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KR20060032876A - Dust detection device and method of robot cleaner - Google Patents

Dust detection device and method of robot cleaner Download PDF

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Publication number
KR20060032876A
KR20060032876A KR1020040081873A KR20040081873A KR20060032876A KR 20060032876 A KR20060032876 A KR 20060032876A KR 1020040081873 A KR1020040081873 A KR 1020040081873A KR 20040081873 A KR20040081873 A KR 20040081873A KR 20060032876 A KR20060032876 A KR 20060032876A
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South Korea
Prior art keywords
dust
amount
robot cleaner
camera
image
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KR1020040081873A
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Korean (ko)
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김정훈
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엘지전자 주식회사
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2842—Suction motors or blowers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/30—Arrangement of illuminating devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

본 발명은 로봇 청소기의 먼지량 검출장치 및 방법에 관한 것으로, 흡입구의 벽면에 카메라를 설치하고, 그 카메라에 의해 촬영되는 영상을, 일정시간 마다 먼지에 대하여 라벨링하여 전체 화면 중에 먼지가 차지하는 면적 및 먼지 크기를 검출함으로써, 흡입되는 먼지량을 정확하게 검출하도록 한 것이다. 이를 위하여 본 발명은 흡입구 벽면에 설치되어, 영상을 촬영하는 카메라와; 상기 카메라에서 촬영되는 영상을, 일정시간 마다 라벨링 기법을 적용하여, 먼지의 크기 및 면적을 분석하고, 그 분석결과에 근거하여 먼지량을 감지하는 마이크로컴퓨터를 포함하여 구성한다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for detecting a dust amount of a robot cleaner, wherein a camera is installed on a wall of a suction port, and an image taken by the camera is labeled for dust at a predetermined time so that the dust occupies the entire area and dust. By detecting the size, the amount of dust sucked in is accurately detected. To this end, the present invention is installed on the wall of the suction port, and photographing the image; The image photographed by the camera is configured to include a microcomputer that applies a labeling technique every predetermined time, analyzes the size and area of the dust, and detects the amount of dust based on the analysis result.

Description

로봇 청소기의 먼지량 검출장치 및 방법{DUST VOLUME DETECTION APPARATUS AND METHOD FOR ROBOT CLEANER}Dust detection device and method of robot cleaner {DUST VOLUME DETECTION APPARATUS AND METHOD FOR ROBOT CLEANER}

도1은 종래 로봇 청소기의 주행장치에 대한 구성을 보인 블록도.1 is a block diagram showing a configuration for a traveling device of a conventional robot cleaner.

도2는 종래 로봇 청소기의 주행방법에 대한 동작흐름도2 is a flow chart illustrating a driving method of a conventional robot cleaner.

도3은 본 발명 로봇 청소기의 먼지량 검출장치에 대한 구성을 보인 블록도.Figure 3 is a block diagram showing the configuration of the dust amount detection device of the robot cleaner of the present invention.

도4는 로봇 청소기의 먼지량 검출방법에 대한 동작흐름도.4 is an operation flowchart of a dust amount detection method of the robot cleaner.

*****도면의 주요부분에 대한 부호의 설명********** Description of the symbols for the main parts of the drawings *****

100:마이크로컴퓨터 200:카메라100: microcomputer 200: camera

300:램프 400:흡입모터300: lamp 400: suction motor

본 발명은 로봇 청소기의 먼지량 검출장치 및 방법에 관한 것으로, 흡입구의 벽면에 카메라를 설치하고, 그 카메라에 의해 촬영되는 영상을, 일정시간 마다 먼지에 대하여 라벨링하여 전체 화면 중에 먼지가 차지하는 면적 및 먼지 크기를 검출함으로써, 흡입되는 먼지량을 정확하게 검출하도록 한 로봇 청소기의 먼지량 검출장치 및 방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for detecting a dust amount of a robot cleaner, wherein a camera is installed on a wall of a suction port, and an image taken by the camera is labeled for dust at a predetermined time so that the dust occupies the entire area and dust. The present invention relates to an apparatus and method for detecting a dust amount of a robot cleaner for accurately detecting the amount of dust to be sucked by detecting the size.

통상적으로, 로봇청소기는 사용자의 조작 없이도 청소하고자 하는 구역내를 스스로 주행하면서 바닥면으로부터 먼지 등의 이물질을 흡입함으로써, 청소하고자 하는 구역을 자동으로 청소하는 기기를 말한다.In general, the robot cleaner refers to a device that automatically cleans an area to be cleaned by suctioning foreign substances such as dust from the floor while driving itself in the area to be cleaned without a user's operation.

