KR101306220B1 - A cleaning system - Google Patents

Abstract

A movable suction unit installed in the area to be cleaned and having a suction force generating device for generating suction force, a suction suction unit which moves in the area to be cleaned and suctions foreign substances in the area to be cleaned through suction force provided from the suction force generating device, a suction force generating device and the Calculation of the area that calculates the area cleaned by the movable suction unit and the non-cleaning area in the area to be cleaned, the connecting duct connecting the movable suction unit and the movable duct, the drive unit for moving the position within the area to be cleaned. The cleaning unit is operated by moving the suction unit as a whole by controlling the driving unit based on the unit, an obstacle detecting sensor detecting an obstacle in the area to be cleaned, and information calculated by the area calculating unit and detecting information of the obstacle detecting sensor. Comprising a control unit for controlling to A cleaning system is disclosed.

Description

Cleaning system {A CLEANING SYSTEM}

The present invention relates to a cleaning system, and more particularly, to a cleaning system capable of automatically cleaning the inside of a room, such as a workplace with harmful substances such as asbestos.

Conventionally, a dust collector is placed in a room in order to clean a place in which a hazardous substance such as asbestos, etc., is harmful to the human body, or a place that is difficult for a person to enter and clean, such as a hazardous material treatment place, and a dust collector is operated to operate a room. Foreign substances or asbestos such as asbestos were forcibly introduced into the dust collector, and the suction material sucked into the dust collector was collected and disposed of in a separate collecting unit through a collecting pipe connected to the dust collector and the outside.

However, in the state where the dust collector is located inside the building to be cleaned (room) as described above, even if a strong suction force is generated to inhale foreign substances or harmful substances, air flow does not occur evenly inside the room, By intensively generating air flow, there is a problem in that a part such as a corner of the room cannot be cleaned effectively.

Therefore, there is an urgent need for the development of a cleaning system capable of automatically and evenly cleaning the remote workplaces without direct entry of harmful substances such as asbestos.

The present invention has been made in view of the above, and an object thereof is to provide a cleaning system capable of uniformly cleaning the cleaning area as a whole.

The cleaning system of the present invention for achieving the above object is provided in the area to be cleaned, the suction force generating device for generating a suction force; A movable suction unit having a suction port which moves in position in the area to be cleaned and sucks foreign matter in the area to be cleaned by suction power provided from the suction force generating device; A connection duct connecting the suction force generating device and the movable suction unit to be flexible; A drive unit for moving the movable suction unit in the area to be cleaned; An area calculator configured to calculate an area cleaned by the movable suction unit and a non-clean area in the area to be cleaned; An obstacle detecting sensor detecting an obstacle in the area to be cleaned; And a control unit controlling the driving unit based on the information calculated by the area calculating unit and the detection information of the obstacle detecting sensor to perform the cleaning operation while the movable suction unit moves as a whole to the area to be cleaned. It is characterized by.

Here, the movable suction unit, the suction box is formed on the front side, the rear side of the unit box having a connector for connecting the connection duct; And a filter installed inside the unit box.

The driving unit may include a left wheel and a right wheel installed at a lower portion of the unit box; And a left wheel driving unit and a right wheel driving unit for selectively driving each of the left and right wheels, wherein the control unit stops the movement in the detected direction when the obstacle detection signal is generated in the obstacle detecting unit. It is better to control the left wheel drive and the right wheel drive.

The area calculator may include: a left wheel and right wheel drive detection unit configured to detect driving of the left wheel and the right wheel; A movement information detector for calculating a movement direction and a movement distance of the unit box based on the information detected by the left and right wheel drive detection units; An obstacle position detector for detecting a position and a direction in which the obstacle is detected by the obstacle sensor; A map information generation unit for predicting and generating planar map information of the area to be cleaned based on the obstacle location and the sensing direction acquired by the obstacle location detection unit; An actual cleaning area calculator configured to calculate an area in which the unit box is actually moved in the area to be cleaned based on the unit box moving distance and the moving direction detected by the moving information detector; And a non-cleaning area calculating unit which calculates a non-cleaning area by comparing the planar map information of the area to be cleaned generated by the map information generating unit with the actual cleaning area calculated by the actual cleaning area calculating unit.

