KR20160090567A - Robot cleaning apparatus and method for controlling the same - Google Patents

Abstract

The present invention relates to a method for controlling a robot cleaner. The robot cleaner includes: first and second wet mop mount plates which are arranged in parallel to each other on the floor surface of a body, respectively have one surface rotatably mounted onto the body around first and second rotary shafts, and have wet mops respectively attached to or detached from the opposite surfaces; and first and second motors driving and rotating the first and second wet mop mount plates, respectively. The control method includes the steps of: rotating at least one of the first and second wet mop mount plates and controlling the robot cleaner to run in a specific progressing direction in accordance with a running mode; measuring a change in the load applied to the first and second motor due to friction between the floor surface and the wet mops mounted on the first and second wet mop mount plates while the robot cleaner runs; and controlling the rotation direction or rotation speed of the first and second wet mount plates in accordance with the change in the load value.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot cleaner and a robot cleaner,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot cleaner and a method of controlling the robot cleaner that perform a cleaning operation by moving in a cleaning area. More particularly, the present invention relates to a robot cleaner, And a control method thereof.

The robot cleaner is a device that carries out a cleaning operation while traveling in a cleaning area by itself without an external artificial operation. Generally, the robot cleaner mainly performs a dirt suction function of sucking dirt such as dust on the surface to be cleaned while traveling on its own. Recently, however, cleaning of the surface to be cleaned has been carried out by wiping the surface of the surface to be cleaned, A robot cleaner that can be removed is introduced.

For example, Patent Document 1 discloses a robot cleaner that removes a wet-cloth plate to which a wet-cloth is attached on the lower surface of the robot cleaner main body, thereby wiping the water in an autonomous running process.

However, in the case of the cleaning type robot cleaner as in Patent Document 1, merely attaching a cleaning cloth for wet-cloth to the main body of the existing robot cleaner, and using friction between the cleaning cloth for wet-cloth and the bottom surface during traveling of the robot cleaner, There is a limit in removing the dirt adhering to the inside of the cleaning area.

Further, due to the frictional force between the cleaning cloth for wet-wipe and the bottom surface, the driving of the robot due to the separate driving force is interrupted, and the consumption of the driving force by the battery becomes extreme.

Patent Document 1: Korean Utility Model Registration No. 407243

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot cleaner capable of effectively removing dirt adhered to a floor to be cleaned by cleaning a wet cloth, And to provide a control method.

According to an aspect of the present invention, there is provided a method of controlling a robot cleaner, the robot cleaner comprising: a main body having a bottom surface to which the main body is rotatably mounted, the main body being rotatable about a first rotation axis and a second rotation axis, A robot cleaner having a first motor and a second motor for rotating the first and second wet-cloth mounting plates and the first and second wet-cloth mounting plates, respectively, to which the wet-cloth is attached and detached, And controlling the robot cleaner to travel in a specific traveling direction by rotating at least one of the first wet-cloth mounting plate and the second wet-cloth mounting plate in accordance with the traveling mode; Measuring a change in load applied to the first motor and the second motor due to friction between the wet cloth and the bottom surface mounted on the first and second wet-cloth mounting plates during travel of the robot cleaner; And controlling the rotation direction or rotation speed of the first and second wet-cloth-attached plates according to the change of the load value.

According to an aspect of the present invention, there is provided a robot cleaner including: a main body; A first wet-laid mounting plate and a second wet-laid mounting plate which are arranged on the bottom surface of the main body and are mounted on the main body so as to be rotatable about the first rotation axis and the second rotation axis, respectively, Wet blanket mounting plate; And a first motor and a second motor which are installed inside the main body and cause the first and second wet-cloth-attached plates to rotate at predetermined rotation directions and rotational speeds, respectively, The robot cleaner is configured to run on the bottom surface by using friction force generated between a wet cloth mounted on the wet cloth mounting plate and a bottom surface of the cleaning area by rotating at least one of the two wet- Motor load measuring means for measuring a change in a load applied to the first motor and the second motor due to friction between the wet cloth and the bottom surface mounted on the first and second wet-cloth mounting plates, And controlling the rotation direction or rotation speed of the first and second wet-cloth mounting plates according to the change.

According to the present invention, the following effects can be obtained.

In the present invention, unlike a conventional robot cleaner that moves in a cleaning area as a wheel attached to a main body is rotated by a driving source, at least one of a pair of wet-cloth attaching plates to which a wet-cloth is attached rotates, Since the frictional force with the bottom surface is used as the driving source, the battery efficiency can be improved as compared with a conventional robot cleaner equipped with a wet cloth.

