KR101244997B1 - Apparatus for cleaning and method for controlling apparatus for cleaning - Google Patents

Abstract

The present invention relates to an automatic cleaning device and a control method, and more particularly, to a control method of the automatic cleaning device and the automatic cleaning device for cleaning robots to clean each cleaning area by an induction device for inducing cleaning. The present invention transmits a plurality of zone division signals for dividing and assigning one set cleaning zone, and a transmitter for transmitting a plurality of cleaning signals configured differently for a set cleaning time; And receiving a zone division signal of the transmitter, respectively, in each of the divided zones among the plurality of divided zones divided in the cleaning zone, and detecting only the corresponding cleaning signal among the cleaning signals, respectively. And a plurality of cleaning robots for cleaning. In the automatic cleaning device according to the present invention, the cleaning robots are attracted to a zone consisting of a plurality of cleaning zones set by the transmitter, and each cleaning zone is cleaned, and the cleaning robots, which have been cleaned, sequentially clean the cleaning zones of another zone. Can be moved.

Description

Automatic cleaning device and control method of automatic cleaning device {APPARATUS FOR CLEANING AND METHOD FOR CONTROLLING APPARATUS FOR CLEANING}

The present invention relates to an automatic cleaning device and a control method, and more particularly, to a control method of the automatic cleaning device and the automatic cleaning device for cleaning robots to clean each cleaning area by an induction device for inducing cleaning.

In general, the robot cleaner is an automatic device that suctions and cleans foreign substances such as dust from the floor while autonomously driving a certain cleaning area such as a house or an office without a user's manipulation. In addition to the general vacuum cleaner, the robot cleaner includes a traveling device for driving the robot cleaner, a plurality of sensors for driving without colliding with various obstacles in the cleaning area, and a microprocessor for controlling the entire device. It is.

The robot cleaner drives a wheel according to a program set in advance in a random manner to drive the work area, and performs a cleaning operation while avoiding obstacles with a plurality of sensors. However, because the robot cleaner moves in a random manner by reciprocating each wall of the cleaning area, the robot cleaner does not have straightness during long distances, so the cleaning area cannot be cleaned evenly and repeatedly cleaned only in one area. There is a problem that does not work correctly.

Recently, the robot cleaner generates a map information while moving the cleaning space and performs a cleaning operation according to the generated map information. An image image analysis method for obtaining an image and performing a cleaning operation without overlapping or excluded areas according to the obtained image has been developed and applied.

First, in the mapping method, the robot cleaner runs along the outside of the cleaning space. The robot cleaner runs while determining whether there are walls and obstacles while driving, and calculates the current position by calculating the number of rotations and the rotation angle of the wheels. Create The robot cleaner performs cleaning while moving according to the generated map information, that is, the wheel rotation speed and the rotation angle of the cleaning path.

However, in the conventional mapping method, an actual mileage and a position and an error occur due to the sliding of the wheel, the idling, and the bending of the bottom while the robot cleaner runs, and the error accumulates and increases as the robot cleaner runs. Since the robot cleaner deviates from the planned cleaning path due to the increased error, there is a limitation in uniformly cleaning the cleaning space.

Then, the conventional robot cleaner is controlled by a transmission device installed in the cleaning work space to clean the cleaning work space. That is, the conventional robot cleaner receives a signal for the work zone transmitted from the transmitter, and moves to the work zone by identifying the work zone and its position based on the received signal.

In addition, the transmitting apparatus divides the cleaning work space into a plurality of cleaning zones and transmits cleaning signals for the divided spaces, respectively. Therefore, the plurality of robot vacuum cleaners respectively receive the cleaning signals to clean the respective cleaning zones. At this time, the conventional transmission apparatus bisects the cleaning zones in different directions and transmits each signal to the set cleaning zones, and the robot cleaners move to the divided cleaning zones and clean the respective cleaning zones.

However, in the conventional transmission apparatus, the robot cleaners are allocated to each cleaning zone one by one by dividing the cleaning work space into two sides or evenly divided into east, west, north and south, but the robot cleaners are cleaned by one cleaning zone. There is a problem that the satisfaction of falling.

That is, in the related art, a plurality of cleaning robots cannot clean one cleaning area.

In addition, the conventional transmission device is controlled so that the robot cleaners start cleaning at the same time to complete at the same time, there is a problem that the cleaning of another cleaning workspace does not proceed smoothly.

The present invention was created in order to solve the problems of the prior art, divides one cleaning area set in the cleaning space into a plurality, and allocates each of the divided areas to a plurality of cleaning robots to induce cleaning of the cleaning robots. An object of the present invention is to provide an automatic cleaning device capable of cleaning a plurality of cleaning robots without overlapping by an induction device.

Another object of the present invention is to provide an automatic cleaning device that can control the operation of cleaning robots for a predetermined time using infrared light.

In addition, by providing another induction device configured in the same way as the above-described induction device in the cleaning space, to provide an automatic cleaning device that can be cleaned by moving the cleaning robots that have completed the cleaning of the first cleaning area to another cleaning area. For another purpose.

 Furthermore, another object of the present invention is to provide an automatic cleaning device capable of precisely inducing a robot cleaner by adjusting the sensitivity of the cleaning induction signal according to the cleaning area to prevent the cleaning induction signal from being reflected on the wall or the like.

In addition, the above-mentioned robot cleaners are driven by the induction of the induction apparatus to collect foreign substances in the cleaning space, and can be cleaned while moving along the wall until the guidance signal leading to another aforementioned cleaning space is detected. Another purpose is to provide.

In addition, it is another object of the present invention to provide an automatic cleaning device that can be cleaned without leaving the corresponding cleaning space by returning to the final receiving point when the above-described robot cleaners do not receive a signal for inducing cleaning.

In addition, the above-mentioned robot cleaners are driven by the induction of the induction apparatus to collect foreign substances in the cleaning space, and if an obstacle is detected, it is another object to provide an automatic cleaning device that can move while bypassing the obstacle.

In addition, another object of the present invention is to provide a control method of the automatic cleaning apparatus which can sequentially clean the set cleaning area of the cleaning space by using the automatic cleaning apparatus as described above.

