charging device 200-3 has a charging progress of 100% in fig. 15, the standard for the charging rate for determining the charging device for charging the first cleaning robot 100-1 may be different according to the setting. For example, the
Under the control of the
Referring to fig. 16, similar to fig. 15, the second cleaning robot 100-2 is docked with the first charging device 200-1 and is being charged at the first charging device 200-1; the third cleaning robot 100-3 is docked with the second charging device 200-2 and is being charged at the second charging device 200-2; and the fourth cleaning robot 100-4 is docked with the third charging device 200-3 and is being charged at the third charging device 200-3.
The
As shown in fig. 16, when the time remaining until the charging is completed of the second cleaning robot 100-2 docked with the first charging device 200-1 is 1 hour 48 minutes, the time remaining until the charging is completed of the third cleaning robot 100-3 docked with the second charging device 200-2 is 3 minutes, and the time remaining until the charging is completed of the fourth cleaning robot 100-4 docked with the third charging device 200-3 is 36 minutes, the
That is, when the time remaining until the charging is completed of the third cleaning robot 100-3 docked with the second charging device 200-2 is 3 minutes, the
Although the first cleaning robot 100-1 moves to the second charging device 200-2 since the time remaining until the charging is completed by the third cleaning robot 100-3 docked with the second charging device 200-2 is 3 minutes in fig. 16, the criterion for determining the charging device for charging the first cleaning robot 100-1 with respect to the time remaining until the charging is completed may be different according to settings. For example, the
Under the control of the
As described above, according to the cleaning robot, the control method of the cleaning robot, and the cleaning robot charging system in the embodiments of the present disclosure, when the cleaning robot is to return to one of the plurality of charging devices for charging, the cleaning robot may receive occupancy information of the plurality of charging devices and return to one of the plurality of charging devices other than the occupied charging device for charging, thereby preventing a collision with another cleaning robot at the occupied charging device. Further, the cleaning robot may select one of the charging devices to be charged based on occupancy information indicating whether the charging device is occupied by the other cleaning robot, thereby guiding efficient allocation of the charging devices.
In addition, the embodiments of the present disclosure may be implemented in the form of a recording medium for storing instructions to be executed by a computer. The instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform the operations of embodiments of the present disclosure. The recording medium may correspond to a computer-readable recording medium.
The computer-readable recording medium includes any type of recording medium on which data is stored that can be subsequently read by a computer. For example, it may be a ROM, RAM, magnetic tape, magnetic disk, flash memory, optical data storage device, etc.
So far, embodiments of the present disclosure have been described with reference to the accompanying drawings. It is obvious to those skilled in the art that the present disclosure may be implemented in other forms than the above-described embodiments without changing the technical idea or essential features of the present disclosure. The above embodiments are by way of example only and should not be construed in a limiting sense.
Several embodiments of the present disclosure have been described above, but those of ordinary skill in the art will understand and appreciate that various modifications may be made without departing from the scope of the present disclosure. Therefore, it will be apparent to those skilled in the art that the true scope of the technical protection is only defined by the claims.
While the present disclosure has been described with various embodiments, various changes and modifications may be suggested to one skilled in the art. The present disclosure is intended to embrace such alterations and modifications as fall within the scope of the appended claims.
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