• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    There is provided a method of loading a service robot, comprising: (a) coupling an input port of the service robot to an output port of a charger when an available battery power drops below a predetermined level; (b) checking whether a predetermined charging voltage is input to the input terminal of the service robot; (c) determining whether a power failure has occurred or the charging device is faulty if the charging voltage is not supplied in step (b); and (d) interrupting the charging of the battery when it is determined that a power failure has occurred or the charger is defective.
    公开号:AT12831U2
    申请号:TGM289/2012U
    申请日:2007-07-18
    公开日:2012-12-15
    发明作者:
    申请人:Samsung Electronics Co Ltd；
    IPC主号:
    专利说明:

    Austrian Patent Office AT 12 831 U2 2012-12-15
    description
    BACKGROUND OF THE INVENTION
    1. FIELD OF THE INVENTION
    The present invention relates to a service robot or service robot or machine and more particularly relates to charging a service robot for a vacuum cleaner.
    2. DESCRIPTION OF THE PRIOR ART
    In general, service robots or service machines are designed so that they support people by automatically moving around without user intervention and clean a surface by dirt materials, such as dust, are absorbed.
    Service robots have a distance sensor or photographing unit that detects the presence or absence of obstacles or the distance to objects, such as appliances, office equipment or walls in a given area, to be able to Cleaning without unwanted collisions or disabilities. An illustrative service robot may include a left drive wheel, a right drive wheel, and an impeller each on the lower part of a rack or a base body of the cleaning device. Each of the drive wheels is driven in conjunction with a drive motor. The drive motor is controlled by a controller that allows the cleaner to change directions.
    The robot may have a suction port on a lower part of the main body to collect dirt, such as dust from a surface to be cleaned. The suction port is subject to a suction force, which is generated by a suction motor, which is additionally provided in or on the cleaning device. The suction port is in fluid communication with a dust collection chamber provided inside the main body of the cleaning device. The sucked dirt material is collected and stored in the dust collection chamber.
    The control of the service robot checks the battery capacity to determine if a level of power is sufficient for driving the robot. When the controller determines that the battery should be charged, the service robot may contact a charger located at a predetermined position to find the charger and move toward the position of the charger. A connection port on the service robot may then be connected to a charging port on the charging device. In other words, when the charging port and the connecting port are connected together, the controller enters the charging mode until the battery power source is fully charged. During loading, other operations of the service robot are stopped. For example, the drive mode of the drive wheels and the cleaning mode are deactivated during charging.
    [0006] When the charging port on the charging device loses contact with the connection port on the service robot during charging due to an earthquake, a large fluctuation of the ground or inadvertent contact with a user, or if the power supply due to a power failure during the Charging or when connecting terminals are in contact with each other is interrupted, the service robot can automatically detect an inductive signal that is output from the charger and can try again to connect to the charger.
    However, if a power failure occurs, the power source of the charging device is disconnected or the charging device is faulty, the charging device can not output a charging device detection signal, so that the service robot may travel around to find the charging device. As a result, the service robot may remain in an idle state due to a battery discharge.
    OVERVIEW OF THE INVENTION
    Illustrative embodiments of the present invention avoid the above disadvantages and also other disadvantages which are not described above. However, the present invention need not avoid the disadvantages described above, and an illustrative embodiment of the present invention may not avoid any of the problems described above.
    The present invention relates to the loading of a service robot, wherein it is avoided that the service robot returns to a charging mode, when the supply of electrical energy is not given, the power source of a charging unit is blocked or a User deliberately interrupts the loading process.
    The invention is indicated by the subject matter of the independent claims. Preferred embodiments are specified in the subclaims.
    According to one aspect of the present invention, the charging comprises: (a) coupling an input terminal of the service robot to an output terminal of a charging device when an available battery power falls below a predetermined level; (b) checking whether a predetermined charging voltage is fed to the charging port of the service robot; (c) determining whether a power failure has occurred or the charging device is faulty if the charging voltage is not supplied in step (b); and (d) interrupting the charging of the battery when it is determined that a power failure has occurred or the charger is defective.
    Step (c) may include determining that a power failure has occurred or the charging device is faulty when an inductive signal is not output from the charging device.
    Step (c) may further include returning to step (a) when the inductive signal is output from the charger.
    Step (c) may include (c-1): moving the service robot forward toward the output terminal using a predetermined driving force, and (c-2) determining that a power failure has occurred or the charger is faulty, if the charging voltage is not fed to the input terminal.
    Step (c-1) may be repeated two or more times.