The apparatus may further include an information input unit for inputting and providing actual planar map information of the area to be cleaned, wherein the non-cleaning area calculating unit compares the information input through the input unit with the actual cleaning area calculating unit to calculate the non-cleaning area. Good to do.

The obstacle detecting sensor may further include a transmitting / receiving unit installed at each of the front, rear, left and right sides of the unit box and receiving a remote control signal transmitted from a remote remote controller.

According to the cleaning system of the present invention, the movable suction unit is disposed in the area to be cleaned, such as asbestos or other substances such as asbestos, etc., in a work area or a room to be cleaned. You can clean it.

In particular, even when the information on the area to be cleaned is not provided, based on the detection information from the obstacle detecting sensor, the information about the area to be cleaned is generated and moved by itself, while the cleaned area (a lot of the cleaned areas) and By distinguishing the cleaned area (lightly cleaned area), it is possible to control to find and clean the uncleaned area (lightly cleaned area). Therefore, it is possible to uniformly generate the suction flow path to the entire area to be cleaned. In this way, by uniformly cleaning the entire area to be cleaned, it is possible to prevent harmful substances such as asbestos and the like remaining in the workplace or room, and to clean and prevent human injury due to harmful substances.

1 is a schematic diagram illustrating a state in which a cleaning system according to an embodiment of the present invention is disposed in a region to be cleaned.
2 is a side view of the movable suction unit shown in FIG.
Figure 3 is a schematic block diagram showing a cleaning system according to an embodiment of the present invention.
4 is a view showing the front of the movable suction unit shown in FIG.
5 and 6 are schematic views for explaining a method of performing a cleaning operation in a region to be cleaned.
7 is a flowchart illustrating a method of cleaning an area to be cleaned using a cleaning system according to an embodiment of the present invention.

Hereinafter, a cleaning system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1, 2, 3 and 4, the cleaning system according to an embodiment of the present invention, the suction force generating device 10, the movable suction unit 20, the connection duct 30, the driving unit ( 40, an area calculator 50, an obstacle detecting sensor 60, a control unit 70, and a storage 80.

The suction force generating device 10 may be located outside or inside the area 100 to be cleaned, preferably, it is preferably located outside. The suction force generator 10 is connected to the movable suction unit 20 by the connection duct (30). The suction force generator 10 may be provided with a suction fan that generates suction force while being rotated by a drive motor and a drive motor for providing suction force, that is, a vacuum pressure to the movable suction unit 20. And a recovery pipe 12 for recovering the suction material sucked through the movable suction unit 20 to a separate recovery unit may be connected to the rear.

The movable suction unit 20 is connected to the suction force generator 10 through the connection duct 30 to receive the suction force. The movable suction unit 20 is installed inside the region 10 to be cleaned, and moves foreign substances, harmful substances, etc. while being moved. 2 and 3, the movable suction unit 20 includes a unit box 21 and a filter 23 installed inside the unit box 21. The front of the unit box 21 is formed with a suction port (21a) is introduced into the foreign matter, the rear is formed a connector 21b for connecting the connection duct 30. In this case, the unit box 21 may have a structure that can be separated from each other so that the filter 23 inside the filter 23 can be replaced or separated.

The connection duct 30 transfers the suction force of the suction force generator 10 to the movable suction unit 20, and moves the foreign matter sucked by the movable suction unit 20 to the suction force generator 10. The connection duct 30 is formed of a flexible material, and has a corrugated structure, that is, a so-called bellows structure, so that the movable suction unit 20 can be freely moved within the region 100 to be cleaned by being freely modified as well as its length adjustment. Make it possible to clean while moving.

3 and 4, the driving unit 40 is for moving the movable suction unit 20 in the area 100 to be cleaned, and includes a left wheel 41 installed below the unit box 21. A right wheel 42, a left wheel driving part 43 and a right wheel driving part 44 for independently driving each of the left wheel 41 and the right wheel 42 are provided.

