Method for automatically controlling a travelling and cleaning operation of vacuum cleaners

• US 5,353,224 A
• Filed: 12/05/1991
• Issued: 10/04/1994
• Est. Priority Date: 12/07/1990
• Status: Expired due to Fees

• Current Assignee: Goldstar Jewellery LLC
• Original Assignee: Goldstar Jewellery LLC
• Inventors: Hwang, Jin S., Lee, Jang W.
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/804,236
• Time in Patent Office: 1,034 Days
• Field of Search: 364/424.02, 318/587, 395/95, 180/167, 180/168, 180/169, 15/319
• US Class Current: 701/25
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A method for automatically controlling a travelling and cleaning operation of a vacuum cleaner. The method comprises a learning travel step for calculating and storing straight travelling distances of outline paths and path directions together with the total number of the outline paths, a two-dimensional coordinates calculating step for determining positions of straight division lines by using data of the travelling distances and the path directions, and calculating two-dimensional coordinates of cleaning blocks determining positions and areas of the cleaning blocks, a cleaning block discriminating step for discriminating integrated cleaning regions each comprising a plurality of sequential cleaning blocks of which each lower end or upper end coincides with an outline path of the cleaning region, and determining a cleaning start block and a cleaning end block of the integrated cleaning region, and a practical cleaning step for controlling the cleaner to travel along a travelling path from a cleaning start block to a cleaning end block of the integrated cleaning region, and turn in 180° turning reverse, then travel from the cleaning end block to the cleaning start block simultaneously with overlapping the cleaning blocks in a predetermined overlapping value.

Claims

1. A method for automatically controlling a travelling and cleaning operation of a vacuum cleaner comprising:

a learning travel step for calculating straight travelling distances of respective outline paths of a cleaning region and path directions of next travelling paths after a 90°

turning right or left, then storing said straight travelling distances of the outline paths and said path directions of the next travelling paths after the 90°

turning right or left in a storage device together with the total number of the outline paths;

a two-dimensional coordinates calculating step for determining respective relative positions of straight division lines on the basis of 90°

turning points by using data corresponding to the straight travelling distances and the path directions, each of said straight division lines parallels the x-axis or the y-axis, then calculating two-dimensional coordinates of cleaning blocks which are used to determine positions and areas of respective cleaning blocks which are divided by said straight division lines;

a cleaning block discriminating step for delimiting, on the basis of said two-dimensional coordinates of the cleaning blocks, a plurality of integrated cleaning regions each comprising a plurality of sequential cleaning blocks of which each lower end coincides with an outline path of the cleaning region, and determining a cleaning start block and a cleaning end block of each of said integrated cleaning regions; and

a practical cleaning step for controlling said cleaner to sequentially travel along said integrated cleaning regions such that the cleaner straightly travels along a straight travelling path from said cleaning start block to said cleaning end block of each of said integrated cleaning regions, turns in 180°

turning reverse at a turning reverse position, then straightly travels from said cleaning end block to said cleaning start block simultaneously overlapping the cleaning blocks designated by a predetermined overlapping value.

2. A method as claimed in claim 1, wherein said learning travel step comprising the steps of:

storing a path direction of a straight travelling path with respect to a start position during initial designation for the cleaning region by controlling the cleaner to travel along said straight travelling path after having located the cleaner at said start position of the outline paths of the cleansing region;

storing a straight travelling distance of the straight travelling path as a 90°

turning right or left signal has been received, storing a path direction according to said 90°

turning right or left signal, controlling the cleaner to turn in 90°

turning right or left and travel along a next straight travelling path; and

repeatedly performing the above steps until the cleaner reaches an end position of the outline paths, then calculating said total number of the outline paths as the designation for the cleaning region has been accomplished.

3. A method as claimed in claim 2, wherein a path directional value of 0, 1, 2, 3 is stored for each path direction corresponding respectively to the straight travelling, the 90°

turning right, the 180°

turning reverse, the 90°

turning left.

4. A method as claimed in claim 2 or 3, wherein said step for storing said straight travelling distance further comprising:

upon having received said 90°

turning left signal, storing said straight travelling distance of the straight travelling path, increasing path number by adding 1, subtracting 1 from a path directional value of a previous travelling path in order to calculate a result path directional value, then substituting the path directional value for the 90°

turning left for said result path directional value in case that it is determined that the result path directional value is -1, but setting the result path directional value as it was in case that it is determined that the result path directional value is not -1, thereafter controlling the cleaner to turn in the 90°

turning left prior to a next straight travelling; and

upon having received said 90°

turning right signal, storing the straight travelling distance of the straight travelling path, increasing said path number by adding 1, adding 1 to said path directional value of the previous travelling path in order to calculate another result path directional value, then substituting the path directional value for the straight travelling for said another result path directional value in case that it is determined that the result path directional value is 4, but setting the another result path directional value as it was in case that it is determined that the another result path directional value is not 4, thereafter controlling the cleaner to turn in the 90°

turning right prior to a next straight travelling.