이러한 로봇청소기는 내장된 프로그램에 따라 미리 설정된 청소경로를 주행하면서 청소동작을 수행하도록 되어 있는데, 이와 같이 기설정된 청소 경로를 자동적으로 주행하면서 청소동작을 수행하기 위해서는 로봇청소기의 위치와 주행거리 및 장애물등을 감지하기 위해 많은 수의 센서들이 사용된다.The robot cleaner is configured to perform a cleaning operation while driving a predetermined cleaning path according to a built-in program. In order to perform the cleaning operation while automatically driving the preset cleaning path, the position, the driving distance, and the obstacle of the robot cleaner are A large number of sensors are used to detect the back.

그러나, 이러한 로봇 청소기는, 설정된 청소 경로를 정확하게 주행하여 청소를 수행하기 위해 수많은 고가의 센서들이 설치되기 때문에 내부 구조가 복잡해지고 제조원가가 상승하는 문제점이 있다.However, such a robot cleaner has a problem in that the internal structure becomes complicated and the manufacturing cost increases because numerous expensive sensors are installed to perform the cleaning by accurately driving the set cleaning path.

이러한 문제점을 해결하기 위하여, 랜덤 방식에 의해 임의의 청소경로를 주행하여 청소를 수행하는 로봇 청소기가 개발되었다.In order to solve this problem, a robot cleaner has been developed which performs cleaning by driving an arbitrary cleaning path by a random method.

도1은 종래 로봇 청소기의 주행장치에 대한 구성을 보인 블록도이다.1 is a block diagram showing a configuration of a traveling device of a conventional robot cleaner.

도1에 도시된 바와같이, 로봇 청소기가 일정 영역을 직진하다가, 충돌이 발생하면 그 충돌에 의해 장애물을 감지하는 장애물 감지부(1)와; 상기 장애물 감지부(1)에서 출력되는 신호에 의해, 로봇 청소기의 주행을 정지시킨 다음, 랜덤 방식으로 랜덤 각도를 생성하고, 그 랜덤각도를 로봇 청소기의 회전각도로 적용하여 로봇 청소기를 회전시키는 제어부(2)와; 상기 제어부(2)의 제어신호에 의해, 좌륜모터(5)를 일정 속도로 구동하는 좌륜모터 구동부(3)와; 상기 제어부(2)의 제어신호에 의해, 우륜 모터(6)를 일정 속도로 구동하는 우륜모터 구동부(4)를 포함하여 구 성한다.As shown in FIG. 1, the robot cleaner moves straight through a certain area, and when an collision occurs, an obstacle detecting unit 1 detecting an obstacle by the collision; The controller for stopping the robot cleaner from driving by the signal output from the obstacle detecting unit 1, generating a random angle in a random manner, and applying the random angle to the rotation angle of the robot cleaner to rotate the robot cleaner. (2); A left wheel motor driving unit 3 for driving the left wheel motor 5 at a constant speed by a control signal of the control unit 2; In accordance with the control signal of the control unit 2, it comprises a right wheel motor driving unit 4 for driving the right wheel motor 6 at a constant speed.

도2는 종래 로봇 청소기의 주행방법에 대한 동작흐름도이다.2 is a flow chart illustrating a driving method of a conventional robot cleaner.

도2에 도시된 바와같이, 사용자에 의해, 청소명령이 발생하면 로봇 청소기를 직진시키면서, 장애물이 감지되는지를 판단하는 과정(SP1~SP3)과; 상기 판단결과, 장애물이 감지되면 로봇 청소기를 정지시킨후, 랜덤 방식에 의해 임의의 랜덤각도를 생성하는 과정(SP4)과; 상기 단계에서 생성된 랜덤각도를 회전각도로 하여, 로봇 청소기를 회전시키는 과정(SP5)과; 상기 회전된 로봇 청소기를 직진시키면서, 청소 완료를 판단하여, 청소완료이면 주행을 정지하는 과정(SP7)으로 이루어지며, 이와같은 종래 기술을 설명한다.As shown in FIG. 2, when the cleaning command is generated by the user, the process of determining whether an obstacle is detected while driving the robot cleaner straight (SP1 to SP3); Stopping the robot cleaner when an obstacle is detected as a result of the determination, and generating a random random angle by a random method (SP4); Rotating the robot cleaner (SP5) using the random angle generated in the step as the rotation angle; While the rotating robot cleaner is straight, it is determined that the cleaning is completed, the process is made to stop the running (SP7) when the cleaning is completed, such a prior art will be described.