    Step (c-2) may further include returning to step (b) when the charging voltage is input to the input terminal.
    [0017] According to another aspect of the present invention, the charging comprises: (a) coupling an input terminal of the service robot to an output terminal of a charging device when an available battery power drops below a predetermined level; (b) checking whether a predetermined charging voltage is input to the input terminal of the service robot; (c) determining if a user has lifted the service robot off the ground if the predetermined voltage is not input in step (b); and (d) interrupting the charging of the battery when it is determined that a user has lifted the service robot off the ground and returning to step (a) when it is determined that a user is not lifting the service robot off the ground Has.
    Step (c) may include: determining that a distance between the service robot and the ground surface exceeds a predetermined distance, using a ground detection sensor disposed in the service robot. 2/14 Austrian Patent Office AT 12 831 U2 2012-12-15
    BRIEF DESCRIPTION OF THE DRAWINGS
    The above and / or other aspects of the present invention will be clarified by describing certain illustrative embodiments of the present invention with reference to the accompanying drawings, in which: Figure 1 Figure 2 Figure 3 FIG. 4 is a perspective view illustrating a service robot according to an illustrative embodiment of the present invention; Fig. 3 is a block diagram showing a charger and the service robot of Fig. 1; is a schematic side view of a service robot for explaining the state of charge of the service robot shown in Figure 1; FIG. 10 is a flowchart for explaining charging of a service robot according to an illustrative embodiment of the present invention; FIG. FIG. 5 is a flowchart to explain charging of a service robot according to another illustrative embodiment of the present invention; FIG. 6 is a flowchart to explain charging of a service robot according to a still further illustrative embodiment of the present invention; and Figure 7 is a schematic side view showing the state in which a service robot is lifted off the ground.
    DETAILED DESCRIPTION OF THE ILLUSTRATIVE EMBODIMENTS
    Certain illustrative embodiments of the present invention will now be described in more detail with reference to the accompanying drawings.
    In the following description, the same reference numerals are used for the same elements even in different figures. The objects defined in the specification, such as the detailed construction and certain elements, are provided to provide a thorough understanding of the invention. It should be understood, however, that the present invention may be practiced without these specifically defined objects. Furthermore, well-known functions or structures are not described in detail here, as this would obscure the invention with unnecessary detail.
    A service robot or a service machine 10 and a charging device 20 will now be described with reference to Figures 1 and 3.
    FIG. 1 shows the exterior of the service robot. In FIG. 1, the service robot 10 comprises connection terminals 11, which correspond to a charging connection 21 of the charging device 20 (see FIG. 3). A pair of connection terminals 11 are attached to the outside.
    Figure 2 is a block diagram of the service robot of Figure 1. As shown in Figure 2, the service robot 10 comprises a memory 12, a battery 13, a ground detection sensor 14, a front detection sensor 15, a Suction drive part 16, a transmitter / receiver 17, a left / right wheel drive 18 and a controller 19. The memory 12 stores various data regarding things such as cleaning times, surfaces to be cleaned, cleaning routines or other information. This data is suitable for the controller 19 to automatically control the service robot 10.
    The battery 13 provides a drive power source and a certain amount of energy as a reserve. Thus, the controller 19 often checks the capacity of the battery 13 to determine whether the battery 13 is to be charged and to execute control such that a predetermined charging mode is used.
    The ground detection sensor 14 is provided at a lower part of the service robot 10 and may be configured to face a floor surface 30 (see FIG. 3). The ground detection sensor 14 may measure the distance to the ground surface 30 and may be a light emitting and receiving sensor.
    The front detection sensor 15 is provided on a side of the service robot 10 and may be installed on the front side of the service robot 10 where the connection terminals 11 are arranged. The front detection sensor 15 is used to detect an obstacle or walls disposed in front of or in the moving direction of the service robot 10, and to measure the distance to the obstacle or the walls. The front detection sensor 15 may be a light emitting and receiving sensor.
    Signals detected in the above-described sensors 14 and 15 are transmitted to the controller 19. The controller 19 compares the received signals with reference data included in the memory 12 to obtain information about the state and position of the service robot 10, and the controller then controls the service robot 10 using the detected information ,
    The suction drive part 16 provides a suction force for cleaning the bottom surface 30 of the area to be cleaned. Further, the Saugantriebsteil 16 may have a dust collection motor.
    The transmitter / receiver 17 can be used to detect the position of the charger 20 by communicating with a transmitter / receiver 29 provided in the charger 20. Further, the transceiver 17 may transmit and / or receive signals in exchange with a remote controller operated by a user. Consequently, the service robot 10 can be remotely controlled.