5. A method as claimed in claim 1, wherein said two-dimensional coordinates calculating step comprising the steps of:

setting an initial condition for a x-coordinate of a longitudinal division line and a y-coordinate of a lateral division line, then determining a path direction of the first travelling path in order to calculate said x-coordinate or said y-coordinate on the basis of a turning position in accordance with a result of said determination for the path direction;

sequentially calculating x-coordinates or y-coordinates of next sequential travelling paths in the same manner as that of the above coordinate determining step;

calculating the total numbers of the longitudinal division lines and the lateral division lines, respectively; and

sequentially classifying the x-coordinates and the y-coordinates in an order from a relatively smaller value of coordinate to a relatively larger value of coordinate, then calculating two-dimensional coordinates of cross points of the lateral division lines with the longitudinal division lines.

6. A method as claimed in claim 5, wherein said two-dimensional coordinates calculating step further comprising the steps of:

upon determining that said path direction of the first travelling path is a straight travelling, increasing the number of longitudinal division line by adding 1, then adding a straight travelling distance of the present travelling path to a previous y-coordinate in order to calculate a present y-coordinate;

upon determining that said path direction of the first travelling path is 90°

turning right, increasing the number of the lateral division line by adding 1, then adding the straight travelling distance of the present travelling path to a previous x-coordinate in order to calculate a present x-coordinate;

upon determining that said path direction of the first travelling path is a turning reverse, increasing the number of the longitudinal division line by adding 1, then subtracting the straight travelling distance of the present travelling path from the previous y-coordinate in order to calculate a present y-coordinate; and

upon determining that said path direction of the first travelling path is a 90°

turning left, increasing the number of the lateral division line by adding 1, then subtracting the straight travelling distance of the present travelling path from the previous x-coordinate in order to calculate a present x-coordinate.

7. A method as claimed in claim 1, wherein said cleaning block discriminating step comprising the steps of:

setting an initial condition for a cleaning layer number and a maximum number of cleaning layers of the cleaning region;

determining whether a lower end of a cleaning block of an initial cleaning position coincides with an outline path of the cleaning region upon simultaneously increasing a column number by adding 1, thereby calculating column number of a cleaning start block;

determining whether an upper end of said cleaning block of the initial cleaning position coincides with an outline path of the cleaning region upon simultaneously increasing said column number by adding 1, thereby calculating column number of a cleaning end block; and

repeatedly performing the above steps under the condition of sequentially increasing a row number of a cleaning block by adding 1, thereby calculating column numbers for the cleaning start blocks and the cleaning end blocks, respectively.

8. A method as claimed in claim 7, wherein said cleaning block discriminating step further comprising:

after calculating the column number of the cleaning start block, increasing the column number of the cleaning start block by adding 2, then increasing the column number of the cleaning start block by adding 1 in case that the column number is smaller than the total number of the longitudinal division lines, thereafter, calculating the column numbers of the cleaning start blocks in case that said layer number is smaller than said maximum number of cleaning layers of the cleaning region.

9. A method as claimed in claim 1, wherein said practical cleaning step comprising the steps of:

calculating a lateral distance and a longitudinal distance of a first integrated cleaning region after having controlled the cleaner to travel along a cleaning start block of said first integrated cleaning region;

dividing said lateral distance by any even number in order to calculate a minimum even number which is shorter than a width of the cleaner;

repeatedly controlling the cleaner to travel along a straight path in said longitudinal distance, and turn in the 180°

turning reverse at a turning position in order to reverse the path direction of the cleaner simultaneously overlapping the cleaning block designated by an overlapping value until the column number is equal to said minimum even number; and

controlling the cleaner to sequentially move to a cleaning start block of a next integrated cleaning region, then repeatedly performing the above steps.

10. A method as claimed in claim 1, wherein said overlapping value satisfies the following formula;

space="preserve" listing-type="equation">X=(W-1/n)

wherein

X;

overlapping value

W;

width of a cleaner

n;

minimum even number.