먼저, 사용자에 의해 청소 명령이 발생하면(SP1), 제어부(2)는 로봇 청소기를 직진시키기 위하여, 좌륜모터(5)와 우륜모터(6)의 구동속도를 일치시키기 위한 제어신호를 출력한다.First, when a cleaning command is generated by the user (SP1), the control unit 2 outputs a control signal for matching the driving speed of the left wheel motor 5 and the right wheel motor 6 to advance the robot cleaner.

이에 따라, 좌륜모터 구동부(3)는 상기 제어부(2)의 제어신호에 의해 좌륜모터(5)를 구동시키고, 우륜모터 구동부(4)는, 상기 제어부(2)의 제어신호에 의해 우륜모터(6)를 구동시킨다.Accordingly, the left wheel motor driver 3 drives the left wheel motor 5 by the control signal of the controller 2, and the right wheel motor driver 4 is driven by the control signal of the controller 2. 6).

이에 따라, 로봇 청소기는 직진한다(SP2).Accordingly, the robot cleaner moves straight (SP2).

이때, 장애물 감지부(1)는, 로봇 청소기가 임의의 장애물에 충돌하는 경우에 발생하는 충격량으로 장애물을 감지하여 그에 따른 장애물 감지신호를 상기 제어부 (2)에 인가한다.At this time, the obstacle detecting unit 1 detects the obstacle by the amount of impact generated when the robot cleaner collides with an arbitrary obstacle, and applies the obstacle detection signal according to it to the controller 2.

이에 따라, 상기 제어부(2)는, 상기 장애물 감지신호에 의해 주행을 정지시 킨 다음, 랜던 방식에 의해 임의의 랜덤각도를 생성하고(SP4), 그 랜덤각도를 로봇 청소기의 회전각도로 하기 위한 제어신호를 출력하는데, 이때 상기 제어부(2)는 로봇 청소기를 회전 방향에 따라 좌륜모터(5)와 우륜모터(6)의 속도를 달리하도록 하는 제어신호를 좌륜모터 구동부(3) 및 우륜 모터 구동부(4)에 출력한다.Accordingly, the controller 2 stops the driving by the obstacle detection signal, and then generates a random random angle by the Landon method (SP4), and uses the random angle as the rotation angle of the robot cleaner. The control unit 2 outputs a control signal, wherein the control unit 2 transmits a control signal for causing the robot cleaner to vary the speed of the left wheel motor 5 and the right wheel motor 6 according to the rotation direction of the left wheel motor driving unit 3 and the right wheel motor driving unit. Output to (4).

이에 따라, 상기 좌륜모터 구동부(3)는 상기 제어부(2)의 제어신호에 의해 좌륜모터(5)를 구동시키고, 우륜모터 구동부(4)는, 상기 제어부(2)의 제어신호에 의해 우륜모터(6)를 구동시켜, 로봇 청소기를 임의의 랜덤 각도로 회전시킨다 (SP5).Accordingly, the left wheel motor driver 3 drives the left wheel motor 5 by the control signal of the controller 2, and the right wheel motor driver 4 is the right wheel motor by the control signal of the controller 2. (6) is driven to rotate the robot cleaner at an arbitrary random angle (SP5).

그 다음, 상기 제어부(2)는 로봇 청소기를 직진시키면서(SP6), 청소 완료로 판단되면 청소를 종료하고(SP7), 청소 완료가 되지 않았으면 상기 동작을 반복 수행한다.Then, the control unit 2 continues the robot cleaner (SP6), and if it is determined that the cleaning is completed, the cleaning is terminated (SP7), and if the cleaning is not completed, repeats the above operation.

상술한 종래 로봇 청소기는, 먼지량을 감지하기 위하여, 상기 로봇 청소기의 흡입구에 적외선 센서를 부착하고, 먼지가 흡입구를 지날때마다 변화하는 적외선센서의 광량을 측정하여 먼지량을 판단하였다.In the above-described conventional robot cleaner, in order to detect the amount of dust, an infrared sensor is attached to the inlet of the robot cleaner, and the amount of dust is determined by measuring the light amount of the infrared sensor that changes every time the dust passes the inlet.

그러나, 상술한 종래 로봇 청소기의 먼지량 감지방법은, 흡입구로 들어오는 전체의 먼지량을 감지하지 못할뿐만 아니라, 먼지의 크기를 측정하지 못하는 문제점이 있다.However, the dust detection method of the above-described conventional robot cleaner has a problem that not only does not detect the total amount of dust entering the suction port, but also does not measure the size of the dust.