The present invention is to achieve the above object, and transmits a plurality of zone division signals for dividing and assigning one cleaning zone set in the cleaning space, and for transmitting a plurality of cleaning signals configured differently for a set cleaning time Discharge machine; And receiving a zone division signal of the transmitter, respectively, in each of the divided zones among the plurality of divided zones divided in the cleaning zone, and detecting only the corresponding cleaning signal among the cleaning signals, respectively. And a plurality of cleaning robots for cleaning.

The transmitter includes an input unit for receiving a user command from a user for cleaning the cleaning robot; A transmission control unit for setting and counting a cleaning time according to a user command input to the input unit, and controlling the transmission of the cleaning signal based on the counting cleaning time; A plurality of transmitters for radially transmitting the cleaning signals of different infrared rays under the control of the transmitter control unit; A cleaning zone dividing unit for respectively providing the cleaning robots with a plurality of the zone dividing signals for dividing and allocating the cleaning zones set by the cleaning signals; And a wireless communication unit for transmitting the zone division signal to the cleaning robots.

Another cleaning zone is set around the cleaning zone and is set up around the cleaning zone, and is configured in the same way as the transmitter to set another cleaning zone by the next zone signal sent from the transmitter, and another set A plurality of zone division signals for dividing and assigning cleaning zones are sent to the cleaning robots for each cleaning time set together with the plurality of cleaning signals, and the next zone signal for cleaning another surrounding cleaning zone or ending the cleaning. At least one additional transmitter for transmitting the end signal; further includes.

The transmitter and the additional transmitter, the sensitivity control unit for adjusting the sensitivity of the cleaning signal sent to the cleaning robot to prevent the cleaning signal is reflected by the shield; further includes a.

The cleaning robot, the receiving unit for receiving the zone split signal and the cleaning signal; A driving unit for moving from the cleaning zone divided by the zone division signal and the cleaning signal received by the reception unit to an assigned division zone; A collecting unit for collecting and collecting foreign substances while moving by the driving unit; A communication unit which provides a response signal to the transmitter according to the reception of the cleaning signal, and receives a zone movement signal instructing movement from the transmitter to another cleaning zone; A control unit which controls the communication unit, the driving unit and the collecting unit, and drives the collecting unit and the driving unit when the cleaning signal is received in the receiving unit; A sensor unit which checks whether an obstacle or a wall is detected while moving by the driving unit, and transmits a confirmation signal to the controller; And a wall moving unit which performs cleaning while moving along the wall until the cleaning signal of the additional transmitter is detected when the zone moving signal is received through the receiving unit.

The cleaning robot, the receiving unit for receiving the zone split signal and the cleaning signal; A driving unit for moving from the cleaning zone divided by the zone division signal and the cleaning signal received by the reception unit to an assigned division zone; A collecting unit for collecting and collecting foreign substances while moving by the driving unit; A communication unit for providing a response signal to the transmitter in response to receiving the cleaning signal; A control unit which controls the communication unit, the driving unit and the collecting unit, and drives the collecting unit and the driving unit when the cleaning signal is received in the receiving unit; A sensor unit which checks whether an obstacle or a wall is detected while moving by the driving unit, and transmits a confirmation signal to the controller; And an encoder for storing the final receiving point of the cleaning signal received by the receiving unit and driving the driving unit to return to the final receiving point if the cleaning signal is not received for a predetermined time.

The cleaning robot, the receiving unit for receiving the zone split signal and the cleaning signal; A driving unit for moving from the cleaning zone divided by the zone division signal and the cleaning signal received by the reception unit to an assigned division zone; A collecting unit for collecting and collecting foreign substances while moving by the driving unit; A communication unit for providing a response signal to the transmitter in response to receiving the cleaning signal; A control unit which controls the communication unit, the driving unit and the collecting unit, and drives the collecting unit and the driving unit when the cleaning signal is received in the receiving unit; And a sensor unit which checks whether an obstacle or a wall surface is detected while moving by the driving unit, and transmits a confirmation signal to the control unit.

According to another aspect of the present invention, there is provided a control method of an automatic cleaning apparatus which performs cleaning using a transmitter for transmitting a plurality of cleaning signals and a plurality of cleaning robots driven by the cleaning signals for a set cleaning time. A system initialization step of applying power to the robot and initializing the contents of the transmitter and the cleaning robot; A cleaning time setting step of setting a cleaning time and a cleaning area in the dispenser; A cleaning robot arranging step of dividing the cleaning zone into a plurality of cleaning robots and transmitting a division signal of different frequencies allocated to the cleaning robots to the cleaning zone to arrange the plurality of cleaning robots for each divided partition of the cleaning zone; A cleaning signal transmitting step of transmitting cleaning signals to the cleaning robots arranged for each of the divided zones; A cleaning step in which each of the cleaning robots performs a cleaning operation for each division area of the cleaning area in which the cleaning signal is received; A cleaning time checking step of checking whether the cleaning time has elapsed; And an end step of ending the cleaning by sending an end signal to the cleaning robots when the cleaning time has elapsed.

The cleaning time setting step may further include a sensitivity adjustment step of preventing the cleaning signal from being reflected by the shield by adjusting the sensitivity of the cleaning signal transmitted through the transmitter.

In still another aspect of the present invention, there is provided a control method of an automatic cleaning apparatus for performing a cleaning operation through a transmitter or at least one additional transmitter for setting a cleaning time and a cleaning zone of a cleaning robot. A system initialization step of applying power and initializing contents of the transmitter, the additional transmitter, and the cleaning robot; A cleaning time setting step of setting a cleaning time and a cleaning area in the dispenser and the additional dispenser; The transmitter sends a zone division signal of a different frequency, which is divided into a plurality of the cleaning zones set in the transmitter, to the cleaning robots, and the plurality of cleaning robots are arranged for each divided zone of the cleaning zone. Cleaning robot arrangement step; A cleaning signal transmitting step of transmitting cleaning signals to the cleaning robots arranged for each of the divided zones; A cleaning step in which each of the cleaning robots performs a cleaning operation for each division area of the cleaning area in which the cleaning signal is received; A cleaning time checking step of checking whether the cleaning time set by the dispenser has elapsed; A next cleaning zone checking step of confirming whether there is another next cleaning zone around the transmitter when the cleaning time has been checked; When the next cleaning zone is identified, the transmitter stops transmitting the cleaning signal and sends a next zone signal and a zone movement signal to the additional transmitter and the cleaning robot, respectively; A response signal checking step of confirming whether a transmission signal, which has transmitted the next zone signal and zone movement signal, has received a response signal from the additional transmitter and the cleaning robot; The additional transmitter sends the new cleaning zone set to the additional transmitter to the new cleaning zone by dividing a plurality of new cleaning zones and assigning them to the cleaning robots. An additional signal transmission step; A zone moving step of moving the cleaning robot to the new cleaning zone until a cleaning signal of the additional feeder is detected; A cleaning signal detecting step of detecting a cleaning signal of the additional feeder while the cleaning robot moves; A cleaning repeating step of the cleaning robots cleaning the new cleaning area for each of the divided areas during the cleaning time set by the cleaning signal of the additional feeder; After the set cleaning time of the additional feeder has elapsed, check whether the next cleaning zone is still present and finish cleaning according to a confirmation result, or repeat the moving signal sending step to the cleaning repeating step to clean the next cleaning zone. And an end step of terminating the next cleaning.