Further, in the case of the robot cleaner according to the present invention, since only the rotational direction and rotational speed of the wet-cloth attaching plate to which the wet cloth is attached are controlled to control the direction of the robot cleaner, It is possible to simplify the configuration of the apparatus.

In addition, in the case of the robot cleaner according to the present invention, since the robot cleaner is moved by the rotation of the wet-cloth mounting plate, foreign substances adhered to the bottom surface of the cleaning area are removed. In the conventional robot cleaner, It is possible to increase the removal efficiency of the foreign matter.

Further, in the case of the robot cleaner according to the present invention, the load applied to the motor due to the friction between the wet cloth attached to the wet cloth mounting plate and the bottom surface is monitored to appropriately control the rotation of the wet cloth mounting plate, It is possible to stop unnecessary battery consumption by stopping the motor when the robot cleaner is lifted or the robot cleaner is crashed.

Further, in the case of the robot cleaner according to the present invention, by monitoring the load applied to the motor due to the friction between the wet cloth attached to the wet cloth mounting plate and the bottom surface and appropriately controlling the rotation of the wet cloth mounting plate, If the robot cleaner is located at an adjacent position, the robot cleaner can quickly disengage the robot cleaner.

1 is a schematic view of a robot cleaner according to a preferred embodiment of the present invention.
2 is a bottom view of a robot cleaner according to a preferred embodiment of the present invention.
3 is a side view of a robot cleaner according to a preferred embodiment of the present invention.
4 is a block diagram showing a system configuration of a robot cleaner according to an embodiment of the present invention.
5 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention.
6 is a flowchart illustrating a first forward mode of the robot cleaner according to the preferred embodiment of the present invention.
7 is a view for explaining a first forward mode of the robot cleaner according to a preferred embodiment of the present invention.
8 is a flowchart illustrating a first forward mode of the robot cleaner according to the preferred embodiment of the present invention.
9 is a view for explaining a second forward mode of the robot cleaner according to the preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the robot cleaner according to the present invention will be described in detail with reference to the accompanying drawings.

2 is a bottom view of the robot cleaner according to the present invention. FIG. 3 is a side view of the robot cleaner of the present invention, and FIG. 4 is a cross- Fig. 8 is a block diagram showing a system of a vacuum cleaner.

1 to 4, a robot cleaner according to a preferred embodiment of the present invention includes a main body 10, a first wet-cloth mounting plate 110, a second wet-cloth mounting plate 120, a first wet- A first motor 150a and a second motor 150b for driving the second woolen mounting plate 120 to rotate and drive the woolen mounting plate 120, obstacle detecting sensors 130a and 130b mounted on the main body 10, And an input unit 180 and a communication unit 140. [

The first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120 are mounted on the main body 10 such that one surface of the first wet-cloth mounting plate 110 is rotatable about the first rotation axis 151 and the second rotation axis 152, And a first wet-cloth 210 and a second wet-cloth 220 are detachably mounted on the back surface thereof.

The first rotation axis 151 and the second rotation axis 152 are shown to be perpendicular to the longitudinal direction of the main body 10 according to the illustration of FIG. 2, but are preferably perpendicular to the longitudinal direction of the main body 10 The virtual vertical axis and the inclined plane can extend in the direction.

The first wet cloth 210 and the second wet cloth 220 are brought into contact with the bottom surface of the cleaning area in accordance with the rotation of the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 220, And is configured to clean the wet cloth against the foreign matter attached to the surface. The first and second wet-cloths 210 and 220 may be formed of a fiber material such as a microfiber cloth, a cloth, a nonwoven fabric, a brush, or the like.

The first wet-cloth 210 and the second wet-cloth 220 may be attached to the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 220 using fixing means such as a Velcro tape, The first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 220 may be fixed to each other.

As described above, a predetermined frictional force is generated between the first and second water-curtains 210 and 220 and the bottom surface of the cleaning zone, and such frictional force can be used as a driving source for driving the robot cleaner . Particularly, by appropriately controlling the resultant force of the frictional force acting on the first wet-cloth 210 and the second wet-cloth 220, the running direction and the speed of the robot cleaner can be specifically controlled.

As described above, in the case of the robot cleaner according to the present invention, by using the frictional force, which has been used only for cleaning the wet cloth on the floor, as a driving source of the robot cleaner, battery consumption for driving the robot cleaner is reduced, It is possible to control the robot cleaner in a simple manner by removing a separate wheel or a device for controlling the wheel.