Each of the left wheel 41 and the right wheel 42 is spaced apart from each other at the bottom of the unit box 21, and the unit box 21 is moved forward, backward, left, and right by a respective rotational drive. Each of the left wheel 41 and the right wheel 42 is preferably a rubber wheel capable of having a large friction force regardless of the material of the bottom of the area 100 to be cleaned, and may be an endless track in addition to the rubber wheel. In addition, as shown in FIG. 2, an auxiliary wheel 45 may be further installed to the rear of the unit box 21 to support the movable suction unit 20 to be stably moved.

The left wheel drive part 43 is to drive the left wheel 41 independently of the rotation, preferably a bidirectional rotation motor. The left wheel drive unit 43 is driven and controlled by the control unit 70, thereby driving the left wheel 41 forward and reverse rotation, it is also possible to control the rotation speed. The left wheel driving unit 43 may be installed inside the unit box 21 or may be installed outside the lower side of the unit box 21.

The right wheel drive unit 44 is to independently drive the right wheel 42 to rotate, preferably a two-way rotary motor. The right wheel driving unit 44 is driven and controlled by the control unit 70, thereby driving the right wheel 41 forward and reverse rotation, and also controlling the rotation speed. The right wheel driving unit 44 may also be installed inside the unit box 21 or may be installed outside the lower side of the unit box 21.

The area calculator 50 calculates the area cleaned by the movable suction unit 20 and the non-clean area in the area 100 to be cleaned. The area calculator 50 includes a left and right wheel drive detection unit 51, a movement information detector 52, an obstacle position detector 53, a map information generator 54, and an actual cleaning area calculator ( 55) and a non-clean region calculation unit 56.

The left wheel and right wheel drive detection unit 51 is based on the driving control signal transmitted from the control unit 70 to the left wheel drive unit 43 and the right wheel drive unit 44, respectively, the left wheel 41 and the right wheel 42. Detect each drive.

The movement information detector 52 calculates the movement direction and the movement distance of the unit box 21 based on the information detected by the left and right wheel drive detectors 51. That is, since the movement information detection unit 52 can know the rotation directions of the left wheel 41 and the right wheel 42 from the control signal transmitted to drive the left wheel 41 and the right wheel 42, respectively, the unit box ( It can be known in the direction of movement of 21, and since the rotation speed of the left wheel 41 and the right wheel 42 can be known, the movement distance of the unit box 21 can be calculated.

Specifically, as shown in FIG. 5, the moving position and the direction of the unit box 21 can be calculated based on one corner (edge) of the area 100 to be cleaned as a reference of the virtual x, y coordinate axis.

For example, when the unit box 21 is to be cleaned at the initial positions (x1, y5), the straight direction is set as the x-axis, and the y-axis is moved in the 90 degree angle direction to the right from the initial position. You can do Therefore, each time the unit box 21 is moved a certain distance from the initial position (x1, y5) it can be calculated by converting the movement position and the direction of movement to the coordinate value, and thus the coordinate values that the unit box 21 has moved Information about is transmitted to the control unit 70.

Preferably, the control unit 70 may accumulate and manage the movement coordinate values detected by the movement information detector 52 in the storage unit 80 until at least the cleaning operation is completed.

The obstacle position detection unit 53 is for detecting the position and the direction in which the obstacle is detected in the area 100 to be cleaned by the obstacle detection sensor 60. That is, the obstacle position detection unit 53 may calculate information on the position and direction of the obstacle in the area 100 to be cleaned based on the obstacle detection information provided from the obstacle detection sensor 60 to the control unit 70. do.

Here, the obstacle detected by the obstacle sensor 60 corresponds to a wall of a workplace or a room that determines the area 100 to be cleaned substantially. Therefore, the position of the obstacle detected by the obstacle position detection unit 53 substantially corresponds to the position and direction information of the wall surface that determines the area 100 to be cleaned. With this configuration, even if accurate information on the area 100 to be cleaned, for example, the overall width and the planar structure, is not given, the movable suction unit 20 is free from the obstacle detecting sensor 60 regardless of the direction. While moving until the obstacle (wall surface) is detected while cleaning, it is possible to obtain information on the area 100 to be cleaned by itself. The information detected by the obstacle position detector 53 is provided to the map information generator 54.