The cleaning time setting step may further include a sensitivity adjustment step of preventing the cleaning signal from being reflected by the shield by adjusting the sensitivity of the cleaning signal transmitted through the transmitter and the additional transmitter.

The cleaning step may include: checking the cleaning signal received by the cleaning robot, storing the final receiving point at which the cleaning signal is received, and moving to a stored final receiving point if the cleaning signal is not received during the set cleaning time; It further includes.

The zone moving step is characterized in that the cleaning robot moves along the wall and performs the cleaning operation.

As described above, according to the automatic cleaning apparatus according to the present invention, the cleaning zone is divided and set according to the area and shape of the cleaning zone by the transmitter, and each cleaning zone is divided into cleaning robots divided by the cleaning signal sent from the transmitter. Therefore, there is an effect that is cleaned without generating a cleaning space to be excluded.

In addition, the dispenser divides the cleaning zones into a plurality of cleaning robots by the cleaning zone dividing unit and allocates the cleaning zones to each of the cleaning robots. A plurality of cleaning robots can be cleaned without overlapping.

In addition, since the additional sender configured in the same manner as the sender is installed apart from the sender to set a different cleaning zone by sending a plurality of zone division signals, the cleaning robots move to another cleaning zone after completing the cleaning of the cleaning zone set in the transmitter. It can be controlled to move and clean, and when the cleaning robots complete the cleaning of another cleaning zone, it can be controlled to send the next zone signal to move to another cleaning zone.

In addition, since the cleaning signals of the transmitter and the additional transmitter are sensitivity-controlled by the sensitivity adjusting unit, the cleaning signal may not be reflected by a shield such as a wall, especially in a small cleaning space, thereby accurately inducing the cleaning operation of the cleaning robot.

Furthermore, since the cleaning robot receives the zone division signal and the cleaning signal sent out from the transmitter or the additional transmitter, it can move to the cleaning zone to collect and clean the foreign matter, and if it detects obstacles or walls during the movement, it bypasses the impulse. When the zone movement signal is received from the transmitter or the additional transmitter, the outside of the cleaning zone may be cleaned while moving along the wall until the cleaning signal is detected.

In addition, when the cleaning robot is out of the cleaning signal zone of the transmitter, the encoder can return to the final receiving point of the cleaning signal, so that the cleaning robot can be prevented from being randomly separated.

On the other hand, according to the control method of the automatic cleaning apparatus according to the present invention, since the cleaning robot receives each of the different cleaning signals sent from the transmitter installed independently in the cleaning space to perform the cleaning operation only in the assigned cleaning area, respectively, overlapping It can be cleaned evenly, with or without the cleaning zones excluded.

In addition, according to another control method of the automatic cleaning apparatus according to the present invention, after each transmitter is installed with an additional transmitter and an additional transmitter, and the cleaning zone set in the transmitter is completed by the cleaning robots, the next zone signal is transmitted from the transmitter. And zone movement signal, the cleaning robots can move to the other cleaning zone set by the additional sender and clean the cleaning zone set by the additional feeder while detecting different cleaning signals sent to the additional feeder, respectively. After completing the cleaning of the cleaning area set by, the additional feeder can check the presence of the next cleaning area and move the cleaning robots to another cleaning area, or terminate the cleaning. It can be cleaned without a cleaning area, except by using a discharger and a plurality of cleaning robots.

1 is a perspective view showing an automatic cleaning device according to an embodiment of the present invention.
Figure 2 is a block diagram showing the internal configuration of the automatic cleaning device shown in FIG.
Figure 3 is a schematic diagram showing an operating state of the automatic cleaning apparatus according to an embodiment of the present invention.
Figure 4 is a schematic diagram showing another operating state of the automatic cleaning apparatus according to an embodiment of the present invention.
5 is a flowchart illustrating a control method of the automatic cleaning apparatus according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known general functions or configurations will be omitted.

Referring to FIG. 1, the automatic cleaning device of the present invention may include a plurality of cleaning robots 200 controlled by a transmitter 100 and a transmitter 100 installed in a cleaning area to perform a cleaning operation.

The transmitter 100 is a member that is independently installed in the cleaning area and sends a cleaning signal in a radial state to induce a cleaning operation of the cleaning robot 200. The transmitter 100 is operated by a power supply means that is supplied with external power, the input unit 110, the transmitter 130, the signal spreader 140, the wireless communication unit 150, the display 160 and the transmission described later It includes a control unit.

The input unit 110 receives a user command from the user for the cleaning operation of the cleaning robot 200. Here, the user command includes the setting of the cleaning zone, the setting of the cleaning time, the operation command of the cleaning robot, and the like. That is, the transmitter 100 may be used as a remote controller for operating the cleaning robot 200 by receiving a user command through the input unit 110.

 The transmitter 130 sends a cleaning signal to induce a cleaning operation of the cleaning robot 200. The transmission unit 130 is composed of an infrared light emitting diode may transmit a cleaning signal in the infrared. In addition, the transmitter 130 may be coupled to a drum (not shown) that is rotated by a stepping motor (not shown) to sequentially transmit cleaning signals according to the rotation angle while rotating.

The signal spreader 140 is a member that transmits a cleaning signal of infrared rays transmitted from the transmitter 130 in a radial state. The signal spreader 140 may be configured as a hemispherical lens provided outside the transmitter 130. The hemispherical lens diffuses the cleaning signal transmitted from the inside to the radiation state through the surface of the lens. Therefore, the cleaning signal is transmitted from the transmitter 130 and is transmitted in a radiation state by the signal diffusion unit 140.