상기와 같은 문제점을 감안하여 창안한 본 발명은, 흡입구의 벽면에 카메라를 설치하고, 그 카메라에 의해 촬영되는 영상을, 일정시간 마다 먼지에 대하여 라 벨링하여 전체 화면 중에 먼지가 차지하는 면적 및 먼지 크기를 검출함으로써, 흡입되는 먼지량을 정확하게 검출하도록 한 로봇 청소기의 먼지량 검출장치 및 방법을 제공함에 그 목적이 있다.The present invention in view of the above problems, the camera is installed on the wall of the suction port, and the image taken by the camera to label the dust every predetermined time, the area occupied by the dust in the entire screen and the size of dust It is an object of the present invention to provide an apparatus and method for detecting the amount of dust of a robot cleaner which accurately detects the amount of dust sucked in.

상기와 같은 목적을 달성하기 위한 본 발명은, 흡입구 벽면에 설치되어, 영상을 촬영하는 카메라와; 상기 카메라에서 촬영되는 영상을, 일정시간 마다 라벨링 기법을 적용하여, 먼지의 크기 및 면적을 분석하고, 그 분석결과에 근거하여 먼지량을 감지하는 마이크로컴퓨터를 포함하는 것을 특징으로 한다.The present invention for achieving the above object, the camera is installed on the inlet wall, to take an image; The image photographed by the camera is characterized in that it comprises a microcomputer that applies a labeling technique every predetermined time, analyzes the size and area of the dust, and detects the amount of dust based on the analysis result.

상기와 같은 목적을 달성하기 위한 본 발명은, 사용자에 의해 청소모드가 선택되면 해당 영역을 주행하면서 청소를 실행하는 과정과; 카메라에 의해,흡입구의 영상을 촬영하는 과정과; 일정 시간 간격으로, 상기 영상에서 먼지에 해당되는 부분을 라벨링 처리하는 과정과; 상기 라벨링 처리된 영상화면에서, 먼지가 차지하는 면적 및 크기를 분석하고, 그 분석결과에 근거하여 먼지량을 검출하는 과정과; 상기 검출된 먼지량에 따라, 현재 흡입모터의 회전속도를 가변하여 흡입력을 조절하는 과정으로 수행함을 특징으로 한다.The present invention for achieving the above object, the process of performing the cleaning while driving the corresponding area when the cleaning mode is selected by the user; Photographing an image of the intake port by a camera; Labeling a portion of the image corresponding to dust at predetermined time intervals; Analyzing the area and size occupied by the dust in the labeled image screen, and detecting the amount of dust based on the analysis result; According to the detected amount of dust, it is characterized by performing a process of adjusting the suction force by varying the rotational speed of the current suction motor.

이하, 본 발명에 의한 로봇 청소기의 먼지량 검출장치 및 방법에 대한 작용과 효과를 첨부한 도면을 참조하여 설명한다.Hereinafter, the operation and effects of the apparatus and method for detecting a dust amount of a robot cleaner according to the present invention will be described with reference to the accompanying drawings.

도3은 본 발명 로봇 청소기의 먼지량 검출장치에 대한 구성을 보인 블록도이다.Figure 3 is a block diagram showing the configuration of the dust amount detection apparatus of the robot cleaner of the present invention.

도3에 도시한 바와같이, 본 발명은 흡입구 벽면에 설치되어, 영상을 촬영하 는 카메라(200)와; 상기 카메라(200)에서 촬영되는 영상을, 일정시간 마다 라벨링 기법을 적용하여, 먼지의 크기 및 면적을 분석하고, 그 분석결과에 근거하여 먼지량을 감지하는 마이크로컴퓨터(100)와; 상기 카메라(200)의 촬영시, 그 카메라(200)의 인접 부위에 설치되어 조명을 제공하는 램프(300)를 구비한다.As shown in Fig. 3, the present invention is provided with a camera 200 which is installed on the inlet wall and photographs an image; A microcomputer (100) which analyzes the size and area of the dust by applying a labeling technique to the image photographed by the camera (200) at a predetermined time and detects the amount of dust based on the analysis result; When the camera 200 is photographed, it is provided with a lamp 300 that is installed in the adjacent portion of the camera 200 to provide illumination.