The obstacle detecting sensor 60 may include a front sensor 61 installed on the front of the unit box 21, a left sensor 62 installed on the left side, and a right sensor 63 installed on the right side. . The sensors 61, 62, and 63 may be at least one of a contact sensor, an ultrasonic sensor, and a laser sensor. For example, in the case of a laser sensor, it is possible to have a laser light emitting unit and a light receiving unit, and the laser emitting unit emits the laser, the position after which the obstacle is spaced a predetermined distance by calculating the amount of light or time that is reflected back You will be able to see if you are at.

The map information generation unit 54 predicts and generates the planar map (structure) information of the area to be cleaned based on the information on the obstacle location and the detection direction obtained by the obstacle location detection unit 53. That is, the map information generation unit 54, as described above, while moving the movable suction unit 20 for the cleaning operation in the area 100 to be cleaned, obstacles detected for every distance moved by a certain distance for each moving direction The planar map for the area 100 to be cleaned can be predicted and generated based on the detected location information or the obstacle detected location information detected at random. For example, when the area to be cleaned 100 has a rectangular planar structure as shown in FIG. 5, when the movable suction unit 20 moves and cleans the hatched area A as shown in FIG. 6, map information is generated. The part 54 has a substantially rectangular planar structure in which the area to be cleaned 100 is based on the obstacle location information provided from the obstacle location detector 53 while moving the hatched area A, and the area thereof is the x, y coordinate axis. The planar map information may be generated by estimating that the area may have a coordinate value of the maximum (x7, y7) based on.

At this time, the planar map information for the area to be cleaned 100 generated by the map information generating unit 54 is more proportional to the time and the moving distance that the movable suction unit 20 moves while cleaning in the area 100 to be cleaned. It can be accurate, and thus the planar map information is updated and generated in proportion to the progress of the cleaning operation and stored in the storage unit 80.

The actual cleaning area calculator 55 is the area 100 to be cleaned, that is, the map information generator 54 based on the movement distance and the movement direction information of the unit box 21 detected by the movement information detector 52. The area where the unit box 21 is actually moved is calculated on the plane map generated in the. In other words, when the unit box 21 moves the hatched area A shown in Fig. 5 in the actual cleaning area calculator 55, the hatched area A can be calculated as the area actually cleaned. As such, the actual cleaning area calculator 55 receives the information about the movement position and the moving direction of the unit box 21 from the movement information detector 52 in real time while the unit box 21 moves while the cleaning operation is performed. Based on the received information, the actual cleaned area is updated and calculated.

The non-cleaning area calculating unit 56 may determine the planar map information of the area 100 to be cleaned generated by the map information generating unit 55 and the actual cleaning area A calculated by the actual cleaning area calculating unit 55. Are compared to calculate the non-cleaning area B. Therefore, the non-cleaning area calculating unit 56 includes planar map information generated while the unit box 21 is cleaned while the area 100 to be cleaned is moved and information about the actual cleaning area provided by the cleaning area calculating unit 55. Received in real time, by comparing the information received in real time can provide the information on the non-cleaning area (B) to the control unit 70 in real time.

Then, the control unit 70 performs the non-cleaning of the unit box 21 based on the information provided from the non-cleaning area calculating unit 56, that is, the information (coordinate values) for the non-cleaning area B. The driving unit 40 is controlled to move to the area B to perform the cleaning operation. Therefore, the entire area 100 to be cleaned is uniformly controlled to move the unit box 21 so that the overall cleaning operation can be performed uniformly, and the air flow, that is, the suction force is transmitted uniformly throughout the entire area 100 to be cleaned. It can also effectively remove harmful substances and foreign substances.

The storage unit 80 stores and manages obstacle detection information detected by the obstacle detection sensor 60 and various pieces of information calculated by the area calculator 50. In particular, the information stored in the storage unit 80 is continuously updated and stored until the end to start cleaning the specific area 100 to be cleaned, and after the cleaning is selectively deleted or continuously stored by the control unit 70 Can be managed. Therefore, when cleaning the area 100 to be cleaned later, it is possible to perform the cleaning operation more effectively based on the information previously stored in the storage unit 80.