The wireless communication unit 150 transmits the zone movement signal and the next zone signal to the cleaning robot 200 and the additional transmitter 100 ′, which will be described later, when the set cleaning time has elapsed, and sends a response signal to the cleaning robot 200 and the additional transmitter. From 100 '. The wireless communication unit 150 typically transmits and receives RF signals used for wireless communication. That is, the zone movement signal, the next zone signal, and the response signal are RF signals.

The display 160 displays a user command input to the above-described input unit 110, a set cleaning time, an operation state of the cleaning robot 200, and the like.

In addition, the automatic cleaning device of the present invention may be configured in the same manner as the transmitter 100, and further comprises an additional transmitter (100 ') which is spaced apart from the transmitter 100.

This, additional sender (100 ') is installed in the sender 100 spaced apart to set another cleaning zone and cleaning time. This additional sender 100 'is configured identically to the sender 100 as shown. That is, the transmitter 100 may be provided in plurality in accordance with the area and shape of the cleaning area.

The additional transmitter 100 ′ receives the next zone signal transmitted from the transmitter 100 through the wireless communication unit 150 ′, and when the next zone signal is received, transmits the cleaning signal through the transmitter 130 ′ in a radiation state. To induce a cleaning operation of the cleaning robot (200).

That is, the additional transmitter 100 ′ communicates with the wireless communication unit 150 of the transmitter 100 through the wireless communication unit 150 ′.

On the other hand, the cleaning robot 200 detects the cleaning signal of the transmitter 100 or the additional transmitter (100 ') and performs the cleaning operation only in the area where the cleaning signal is detected. The cleaning robot 200 may be provided with a receiving unit 210, a communication unit 240, a sensor unit 260, and a controller, a driving unit, and a collecting unit described below.

Body 201 is formed as a circular enclosure to fluidly respond to obstacles such as walls or furniture while performing the cleaning operation as shown.

The receiver 210 is provided at the front of the body 201 to detect a cleaning signal transmitted from the above-described transmitter 100 or the additional transmitter 100 ′.

 The communication unit 240 receives a zone movement signal transmitted from the wireless communication unit 150 of the transmitter 100 or the additional transmitter 100 ′ and transmits a response signal. That is, the transmitter 100, the additional transmitter 100 ′, and the cleaning robot 200 communicate with each other through the wireless communication unit 150 and the communication unit 240.

The sensor unit 260 is provided on the outer circumferential surface of the body 201 to detect whether the cleaning robot 200 has reached an obstacle or wall while providing the confirmation signal to the controller to be described later. The sensor unit 260 may be configured as an ultrasonic sensor that transmits the ultrasonic wave in the moving direction of the cleaning robot 200 and determines the distance from the wall or the obstacle. It may be configured as a contact switch for applying a confirmation signal while switching.

On the other hand, the cleaning robot 200 is provided with a charging means in the body 201 is docked in the charging station not shown to operate by receiving power.

In addition, the cleaning robot 200 may be provided in plural to perform cleaning operations, respectively.

Referring to FIG. 2, the transmitter 100 includes a transmission controller 120 inside. The transmission control unit 120 is formed of a microprocessor and a memory, and sets a cleaning area and a cleaning time according to a user command input to the input unit 110 and controls the transmission of the cleaning signal sent to the transmission unit 130. In addition, the transmission control unit 120 controls the transmission of the zone movement signal transmitted to the wireless communication unit 150 and the following zone signal to be described later by counting the set cleaning time.

The transmitter 100 and the additional transmitter 100 ′ may further include a sensitivity adjusting unit 170 as shown.

The sensitivity adjusting unit 170 adjusts the sensitivity of the cleaning signal transmitted through the transmitter 130 to prevent the cleaning signal from being reflected by a shield such as a wall surface.

Therefore, the transmitter 170 can minimize the power consumption when setting the cleaning area having a small area by the sensitivity control unit 170, and the reflection of the cleaning signal by the shield is prevented, so that the correct cleaning operation of the cleaning robot 200 Can be derived.

The sensitivity control unit 170 is connected to the input unit 110 may be adjusted by the user's input, it may be automatically adjusted by the transmission control unit 120.

On the other hand, the transmitter 100 may be configured to further include a cleaning zone dividing unit 180 and the additional sending unit 190 when the cleaning robot 200 is added to a plurality.

The cleaning zone dividing unit 180 transmits a zone dividing signal for dividing and allocating the cleaning zones to the plurality of cleaning robots 200 existing in one set cleaning zone.

The zone split signal is composed of different frequency signals in which the moving ranges of the cleaning robots 200 are respectively set in one cleaning zone, and may be transmitted through the aforementioned wireless communication unit 150. That is, the zone division signal may be composed of an RF signal and transmitted.

Therefore, the cleaning robots 200 perform cleaning without being overlapped in one cleaning area by the cleaning area dividing unit 180.

On the other hand, the additional transmitting unit 190 is configured in the same manner as the transmitting unit 130, and does not receive the cleaning signal of the transmitting unit 130 of the cleaning robot 200 of the cleaning area assigned by the above-described zone partitioning signal. The cleaning signal is sent to the other cleaning robots 200 that do not, respectively, to sequentially guide the cleaning operations of the cleaning robots 200 in the assigned cleaning area.

Of course, the additional transmitting unit 190 sequentially rotates the cleaning signal while rotating by the stepping motor and the drum (not shown).

Therefore, the plurality of cleaning robots 200 present in the cleaning zone are overlapped by the cleaning signals of the transmitter 130 and the additional transmitter 190 in the zone allocated by the cleaning zone splitter 190. Carry out cleaning operations sequentially.

The additional transmitter 100 'has the same configuration as the transmitter 100 as described above, and communicates with the transmitter 100 through the wireless communication unit 150'.

The cleaning robot 200 has a driving unit 220, a collecting unit 230, and a controller 250 inside thereof.

The driving unit 220 is operated by the control unit 250 to move the cleaning robot 200. Here, the driving unit 220 includes a driving motor, a left wheel and a right wheel. The driving unit 220 moves the cleaning robot 200 by rotating the left wheel and the right wheel in the forward or reverse direction by the drive motor, and changes the rotational speed of the left wheel and the right wheel to change the direction of the robot cleaner 10.