    The left / right wheel drive 18 selectively drives the left and right drive wheels 41 and 43 installed on the lower part of the service robot 10, controlled by the controller 19. The left / right wheel drive 18 optionally includes stepping motors connected to the left and right drive wheels 41 and 43, respectively.
    Hereinafter, charging of the service robot 10 constructed as described above according to an illustrative embodiment of the present invention will be described with reference to FIG. 4.
    The controller 19 checks the power capacity of the battery 13 whenever the service robot 10 is in motion or waits for cleaning and determines whether the battery 13 should be charged (S 11). If it is determined that the battery 13 should be charged, the controller 19 returns the service robot 10 to the docking position, as shown in FIG. 3 (S 12). When executing S 11, the service robot 10 recognizes the charging device 20 by a signal exchange between the transceivers 17 and 29.
    When the service robot 10 is returned to the docking position and the connection terminals 11 are connected to the charging port 21, the charging mode for charging the battery (S 13) is executed.
    The controller 19 checks whether a predetermined charging voltage is applied to the connecting terminals 11 through the charging terminal 21 while the battery is being charged (S 14). In the illustrative embodiment of the present invention, the charging voltage is about 34 V. When the charging voltage is applied, the controller may determine whether the charging is completed (S 17). If the charging operation is not completed, the process flow returns to step S 13, and when the charging operation is completed, the service robot 10 can be driven to terminate the charging operation.
    When the charging voltage is not applied to the connection terminal 11, the controller 19 may determine whether a power failure has occurred or the charging device is faulty (S 15).
    If it is determined or determined that a power failure has occurred or the 4/14 Austrian Patent Office AT 12 831 U2 2012-12-15
    Charger is faulty, the controller 19 may end the attempt to return to the state of charge (S 16).
    Whether a power failure has occurred or the charger is faulty may be detected due to the presence or absence of an inductive signal output from the transmitter / receiver 29 of the charger 20.
    In other words, when the inductive signal of the charging device 20 is present, the controller 19 determines that a power failure has not occurred or that an error is not present in the charging device, and brings the service robot 10 in a coupled state to the Charger 20 back. If the inductive signal of the charger 20 is not present, the controller 19 may determine that the power failure is occurring or there is a fault in the charger 20, and the controller may suspend the attempt to return the service robot 10 to the state of charge (see FIG 16).
    An alternative determination as to whether a power failure has occurred or the charging device is faulty will now be described with reference to FIG.
    Here, the situation is considered, in which the base or the frame of the service robot is slightly rotated due to an external influence, which can lead to poor contact with the charger, so that the predetermined charging voltage is not applied to the connection terminals 11th is applied.
    In particular, the controller 19 advances the service robot 10 forward (S 21) and then determines whether the charging voltage is input (S 22). The front side indicates the direction in which the charging device is located, or denotes the direction of the input terminal without changing the angle of the wheels. For example, the above steps S 21 and S 22 may be repeated twice. If the charging voltage is not supplied even though the steps have been repeated, the controller 19 may determine that the charger is defective, and terminate the attempt to return to the state of charge (S 16). When the charging voltage is input, the process may return to step S13.
    Hereinafter, charging of the service robot 10 constructed in the above-described manner according to another illustrative embodiment of the present invention will be described with reference to FIG.
    The check of the battery capacity for determining whether the battery needs to be recharged, the return of the service robot 10 to the docking position for charging the battery, the checking whether the predetermined charging voltage is input to the connection terminals 11 during the charging are shown in FIG the same manner as in the above-described steps S 11 to S 14, this being done by means of the controller 19.
    When a user lifts the service robot 10 off the ground, as shown in Fig. 7, the connection between the connection terminals and charging terminals can be interrupted. As a result, the predetermined charging voltage is no longer applied to the connection terminals 11. Whether the user has raised the service robot 10 or not can be determined by measuring the distance between the service robot 10 and the ground surface 30 using the ground detection sensor 14. In other words, when the distance exceeds a predetermined distance to the ground surface based on the position of the wheels of the service robot, it is determined that the user has raised the service robot 10 (S 31). Consequently, the service robot considers the situation such that the user does not want the battery to continue to be charged, and the service robot stops trying to return to the charging state (S 16).