In addition, an information input unit 91 may be further provided to input and provide information about the area 100 to be cleaned by the user, that is, actual planar map information. The information input unit 91 may be provided in the form of a touch screen or in the form of a plurality of selection buttons.

In addition, the movable suction unit 20 may be provided with a transmission / reception unit 92.

Therefore, it is possible to mutually transmit / receive control signals and data signals with the transmitter / receiver 113 of the remote controller 110. Therefore, the user can input a signal for the operation of the movable suction unit 20 through the input unit 115 provided in the remote controller 110, the remote control 111 is an operation input through the input unit 115 It is possible to remotely control the driving of the movable suction unit 20 by generating a remote control signal corresponding to the signal.

Therefore, when cleaning a place such as a hazardous material or dangerous area, the person does not go directly into the area to be cleaned 100, it is possible to perform a remote operation by operating the remote controller 110 from the remote.

It will be described in detail how to clean a predetermined place, that is, the area 100 to be cleaned using a cleaning system according to an embodiment of the present invention having the above configuration.

1 to 7, the movable suction unit 20 is positioned in the zone 100 to be cleaned and the suction force generator 10 is driven to perform a cleaning operation on the zone 100 to be cleaned (S10).

When the cleaning operation is performed, the control unit 70 controls the driving unit 40 to move in the area 100 to clean the movable suction unit 20 so as to perform the cleaning operation (S11). That is, the control unit 70 moves the left wheel drive unit 43 and the right wheel drive unit 44 so as to go straight after moving or changing direction to either side until the obstacle detecting sensor 60 detects an obstacle (wall of the area to be cleaned). Drive control so that the unit box 21 is moved.

As the position of the unit box 21 is moved by the driving of the drive unit 40, the movement information detector 52 detects movement information including the movement position and the movement direction of the unit box 21 (S12). ). As described above with reference to FIGS. 5 and 6, the movement information sets an x, y coordinate axis based on an initial position (x1, y5) and a predetermined movement distance as a reference distance (x2-x1, y2-y1). The moving position and the moving distance can be detected corresponding to the x and y coordinate values.

In addition, based on the obstacle (wall of the area to be cleaned) detected by the obstacle detecting sensor 60 while the box unit 21 moves, the obstacle location detecting unit 53 detects obstacle location information (S13). ). That is, the obstacle position detection unit 53 receives the obstacle detection information continuously detected by the obstacle detection sensor 60 while the unit box 21 is moved for cleaning, so that the position information of the obstacle is more accurate and more accurate. It can be detected a lot.

Then, the map information generator 54 predicts and generates plane map information on the area 100 to be cleaned from the obstacle location information detected by the obstacle location detector 53 (S14). That is, the map information generator 54 predicts and generates a planar shape, that is, a planar shape, for the area 100 to be cleaned on the x, y coordinate axis based on the location information on which the obstacle (the wall of the area to be cleaned) is detected. More specifically, in FIG. 6, the unit box 21 may be cleaned while randomly moving the hatched portion A. In this case, the obstacle detection sensor 60 may be adjacent to the boundary (wall) of the area 100 to be cleaned. ), The wall can be detected. Typical coordinate values detected by the obstacle detecting sensor 60 are (0, y5), (x1, y6), (x6, y6), (x7, y5), (x7, y1), (x6,0), ( x1,0), (0, y1).

Then, the coordinate values (0, y5) (x1, y6), (x6, y6), (x7, y5), (x7, y1), (x6,0), (x1, By connecting 0) and (0, y1) in a straight line, it is possible to generate the planar map information for the virtual area to be cleaned.

In addition, while the unit box 21 moves for cleaning, the actual cleaning area calculating unit 55 calculates the area that has actually been cleaned based on the information detected by the moving information detecting unit 52 (S15). That is, as shown in FIG. 5, the area cleaned while the unit box 21 is moved can be calculated as the hatched area A. FIG.

Next, the non-cleaning area calculating unit 56 compares the area to be cleaned 100 generated by the map information generating unit 54 with the actual cleaning area A detected in the step S15, and determines the non-cleaning area B. ) Is calculated (S16).

When the non-cleaning area B is found in the step S16 (S17), the control unit 60 drives the drive unit 40 to move the unit box 21 to the non-cleaning area B ( S18).