The collecting unit 230 is operated by the control unit 250 to suck and remove dust or foreign substances in the cleaning area, a suction motor for suctioning foreign substances, a suction brush for collecting foreign substances, a suction port for inducing suction of foreign substances, and It may be configured to include a dust collecting pack for collecting foreign substances such as dust and suction from the suction pipe and the suction pipe.

The controller 250 is formed of a microprocessor and a memory to store an operation program and data for driving the cleaning robot 200 and to control operations of the communication unit 240, the driving unit 220, and the collecting unit 230. The control unit 250 controls the cleaning operation by driving the driving unit 220 and the collecting unit 230 when the cleaning signal transmitted from the transmitter 100 is received by the receiver 210.

In addition, the control unit 250 controls the transmission of the response signal according to the cleaning signal received by the receiving unit 210 and the zone movement signal received by the communication unit 240, and receives the confirmation signal of the wall or obstacle from the sensor unit 260 The driver 220 controls the driver 220 by being applied.

Meanwhile, the cleaning robot 200 may further include a wall moving part 270. The wall moving unit 270 operates the driving unit 220, the collecting unit 230, and the sensor unit 260 when the zone movement signal transmitted from the transmitter 100 is received by the communication unit 240. The cleaning robot 200 is guided along the wall until the cleaning signal is detected.

In addition, the cleaning robot 200 may further include an encoder 280. The encoder 280 stores the final receiving point of the cleaning signal received by the receiving unit 210 described above, and if the cleaning signal is not received for a predetermined time, the driving unit 220 is driven to move the cleaning robot 200 to the final receiving point. Move it.

Referring to FIG. 3, the transmitter 100 or the additional transmitters 100 ′ and 100 ″ may include cleaning zones CZ1 to CZ3 set by a plurality of cleaning robots 200, 200 ′, 200 ″ as shown. Can be cleaned. At this time, the transmitter 100 or the additional transmitter (100 ', 100 ") is composed of different RF frequencies and the segmentation signals (S1, S2, S3) transmitted to the cleaning robots (200, 200', 200", respectively) are described above. A cleaning zone divider 180 is sent through. At this time, the zone split signal call (S1, S2, S3) is transmitted by the wireless communication unit 150. Therefore, the cleaning robots 200, 200 ', and 200 "clean the respective divided areas D1, D2, and D3 of the cleaning zones CZ1 to CZ3. That is, the transmitter 100 or the additional transmitter. (100 ', 100 ") divides the cleaning zone (CZ1 ~ CZ3) for each cleaning robot (200, 200', 200") by sending the zone split signal (S1, S2, S3).

The sender 100 or the additional sender 100 ', 100 ", respectively, cleans the divided areas D1, D2, D3 to which the respective cleaning robots 200, 200', 200" have been assigned, respectively. 130 and an additional caller 190 is provided. The transmitter 130 and the additional transmitter 190 transmit infrared cleaning signals E1, E2, and E3 to induce cleaning operations of the cleaning robots 200, 200 ′, and 200 ″, respectively. In this case, the transmitter 130 and the additional transmitter 190 transmit the cleaning signals E1, E2, and E3 while rotating by the stepping motor and the drum, not shown, respectively, to clean the robot. Fields 200, 200 ', 200 "are operated within respective partitions D1, D2, and D3, respectively. Therefore, the cleaning robots 200, 200'200 "clean the allocated partitions D1, D2, and D3, respectively.

In conclusion, the cleaning robots 200, 200 ', and 200 "drive the cleaning zones CZ1 to CZ3 without overlapping by the zone division signals S1, S2, and S3, and each of the cleaning signals E1, E2, and E3. Clean the partitions D1, D2, and D3 allocated by

Referring to FIG. 4, the transmitter 100 and the additional transmitter 100 ′ are spaced apart as shown in the cleaning space to be cleaned. The additional sender 100 ′ may be configured in plural with another additional sender 100 ″ as shown according to the area and structure of the cleaning space. That is, the cleaning space to be cleaned may be provided as shown in FIG. Along with the 100, a plurality of additional senders 100 ', 100 "may be installed.

The transmitter 100 and the additional transmitters 100 ′ and 100 ″ transmit infrared cleaning signals A, A ′, and A ″ to the cleaning zones CZ1 to CZ3 through the transmitter 130. At this time, the transmitter 100 and the additional transmitters 100 'and 100 "secure the effective distances of the cleaning signals A, A' and A" that are transmitted, and the cleaning signals A, A 'and A "by the shield. In order to prevent reflection, the sensitivity of the cleaning signals A, A ', and A "is adjusted according to the area of the cleaning space and the presence or absence of a shield. Of course, the cleaning signals (A, A ', A ") is adjusted by the sensitivity adjusting unit 170 described above.

If the cleaning zones CZ1 to CZ3 to be set are narrow, the cleaning signals A, A ', and A "should be weakly set because the cleaning signals (CZ1 to CZ3) have a weak sensitivity. If the sensitivity of A, A ', A "is too strong, the transmitter 100 and the additional transmitters 100', 100" consume excessive power for the transmission of the cleaning signals A, A ', A ". to be. In addition, the cleaning signals A, A ', and A "may be reflected by a shield such as a wall located at the end of the cleaning zones CZ1 to CZ3 when the cleaning zones CZ1 to CZ3 are narrow. It should be weakly set.

On the contrary, when the cleaning zones CZ1 to CZ3 to be set are wide, the cleaning signals A, A ', and A "should be set to have strong sensitivity, because the transmitter 100 and the additional transmitters 100' and 100" are set to have strong sensitivity. This is because the cleaning robot 200 may be controlled only when the cleaning signals A, A ', and A "are transmitted to the wide cleaning areas CZ1 to CZ3.

Therefore, since the sensitivity of the cleaning signals A, A ', and A "is controlled by the sensitivity adjusting unit 170, the transmitter 100 and the additional transmitters 100' and 100" can reduce the power used, and the cleaning The robot 200 can be controlled smoothly.

Referring to FIG. 5, the cleaning robots 200 and the transmitter 100 described above are initialized when cleaning is performed, and a cleaning time and a cleaning area are set. Also, the sender 100 may be installed together with the additional sender 100 'or another additional sender 100 ". Such an additional sender 100' and another additional sender 100" may be installed in the sender 100. ) Can be initialized and the cleaning time and cleaning area can be set (S10, S20 in the drawing).