    In loading the service robot constructed in the above-described manner according to the illustrative embodiments of the present invention, it is possible to prevent the continuous attempt to return to the state of charge when a power failure occurs Power supply of the charging device is blocked, or a user 5/14
    权利要求:
    Claims (9)
    [1]
    Austrian Patent Office AT 12 831 U2 2012-12-15 intentionally interrupts the charging process. Therefore, the discharge of the power source can be prevented. The foregoing illustrative embodiments and advantages are merely exemplary in nature and are not to be considered as limiting the present invention. The present teaching can also be efficiently applied to other types of devices. Also, the description of the illustrative embodiments of the present invention should be considered as illustrative only and not intended to limit the scope of the claims, and many alternatives, modifications and variations will be apparent to those skilled in the art. Claims 1. A service robot comprising: a base body having a suction driving part for providing a suction force for cleaning a floor surface; a battery contained in the body; an input terminal coupled to the battery, the input terminal disposed on the body for coupling to an output terminal of a charger for charging the battery; a left / right wheel drive; and a controller configured to drive the left / right wheel drive so that the input terminal of the service robot is coupled to the output terminal of the charger for charging the battery when an available battery power of the battery drops below a predetermined level Control is configured to automatically retry to couple the service robot to the charger for charging the battery when after coupling the service robot to the charging device for charging the battery is determined that a charging voltage from the charger not in the input port is fed and that an inductive signal is output from the charger, and wherein the controller is adapted to end the attempt to return to the state of charge, when after coupling the service robot to the charging device for charging the battery is determined that a charging voltage from the charger nich t is input to the input terminal and that an inductive signal is not output from the charger.
    [2]
    2. The service robot of claim 1, wherein the controller is configured, when the controller again tries to couple the service robot to the charger, to control the service robot to move forward toward the output port using a predetermined driving force, and to determine that a power failure has occurred or the charging device is faulty when the charging voltage is not input to the input terminal after the service robot has been moved forward toward the output terminal using the predetermined driving force.
    [3]
    The service robot according to claim 2, wherein the controller is configured to repeat the movement twice or more.
    [4]
    4. The service robot of claim 1, wherein the controller is configured, when the controller again tries to couple the service robot to the charger, to control the left / right wheel drive so that the service robot toward the output port is moved using a predetermined driving force. 6/14 Austrian Patent Office AT 12 831 U2 2012-12-15
    [5]
    5. Service robot with: a battery; an input terminal configured to be coupled to an output terminal of a charger for charging the battery when an available battery power of the battery drops below a predetermined level; and a controller configured to check whether a predetermined charging voltage is supplied from the charging means to the input terminal and to determine whether a user has lifted the service robot from the ground when the predetermined charging voltage is not supplied, the controller further configured to retry docking the service robot to charge the battery when it is determined that a user has not lifted the service robot off the ground and to terminate the attempt to return to the state of charge when determined in that a user has lifted the service robot off the ground.
    [6]
    6. The service robot of claim 5, further comprising: a ground detection sensor, wherein the controller is configured to use the ground detection sensor to determine whether the user has lifted the service robot off the ground by determining a distance between the service robot and the ground surface exceeds a predetermined distance.
    [7]
    A service robot comprising: a base body having a suction driving part for providing a suction force for cleaning a floor surface; a battery contained in the body; an input terminal coupled to the battery and disposed on the body for coupling to an output terminal of a charger for charging the battery; a left / right wheel drive; and a controller configured to drive the left / right wheel drive for coupling the input terminal of the service robot to the output terminal of the charger for charging the battery, wherein the controller is further configured to automatically dock the service robot to the charger to retry charging of the battery if, after an initial attempt to dock the service robot to the charger for charging the battery by physical contact with the charger, it is determined that a charging voltage from the charger is not input to the input terminal and that Inductive signal is output from the charger.
    [8]
    8. The service robot of claim 7, wherein the controller is further configured to stop retrying to dock the service robot if, after the initial attempt to dock by physical contact with the charger, determine that a charge voltage from the charger is not fed to the input terminal and that an inductive signal is not output from the charger.
    [9]
    9. The service robot of claim 7, wherein the controller is further configured to control the left / right wheel drive to move the service robot toward the output port using a predetermined drive force when the controller is to dock the service Robototers tried again on the charger. For this 7 sheets drawings 7/14
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    法律状态:
    2017-09-15| MK07| Expiry|Effective date: 20170731 |
    优先权:
    申请号 | 申请日 | 专利标题
    KR1020060123050A|KR100815545B1|2006-12-06|2006-12-06|The method of charging service robot|
    EP07290899.9A|EP1931010B1|2006-12-06|2007-07-18|Method for charging service robot|
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