상기 마이크로컴퓨터(100)는, 현재 흡입되는 먼지량에 따라, 흡입모터(400)의 회전속도를 가변하여 흡입력을 조절한다.The microcomputer 100 adjusts the suction force by varying the rotational speed of the suction motor 400 according to the amount of dust that is currently sucked.

이와같은 본 발명의 동작을, 도4를 참조하여 설명한다.Such operation of the present invention will be described with reference to FIG.

먼저, 사용자에 의해 청소모드가 선택되면(SP1), 로봇 청소기는 해당 영역을 주행하면서, 바닥면의 먼지를 흡입하여 청소를 실행한다(SP2).First, when the cleaning mode is selected by the user (SP1), the robot cleaner sucks dust on the floor while driving the corresponding area (SP2).

이때, 상기 로봇 청소기의 흡입구 주변에 설치된 카메라(200)는, 흡입구의 영상을 촬영하는데, 즉 흡입모터(400)의 흡입력에 의해 먼지통으로 빨려 들어가는 먼지를 포함한 영상을 촬영한다(SP3).In this case, the camera 200 installed around the suction port of the robot cleaner photographs the image of the suction port, that is, the image including the dust sucked into the dust container by the suction power of the suction motor 400 (SP3).

이때, 상기 카메라의 영상 촬영시, 로봇 청소기의 마이크로컴퓨터(100)는 램프(300)를 점등시켜 조명을 제공한다.At this time, when the image of the camera is taken, the microcomputer 100 of the robot cleaner turns on the lamp 300 to provide illumination.

그 다음, 상기 로봇 청소기의 마이크로컴퓨터(100)는, 상기 카메라(200)에 의해 촬영되는 영상을, 일정시간 간격으로, 일반적인 기법을 이용하여 먼지에 대하여 라벨링 처리하고(SP4), 그 라벨링 처리된 영상화면에서 먼지가 차지하는 면적 및 크기를 분석하고, 그 분석결과에 근거하여 먼지량을 검출한다(SP5).Then, the microcomputer 100 of the robot cleaner labels the images captured by the camera 200 at regular time intervals with respect to dust using a general technique (SP4), and the labeling process. The area and size occupied by the dust on the image screen are analyzed, and the amount of dust is detected based on the analysis result (SP5).

그 다음, 상기 검출된 먼지량에 따라, 현재 흡입모터(400)의 회전속도를 가변하여 먼지 흡입력을 조절한다(SP6).Then, the dust suction force is adjusted by varying the rotational speed of the current suction motor 400 according to the detected amount of dust (SP6).

다시 말해서, 본 발명은 흡입구의 벽면에 카메라를 설치하고, 그 카메라에 의해 촬영되는 영상을, 일정시간 마다 먼지에 대하여 라벨링하여 전체 화면 중에 먼지가 차지하는 면적 및 먼지 크기를 검출하도록 한 것이다.In other words, the present invention is to install a camera on the wall of the suction port, and the image taken by the camera to label the dust every predetermined time to detect the area occupied by the dust in the entire screen and the size of the dust.

상기 본 발명의 상세한 설명에서 행해진 구체적인 실시 양태 또는 실시예는 어디까지나 본 발명의 기술 내용을 명확하게 하기 위한 것으로 이러한 구체적 실시예에 한정해서 협의로 해석해서는 안되며, 본 발명의 정신과 다음에 기재된 특허 청구의 범위내에서 여러가지 변경 실시가 가능한 것이다.The specific embodiments or examples made in the detailed description of the present invention are intended to clarify the technical contents of the present invention to the extent that they should not be construed as limited to these specific embodiments and should not be construed in consultation. Various changes can be made within the scope of.

이상에서 상세히 설명한 바와같이 본 발명은, 흡입구의 벽면에 카메라를 설치하고, 그 카메라에 의해 촬영되는 영상을, 일정시간 마다 먼지에 대하여 라벨링하여 전체 화면 중에 먼지가 차지하는 면적 및 먼지 크기를 검출함으로써, 흡입되는 먼지량을 정확하게 검출하는 효과가 있다.As described in detail above, the present invention provides a camera by installing a camera on the wall of the suction port, and labeling the image captured by the camera with respect to dust every predetermined time to detect the area occupied by the dust in the entire screen and the size of the dust. There is an effect of accurately detecting the amount of dust sucked.