Subsequently, the cleaning robots 200 are controlled by the transmitter 100 and respectively move to the divided cleaning zones (S30 in the drawing).

Subsequently, the above-described transmitter 100 transmits different cleaning signals to the set cleaning zones to operate the above-described cleaning robots 200 (S40 in the drawing). Therefore, the cleaning robots 200 are sent to the transmitter 100. The cleaning zone is divided into the designated cleaning zones and cleans the allocated cleaning zones separately (S50 in the drawing).

The transmitter 100 checks whether there is a next cleaning zone when the set cleaning time has elapsed, and if there is a next cleaning zone, sends the next zone signal to the aforementioned additional transmitter 100 'installed in the next cleaning zone. Zone moving signal is transmitted to the cleaning robots 200 described above (S06, S70, S80 in the drawing). At this time, the cleaning robots 200 and the additional transmitter 100 'transmit a response signal to the transmitter 100. (S90 in the drawing)

On the other hand, the above-described additional transmitter 100 'transmits the cleaning signal of the infrared ray according to the received next zone signal. (S100 in the drawing), and the cleaning robot 200 moves to the cleaning zone of the additional transmitter 100'. do. At this time, the cleaning robot 200 moves along the wall surface of the cleaning space and enters the cleaning area of the additional sender 100 '(S110 in the drawing).

Subsequently, the cleaning robots 200 described above clean the cleaning area of the additional transmitter 100 ′ by the cleaning signal transmitted from the entered cleaning area. That is, the cleaning robots 200 clean their respective assigned cleaning zones (S50 in the drawing).

The additional sender 100 'checks whether there is a next cleaning zone when the set cleaning time has elapsed, and if there is a next cleaning zone, sends the next zone signal to the above-described additional additional sender 100 "installed in the next cleaning zone. The cleaning robot 200 sends the zone shift signal to clean the cleaning area of another additional sender 100 ″ in the same process as described above. (S60 to S120 in the drawing) That is, another additional sender. 100 " and the cleaning robots 200 perform cleaning by repeating the above process.

However, the additional sender 100 ′ terminates the cleaning by sending an end signal to the cleaning robot 200 when there is no next cleaning area.

The operation of the automatic cleaning apparatus according to the embodiment of the present invention configured as described above will be described below with reference to the accompanying drawings, and in the accompanying drawings, FIG. 5 will be described with reference numerals in parentheses.

Referring to FIG. 3, when the cleaning robot 200, 200 ′, 200 ″ is composed of a plurality of cleaning robots 200, 200 ′, 200 ″ as shown in FIG. Can be derived respectively. At this time, the transmitter 100 or the additional transmitter 100 ′ divides the cleaning zones CZ1 to CZ3 and transmits zone division signals S1 to S3 which are allocated to the cleaning robots 200, 200 ′ and 200 ″. And, each of the cleaning robots (200, 200 ', 200 ") is sent to each of the assigned cleaning signal (E1 ~ E3). Therefore, the cleaning robots 200, 200 ′, 200 ″ are respectively disposed in the assigned partitions D1-D3 to clean the partitions D1-D3, respectively. That is, the cleaning robots 200, 200 ′, 200. ") Cleans the cleaning areas CZ1 to CZ3 without overlapping.

4, the cleaning robots 200, the transmitter 100, and the additional transmitters 100 ', 100 "are initialized and then cleaned. In this case, the above-described cleaning robots 200 and the transmitter ( 100) and additional transmitters 100 'and 100 "are powered on and initialized by deleting the stored previous cleaning area or cleaning time. (S10 of FIG. 5)

Subsequently, the transmitter 100 and the additional transmitters 100 'and 100 "are spaced apart from the cleaning space.

After the installation is completed, the transmitter 100 and the additional transmitters 100 'and 100 "set the cleaning time and the cleaning zone CZ1 to CZ3 by receiving a user command from the user through each input unit 110. S20 of FIG. 5)

At this time, the transmitter 100 and the additional transmitter (100 ', 100 ") receives the cleaning time through the input unit 110 is applied to the above-described transmission control unit 120 to set the cleaning time, the above-described sensitivity control unit ( 170, the sensitivity of the cleaning signals A, A ', A, "is adjusted.

Meanwhile, the display 160 outputs and displays a user command input to the input unit 110.

The above-described transmitter 100 transmits a divided zone signal for dividing the cleaning zone into a plurality of zones and arranges the cleaning robots 200 for each of the divided zones (S30 of FIG. 5).

After the setting of the cleaning zone CZ1 and the cleaning time is completed, the transmitter 100 performs infrared cleaning signals A, A ', A, "through the transmitter 130 according to the control of the transmission controller 120 described above. ) Is sent. (S40 of FIG. 5)

At this time, the cleaning signals A, A ', A, "are sequentially transmitted radially around the transmitter 130 by the signal spreading unit 140 described above. Thus, the cleaning signals A, A', A are , ") Is transmitted to the end of the cleaning zone CZ1 by the set sensitivity.

The cleaning robot 200 performs a cleaning operation only within a region in which the cleaning signal A is received when the cleaning signals A, A ', A, "are received through the receiving unit 210. (S50 of FIG. 5) That is, the cleaning robots 200 clean the divided areas divided in the set cleaning area CZ1, respectively.

At this time, the cleaning robot 200 is moved as the drive unit 220 is driven by the above-described control unit 250, the suction unit to remove the dust or foreign matter as the collection unit 230 is driven to perform a cleaning operation. do.

Here, the controller 250 of the cleaning robot 200 periodically checks that the cleaning signals A, A ', A, "are received by the receiving unit 210 while performing the cleaning operation, and the encoder 280 described above. Store the final receiving point where the cleaning signals (A, A ', A, ") are received, and return to the stored last receiving point if the cleaning signals (A, A', A,") have not been received for a certain period of time. The driving unit 220 is driven.

Therefore, the cleaning robot 200 performs the cleaning operation without being randomly separated from the cleaning zone CZ1 by the encoder 280.

The transmitter 100 checks whether the cleaning time has elapsed by counting the cleaning time set by the above-described transmission control unit 120 (S60 of FIG. 5).

