Method and control apparatus for cooperative cleaning using multiple robots

Patent metadata

Field	Value
Publication number	US-9606543-B2
Application number	US-201414254322-A
Country	US
Kind code	B2
Filing date	Apr 16, 2014
Priority date	Nov 27, 2013
Publication date	Mar 28, 2017
Grant date	Mar 28, 2017

Abstract

Provided are a method and a control apparatus for cooperative cleaning using multiple cleaning robots, including monitoring an overall cleaning condition of an extensive space and automatically assigning multiple cleaning robots to a space required to be cleaned, and when a cleaning area is fixed based on a cooperative cleaning method, data on an amount of garbage generated from the cleaning area or a cleaning condition of the cleaning area may be accumulated to facilitate easier management of the cleaning.

First claim

What is claimed is:

1. A cooperative cleaning method, the method comprising:
monitoring whether a request for cleaning occurs;
assigning an area cleaning task to multiple cleaning robots when the request for cleaning occurs;
appointing at least one of the multiple cleaning robots as a lead robot based on at least one of a location, a loadable capacity, a battery status, and a breakdown occurrence of each of the multiple cleaning robots; and
reassigning a task to the multiple cleaning robots by the lead robot based on information received from the multiple cleaning robots.

2. The method of claim 1 , wherein the monitoring is performed based on an amount of garbage collected by the multiple cleaning robots from a cleaning area or an amount of dust in the cleaning area measured by a dust measuring sensor of the multiple cleaning robots.

3. The method of claim 1 , wherein the assigning is performed based on at least one of a size, an amount of garbage, and a priority of the cleaning area.

4. The method of claim 1 , wherein the information received from the multiple cleaning robots comprises information on at least one of a location, a load capacity, a battery status, and a breakdown occurrence for each of the multiple cleaning robots, and whether an amount of garbage in the cleaning area rapidly increases.

5. The method of claim 4 , wherein the location of each of the multiple cleaning robots comprises one of an absolute location using a marker in the cleaning area and a relative location without using the marker.

6. The method of claim 1 , wherein the reassigning is performed to maximize a task efficiency of the multiple cleaning robots.

7. The method of claim 1 , wherein the reassigning comprises:
determining whether at least one of the multiple cleaning robots is inoperative;
when it is determined that at least one of the multiple cleaning robots is inoperative, transmitting a signal requesting a substitute for the inoperative robot from adjacent cleaning robots;
receiving, from the adjacent cleaning robots, a reply to the signal requesting the substitute based on an individual status of the adjacent cleaning robots; and
reassigning a task of the inoperative robot to a cleaning robot sending the reply and from which a maximum task efficiency is expected.

8. The method of claim 1 , further comprising:
partitioning an entire building into at least one cleaning area using one of physical partitioning, virtual partitioning, and arbitrary partitioning, and
modifying the at least one partitioned cleaning area based on an amount of garbage in each cleaning area.

9. A cooperative cleaning method, the method comprising:
assigning an area cleaning task to multiple cleaning robots when a request for cleaning occurs;
determining whether at least one of the multiple cleaning robots is on standby when at least one of the multiple cleaning robots becomes inoperative; and
when it is determined that none of the multiple cleaning robots are on standby,
appointing at least one of the multiple cleaning robots as a lead robot based on at least one of a location, a loadable capacity, a battery status, and a breakdown occurrence of each of the multiple cleaning robots, and
reassigning a task to a cleaning robot assigned to a different cleaning area.

10. The method of claim 9 , wherein the assigning is performed based on at least one of a size, an amount of garbage, and a priority of the cleaning area.

11. The method of claim 9 , further comprising:
when it is determined that at least one of the multiple cleaning robots is on standby, reassigning the task to the standby cleaning robot.

12. The method of claim 9 , wherein the reassigning of the task to the cleaning robot assigned to the different cleaning area is performed to maximize a task efficiency of the multiple cleaning robots.

13. The method of claim 9 , wherein the reassigning of the task to the cleaning robot assigned to the different cleaning area comprises:
transmitting a signal requesting a substitute to cleaning robots assigned to the different cleaning area;
receiving, from the cleaning robots assigned to the different cleaning area, a reply to the signal requesting the substitute based on an individual status of the cleaning robots; and
reassigning a task of the inoperative cleaning robot to a cleaning robot sending that sent the reply and from which a maximum task efficiency is expected.

14. The method of claim 9 , wherein the reassigning of the task to the cleaning robot assigned to the different cleaning area comprises
allowing, by the lead robot, a lead robot of a different cleaning area to reassign a task to the cleaning robot assigned to the different cleaning area.

15. The method of claim 9 , wherein the reassigning of the task to the cleaning robot assigned to the different cleaning area comprises:
reassigning a task to the cleaning robot assigned to the different cleaning area by a cooperative cleaning controller.

16. A cooperative cleaning controller, the controller comprising:
a communicator configured to communicate with multiple cleaning robots;
a task assignor configured to assign an area cleaning task to the multiple cleaning robots when a request for cleaning occurs; and
a task reassignor configured to:
determine whether at least one of the multiple cleaning robots is on standby based on information received from the multiple cleaning robots,
appoint at least one of the multiple cleaning robots as a lead robot based on at least one of a location, a loadable capacity, a battery status, and a breakdown occurrence of each of the multiple cleaning robots, and
reassign a task to a cleaning robot assigned to a different cleaning area when it is determined that none of the multiple cleaning robots are on standby.

17. The controller of claim 16 , wherein the task assignor assigns the task based on at least one of a size, an amount of garbage, and a priority of a cleaning area.

18. The controller of claim 16 , wherein the task reassignor reassigns a task to the standby cleaning robot when it is determined that at least one of the multiple cleaning robots is on standby.

19. The controller of claim 16 , further comprising:
a monitor configured to monitor whether the request for cleaning of the cleaning area occurs based on an amount of garbage collected by the multiple cleaning robots from the cleaning area or an amount of dust in the cleaning area measured by a dust measuring sensor of the multiple cleaning robots.

20. The controller of claim 16 , wherein the task reassignor reassigns the task to the cleaning robot assigned to the different cleaning area in response to a communication from the lead robot.

Assignees

• Electronics & Telecommunications Res Inst

Inventors

• Jeon Seo Hyun
• Jang Min Su
• Lee Dae Ha
• Lee Chang Eun
• Im Hyun Ja
• Cho Young Jo
• Kim Jae Hong
• Park Jong Hyun

Classifications

• G05D2105/10

  for cleaning, vacuuming or polishing · CPC title

• G05D1/648

  Performing a task within a working area or space, e.g. cleaning · CPC title

• G05D1/69

  Coordinated control of the position or course of two or more vehicles · CPC title

• G05D1/0297 Primary

  by controlling means in a control room · CPC title

• G05D1/0219

  ensuring the processing of the whole working surface · CPC title