Therefore, the control unit 70 controls the driving unit 40 to move to find and move the non-cleaning area B until it is determined that the non-cleaning area B does not exist in step S16. It becomes possible to clean the entire 100 uniformly.

The cleaning operation as described above may be continued until it is confirmed that the control unit 70 receives the end signal (S19).

In addition, the control unit 70, in distinguishing the cleaned area A and the non-cleaned area B, is based on the number of times the unit box 21 has moved, that is, the number of times that it has moved for cleaning or stayed there. The driving unit 40 may be driven and controlled so that the number of times the unit box 21 moves or the time that the unit has been stayed may be made uniform throughout the area 100 to be cleaned.

Therefore, it is possible to control the unit box 21 to pass through the same time and the same number of times to the entire area 100 to be cleaned so that uniform cleaning operation can be performed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Those skilled in the art will readily appreciate that many modifications and variations of the present invention are possible without departing from the spirit and scope of the appended claims.

10. suction input generator 20. movable suction unit
21. Unit box 23. Filter
40. Driving part 41. Left wheel
42. right wheel 43. left wheel drive
44. Right wheel drive unit 50. Area calculation unit
51 .. Left and right wheel drive detection unit 52. Movement information detector
53. obstacle location detection unit 54. map information generation unit
55. Actual cleaning area calculator 56. Non-clean area calculator
60. Obstacle detection sensor 70. Control unit
80. Storage 91. Information input
92,113..Transmission / reception department 100..Area to clean
110. Remote controller

Claims (6)

A suction force generator installed in the area to be cleaned and generating suction force;
A movable suction unit having a suction port which moves in position in the area to be cleaned and sucks foreign matter in the area to be cleaned by suction power provided from the suction force generating device;
A connection duct connecting the suction force generating device and the movable suction unit to be flexible;
A drive unit having a left wheel and a right wheel driven to move the movable suction unit in the area to be cleaned;
An area calculator configured to calculate an area cleaned by the movable suction unit and a non-clean area in the area to be cleaned;
An obstacle detecting sensor detecting an obstacle in the area to be cleaned; And
And a control unit controlling the driving unit based on the information calculated by the area calculating unit and the detection information of the obstacle detecting sensor to perform the cleaning operation while the movable suction unit moves as a whole to the area to be cleaned.
The movable suction unit,
A unit box having a suction port formed at a front surface thereof and having a connector connected to the connection duct at a rear surface thereof; And
And a filter installed inside the unit box.
The area calculator,
A left wheel and right wheel drive detector for detecting driving of the left and right wheels;
A movement information detector for calculating a movement direction and a movement distance of the unit box based on the information detected by the left and right wheel drive detection units;
An obstacle position detector for detecting a position and a direction in which the obstacle is detected by the obstacle sensor;
A map information generation unit for predicting and generating planar map information of the area to be cleaned based on the obstacle location and the sensing direction acquired by the obstacle location detection unit;
An actual cleaning area calculator configured to calculate an area in which the unit box is actually moved in the area to be cleaned based on the unit box moving distance and the moving direction detected by the moving information detector; And
And a non-cleaning area calculating unit for comparing the planar map information of the area to be cleaned generated by the map information generating unit with the actual cleaning area calculated by the actual cleaning area calculating unit to calculate a non-cleaning area.
Further comprising an information input unit for inputting and providing the actual plane map information of the area to be cleaned,
And the non-cleaning area calculating unit calculates the non-cleaning area by comparing the information input through the input unit with the actual cleaning area calculating unit.
delete The driving apparatus according to claim 1,
A left wheel and a right wheel installed at a lower portion of the unit box;
And a left wheel driving unit and a right wheel driving unit for selectively driving each of the left and right wheels.
And the control unit controls the left wheel drive unit and the right wheel drive unit to stop the movement in the detected direction when the obstacle detection signal is generated in the obstacle detection unit.
delete delete The method according to claim 1 or 3,
The obstacle detecting sensor,
It is installed in each of the front, rear, left and right of the unit box,
Cleaning system, characterized in that it further comprises a transmission / reception unit for receiving a remote control signal transmitted from a remote remote controller.

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