When the cleaning time has elapsed, the transmitter 100 stops sending out the cleaning signals A, A ', A, ", and checks whether the next cleaning zone CZ2 to CZ3 is present by the sending control unit 120. (Fig. 5, S70)

That is, the transmitter 100 confirms whether the current cleaning zone CZ1 is the last cleaning zone.

The transmitter 100 transmits the zone movement signal to the cleaning robot 200 through the wireless communication unit 150 when the next cleaning zone CZ2 is confirmed, and transmits the next zone signal C to the additional transmitter 100 '. (S80 in FIG. 5)

The additional transmitter 100 ′ applies a response signal to the transmitter 100 when the next zone signal C is received through the wireless communication unit 150 ′. In addition, the cleaning robot 200 applies a response signal to the transmitter 100 when the zone movement signal is received through the communication unit 240.

At this time, the transmitter 100 repeatedly transmits the zone movement signal and the next zone signal C until a response signal is received from the cleaning robot 200 and the additional transmitter 100 '(S90 of FIG. 5).

The additional transmitter 100 ′ transmits the cleaning signal A ′ through the transmitter 130 ′ when the next zone signal C is received. (S100 of FIG. 5).

Here, the additional transmitter 100 ′ is input to the input unit 110 ′ and transmits a cleaning signal A ′ during the set cleaning time.

When the cleaning robot 200 receives the zone movement signal, the cleaning robot 200 performs cleaning while moving along the wall by the wall moving unit 270 until a cleaning signal A 'of the additional transmitter 100' is detected. (S110 of FIG. 5)

The cleaning robot 200 checks whether the cleaning signal A 'of the additional transmitter 100' is detected while moving along the wall. (S120 of FIG. 5).

When the cleaning robot 200 detects the cleaning signal A ', the cleaning robot 200 performs a cleaning operation within the area in which the cleaning signal A' is received (S50 of FIG. 5), and the last cleaning area CZ3 by the zone moving signal. After cleaning to the last cleaning zone (CZ3) by the cleaning signal (A ") of the last additional feeder (100"). At this time, the last additional sender 100 "is operated by the next zone signal C 'originating from the previous additional sender 100'.

The transmitter 100 or additional transmitters 100 'and 100 "apply an end signal to the cleaning robot 200 when the current cleaning zones CZ1 to CZ3 are identified as the last cleaning zones. )

The cleaning robot 200 stops the operation of the collecting unit 230 by the control unit 250 when the end signal is received, and moves to the charging station not shown by the driving unit 220 to perform charging.

When charging is performed, the cleaning robot 200, the transmitter 100, and the additional transmitters 100 'and 100 "

According to the automatic cleaning device and the control method of the present invention as described above, the transmitter 100 installed in the cleaning space divides the cleaning zone into a plurality, and guides the cleaning robot 200 to be disposed in the divided cleaning zone, respectively. Since it is controlled later, since the cleaning robots 200 clean each divided cleaning area, the cleaning area can be cleaned without a space excluded.

In addition, according to the area and structure of the cleaning space can be installed in the transmitter 100 and a plurality of additional senders (100 ', 100 "), the cleaning space is not excluded, and the sender 100 and the additional sender (100', Since the cleaning robot 200 moves while cleaning by the cleaning signals A, A ', and A "sequentially transmitted from the 100"), unnecessary movement is prevented and separation of the cleaning robot 200 is prevented.

In addition, the transmitter 100 and the additional transmitters 100 'and 100 "divide the cleaning zones CZ1 to CZ3 into the plurality of cleaning robots 200, 200' and 200" by the cleaning zone dividing unit 180, respectively. Allocate the cleaning signals E1 to E3 to the partitions D1 to D3 by the transmitter 130 and the additional transmitter 190, respectively, to induce the cleaning operation, so that a plurality of cleaning robots do not overlap. It can also be cleaned in a state.

While specific embodiments of the present invention have been described above by way of example, these are for illustrative purposes only and are not intended to limit the protection scope of the present invention. It will be apparent to those skilled in the art that various changes, substitutions, and alterations can be made therein without departing from the spirit of the invention.

100: transmitter 110: input unit 120: transmission control unit
130: transmitter 140: signal spreader 150: wireless communication unit
160 display 170 sensitivity adjustment unit 180 cleaning area divider
190: additional sender 100 ': additional sender 200: cleaning robot
210: receiver 220: driver 230: collector
240 communication unit 250 control unit 260 sensor unit
270: wall moving unit 280: encoder A: cleaning signal
B: Zone movement signal C: Next zone signal D: Zone division signal

Claims (13)