Claims (5)

흡입구 벽면에 설치되어, 영상을 촬영하는 카메라와;A camera installed on the inlet wall and capturing an image; 상기 카메라에서 촬영되는 영상을, 일정시간 마다 라벨링 기법을 적용하여, 먼지의 크기 및 면적을 분석하고, 그 분석결과에 근거하여 먼지량을 감지하는 마이크로컴퓨터를 포함하는 것을 특징으로 하는 로봇 청소기의 먼지량 검출장치 The amount of dust detected by the robot cleaner comprises a microcomputer that analyzes the size and area of the dust by applying a labeling technique to the image captured by the camera at a predetermined time and detects the amount of dust based on the analysis result. Device 제1 항에 있어서, 상기 카메라의 촬영시, 그 카메라의 인접부위에 설치되어 조명을 제공하는 램프를 더 포함하는 것을 특징으로 하는 로봇 청소기의 먼지량 검출장치.The apparatus of claim 1, further comprising a lamp installed at an adjacent portion of the camera to provide illumination when the camera is photographed. 제1 항에 있어서, 마이크로컴퓨터는,The method of claim 1, wherein the microcomputer, 먼지량에 따라, 흡입모터의 회전속도를 가변하여 흡입력을 조절하는 것을 특징으로 하는 로봇 청소기의 먼지량 검출장치. According to the amount of dust, the amount of dust detection apparatus for a robot cleaner, characterized in that for adjusting the suction force by varying the rotational speed of the suction motor. 사용자에 의해 청소모드가 선택되면 해당 영역을 주행하면서 청소를 실행하는 과정과;If the cleaning mode is selected by the user, performing cleaning while driving the corresponding area; 카메라에 의해,흡입구의 영상을 촬영하는 과정과;Photographing an image of the intake port by a camera; 일정 시간 간격으로, 상기 영상에서 먼지에 해당되는 부분을 라벨링 처리하는 과정과;Labeling a portion of the image corresponding to dust at predetermined time intervals; 상기 라벨링 처리된 영상화면에서, 먼지가 차지하는 면적 및 크기를 분석하고, 그 분석결과에 근거하여 먼지량을 검출하는 과정과;Analyzing the area and size occupied by the dust in the labeled image screen, and detecting the amount of dust based on the analysis result; 상기 검출된 먼지량에 따라, 현재 흡입모터의 회전속도를 가변하여 흡입력을 조절하는 과정으로 수행함을 특징으로 하는 로봇 청소기의 먼지량 검출방법.According to the detected amount of dust, the dust amount detection method of the robot cleaner, characterized in that for performing the process of adjusting the suction force by varying the rotational speed of the current suction motor. 제4 항에 있어서, 영상을 촬영하는 과정은,The method of claim 4, wherein the photographing of the image comprises: 램프를 점등시켜, 조명을 제공하는 단계를 포함하는 것을 특징으로 하는 로봇 청소기의 먼지량 검출방법.A method of detecting a dust amount of a robot cleaner comprising turning on a lamp to provide illumination.
KR1020040081873A 2004-10-13 2004-10-13 Dust detection device and method of robot cleaner Ceased KR20060032876A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010117133A3 (en) * 2009-04-10 2010-12-02 Samsung Gwangju Electronics Co., Ltd. Vacuum cleaner
KR101341197B1 (en) * 2010-07-06 2013-12-12 엘지전자 주식회사 An auto cleaner
KR20160089835A (en) * 2015-01-20 2016-07-28 엘지전자 주식회사 Robot cleaner and method for controlling the robot cleaner
CN109562745A (en) * 2016-08-18 2019-04-02 大众汽车有限公司 Method and apparatus for cleaning the inner space of motor vehicle
CN112649025A (en) * 2019-10-10 2021-04-13 深圳拓邦股份有限公司 Dust amount detection method, device, circuit and household appliance

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010117133A3 (en) * 2009-04-10 2010-12-02 Samsung Gwangju Electronics Co., Ltd. Vacuum cleaner
KR101341197B1 (en) * 2010-07-06 2013-12-12 엘지전자 주식회사 An auto cleaner
US9376150B2 (en) 2010-07-06 2016-06-28 Lg Electronics Inc. Automatic vacuum cleaner
EP2462855A4 (en) * 2010-07-06 2016-08-31 Lg Electronics Inc Automatic cleaner
KR20160089835A (en) * 2015-01-20 2016-07-28 엘지전자 주식회사 Robot cleaner and method for controlling the robot cleaner
CN109562745A (en) * 2016-08-18 2019-04-02 大众汽车有限公司 Method and apparatus for cleaning the inner space of motor vehicle
CN112649025A (en) * 2019-10-10 2021-04-13 深圳拓邦股份有限公司 Dust amount detection method, device, circuit and household appliance

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