A transmitter for providing a plurality of zone division signals for dividing and allocating one cleaning zone set in the cleaning space, and for transmitting a plurality of zone division signals and a plurality of cleaning signals differently configured for a predetermined cleaning time; And
Receiving the divided signal of the transmitter and disposed in each of the divided partitions among the plurality of divided zones divided in the cleaning zone, each of the allocated divided by detecting only the corresponding cleaning signal assigned from the cleaning signals Includes; a plurality of cleaning robot for each cleaning;
The transmitter,
An input unit which receives a user command from a user for cleaning the cleaning robot;
A transmission control unit for setting and counting a cleaning time according to a user command input to the input unit, and controlling the transmission of the cleaning signal based on the counting cleaning time;
A plurality of transmitters for radially transmitting the cleaning signals of different infrared rays under the control of the transmitter control unit;
A cleaning zone dividing unit for respectively providing the cleaning robots with a plurality of the zone dividing signals for dividing and allocating the cleaning zones set by the cleaning signals; And
And a wireless communication unit for transmitting the zone division signal to the cleaning robots. delete The method of claim 1,
A plurality of zones installed in the periphery of the dispenser to establish another cleaning zone in the periphery of the cleaning zone, the same configuration as the dispenser, which divides and allocates another cleaning zone by the next zone signal sent from the discharger; At least one additional transmitter that sends a split signal to the cleaning robots with a plurality of cleaning signals, respectively, for a set cleaning time, and sends a next zone signal for cleaning another surrounding cleaning area or an end signal for ending cleaning. Automatic cleaning device further comprising. According to claim 3, wherein the transmitter and the additional transmitter,
And a sensitivity control unit for adjusting the sensitivity of the cleaning signal sent to the cleaning robot to prevent the cleaning signal from being reflected by the shield. According to claim 1, wherein the cleaning robot,
Receiving unit for receiving the division signal and the cleaning signal;
A driving unit for moving from the cleaning zone divided by the zone division signal and the cleaning signal received by the reception unit to an assigned division zone;
A collecting unit for collecting and collecting foreign substances while moving by the driving unit;
A communication unit which provides a response signal to the transmitter according to the reception of the cleaning signal, and receives a zone movement signal instructing movement from the transmitter to another cleaning zone;
A control unit which controls the communication unit, the driving unit and the collecting unit, and drives the collecting unit and the driving unit when the cleaning signal is received in the receiving unit;
A sensor unit which checks whether an obstacle or a wall is detected while moving by the driving unit, and transmits a confirmation signal to the controller; And
And a wall moving unit configured to perform cleaning while moving along the wall until a cleaning signal of an additional transmitter is detected when the zone moving signal is received through the receiving unit. According to claim 1, wherein the cleaning robot,
Receiving unit for receiving the division signal and the cleaning signal;
A driving unit for moving from the cleaning zone divided by the zone division signal and the cleaning signal received by the reception unit to an assigned division zone;
A collecting unit for collecting and collecting foreign substances while moving by the driving unit;
A communication unit for providing a response signal to the transmitter in response to receiving the cleaning signal;
A control unit which controls the communication unit, the driving unit and the collecting unit, and drives the collecting unit and the driving unit when the cleaning signal is received in the receiving unit;
A sensor unit which checks whether an obstacle or a wall is detected while moving by the driving unit, and transmits a confirmation signal to the controller; And
And an encoder for storing the final receiving point of the cleaning signal received by the receiving unit and driving the driving unit to return to the final receiving point if the cleaning signal is not received during the set cleaning time. According to claim 1, wherein the cleaning robot,
Receiving unit for receiving the division signal and the cleaning signal;
A driving unit for moving from the cleaning zone divided by the zone division signal and the cleaning signal received by the reception unit to an assigned division zone;
A collecting unit for collecting and collecting foreign substances while moving by the driving unit;
A communication unit for providing a response signal to the transmitter in response to receiving the cleaning signal;
A control unit which controls the communication unit, the driving unit and the collecting unit, and drives the collecting unit and the driving unit when the cleaning signal is received in the receiving unit; And
And a sensor unit which checks whether an obstacle or a wall surface is detected while moving by the driving unit, and transmits a confirmation signal to the control unit. In the control method of the automatic cleaning device to perform the cleaning using a transmitter for transmitting a plurality of cleaning signals for a predetermined cleaning time and a plurality of cleaning robot driven by the cleaning signal,
A system initialization step of applying power to the transmitter and the cleaning robot and initializing the setting contents of the transmitter and the cleaning robot;
A cleaning time setting step of setting a cleaning time and a cleaning area in the dispenser;
A cleaning robot arranging step of dividing the cleaning zone into a plurality of cleaning robots and transmitting a division signal of different frequencies allocated to the cleaning robots to the cleaning zone to arrange the plurality of cleaning robots for each divided partition of the cleaning zone;
A cleaning signal transmitting step of transmitting cleaning signals to the cleaning robots arranged for each of the divided zones;
A cleaning step in which each of the cleaning robots performs a cleaning operation for each division area of the cleaning area in which the cleaning signal is received;
A cleaning time checking step of checking whether the cleaning time has elapsed; And
And ending the cleaning by sending an end signal to the cleaning robots when the cleaning time has elapsed. The method of claim 8, wherein the cleaning time setting step,
And adjusting the sensitivity of the cleaning signal transmitted through the transmitter to prevent the cleaning signal from being reflected by the shield. In the control method of the automatic cleaning device to perform the cleaning operation through the sending machine or at least one additional sending machine for setting the cleaning time and the cleaning area of the cleaning robot,
A system initialization step of applying power to the transmitter, the additional transmitter, and the cleaning robot, and initializing the setting contents of the transmitter, the additional transmitter, and the cleaning robot;
A cleaning time setting step of setting a cleaning time and a cleaning area in the dispenser and the additional dispenser;
The transmitter sends a zone division signal of a different frequency, which is divided into a plurality of the cleaning zones set in the transmitter, to the cleaning robots, and the plurality of cleaning robots are arranged for each divided zone of the cleaning zone. Cleaning robot arrangement step;
A cleaning signal transmitting step of transmitting cleaning signals to the cleaning robots arranged for each of the divided zones;
A cleaning step in which each of the cleaning robots performs a cleaning operation for each division area of the cleaning area in which the cleaning signal is received;
A cleaning time checking step of checking whether the cleaning time set by the dispenser has elapsed;
A next cleaning zone checking step of confirming whether there is another next cleaning zone around the transmitter when the cleaning time has been checked;
When the next cleaning zone is identified, the transmitter stops transmitting the cleaning signal and sends a next zone signal and a zone movement signal to the additional transmitter and the cleaning robot, respectively;
A response signal checking step of confirming whether a transmission signal, which has transmitted the next zone signal and zone movement signal, has received a response signal from the additional transmitter and the cleaning robot;
The additional transmitter sends the new cleaning zone set to the additional transmitter to the new cleaning zone by dividing a plurality of new cleaning zones and assigning them to the cleaning robots. An additional signal transmission step;
A zone moving step of moving the cleaning robot to the new cleaning zone until a cleaning signal of the additional feeder is detected;
A cleaning signal detecting step of detecting a cleaning signal of the additional feeder while the cleaning robot moves;
A cleaning repeating step of the cleaning robots cleaning the new cleaning area for each division area during the cleaning time set by the cleaning signal of the additional feeder;
After the set cleaning time of the additional feeder has elapsed, check whether the next cleaning zone is still present and finish cleaning according to a confirmation result, or repeat the moving signal sending step to the cleaning repeating step to clean the next cleaning zone. The control method of the automatic cleaning device including an end step of terminating the next cleaning. The method of claim 10, wherein the cleaning time setting step,
And adjusting a sensitivity of the cleaning signal transmitted through the transmitter and the additional transmitter to prevent the cleaning signal from being reflected by the shield. The method of claim 8 or 10, wherein the cleaning step,
Checking the cleaning signal received by the cleaning robot to store the final receiving point at which the cleaning signal is received, and preventing the zone departure from moving to the last receiving point when the cleaning signal is not received during the set cleaning time; Control method of automatic cleaning device. The method of claim 10, wherein the zone moving step,
And the cleaning robot moves along the wall to perform a cleaning operation.

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