The obstacle detection sensor 130 is for detecting an obstacle existing in the direction of travel of the robot cleaner and may be disposed on the front or rear of the main body 10 on the basis of the traveling direction of the robot cleaner, And may be disposed at a position adjacent to the mounting plate 110 and the second wet-cloth mounting plate 120. The obstacle detection sensor 130 disposed at the front and rear of the main body 10 detects an obstacle located in the direction when the robot cleaner travels in the corresponding direction and transmits the information to the controller 17 . By appropriately adjusting the position of the obstacle detection sensor 130, it is possible to accurately detect obstacles that obstruct the travel of the robot cleaner through a small number of sensors, thereby reducing the manufacturing cost of the robot cleaner .

4 is a block diagram illustrating a system of a robot cleaner according to a preferred embodiment of the present invention. 4, the system of the robot cleaner according to the present invention includes a sensor unit 130, a communication unit 140, a first wet-cloth mounting plate 110, 1 motor 150a and a second motor 150b, a storage unit 160, a control unit 170, an input unit 180, an output unit 185, a motor load measurement unit 200 and a power supply unit 190 .

The sensor unit 130 includes obstacle detection sensors 130a and 130b mounted on the main body 10. The sensor unit 130 generates infrared rays or ultrasonic signals to detect obstacles around the robot cleaner, Detects the presence of an obstacle, and transmits the obstacle detection result to the control unit (17). The sensor unit 130 may include a sensor device for detecting an obstacle or the like by photographing the outside of the robot cleaner, such as a camera sensor.

The communication unit 140 performs a wireless communication function between the robot cleaner and the external terminal using a local communication module or a wireless Internet module. The robot cleaner receives an instruction from an external terminal through the communication unit 140, and can adjust a traveling direction, a traveling mode, and the like based on the received command. Accordingly, the user can control the running of the robot cleaner by utilizing a smart phone, a tablet, a PC, and a remote controller.

The first motor 150a and the second motor 150b serve as a driving source for rotating the first and second wet-cloth-attaching plates 110 and 120. The first motor 150a, And the second motor 150b receive the control signal from the controller 170 and are connected to the first and second wet-cloth mounting plates 110 and 152 through the first and second rotary shafts 151 and 152, 120) at a predetermined rotation speed in a predetermined rotation direction.

The storage unit 160 stores the operation of the robot cleaner, in particular, a program related to the traveling mode, and plays the role of temporarily storing data input and output from the input unit 180 and the output 185. The storage unit 160 is preferably a flash memory, a hard disk, a card type memory such as an SD card or an XD card, a random access memory (RAM), a static random access memory (SRAM) Memory, an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, or an optical disk. Preferably, the storage unit 160 may transmit the stored information about the traveling mode to the controller 170 to drive the robot cleaner according to the programmed traveling mode.

The input unit 180 directly receives a command related to the traveling of the robot cleaner from the user through a car pad, a switch, or the like provided in the main body 10 of the robot cleaner, and transfers the command to the controller 170.

The output unit 185 performs a function of externally displaying information related to an operation or function performed by the robot cleaner. Preferably, the display panel includes a display panel for visually displaying related information, an acoustic output section for audibly outputting the information, and the like.

The motor load measuring means 200 measures changes in load acting on the first motor 150a and the second motor 150b while traveling the robot cleaner and transmits the related information to the controller 170 . The magnitude of the frictional force generated between the first wet-cloth 210 and the second wet-cloth 220 and the bottom surface of the cleaning area may vary depending on the condition of the bottom surface, The motor load measuring means 200 measures the change of the load and transmits the measured load to the controller 170 so that the controller 170 can determine the state of the bottom surface of the cleaning zone So that it can control the operation of the robot cleaner appropriately.

Preferably, the motor load measuring means 200 measures the change in the amount of current flowing through the first motor 150a and the second motor 150b to determine the load acting on the first motor 150a and the second motor 150b Is a means for measuring the change in the temperature.

The power supply unit 190 receives power from the outside and supplies power to each component of the robot cleaner.

The control unit 170 receives necessary information from the sensor unit 130, the motor load measurement unit 200, the storage unit 160, the input unit 180, and the like to collectively control the operation and the function of the robot cleaner As a configuration, it controls a process such as a traveling mode, a traveling route, a cleaning time, and the like of the robot cleaner.

More specifically, the control unit 170 of the robot cleaner according to the present invention controls the first motor 150a and the second motor 150b to rotate the first and second wet-cloth mounting plates 110 and 120 By controlling the speed and the direction of rotation, the robot cleaner can be controlled to travel in a predetermined traveling mode in a predetermined direction. That is, by appropriately controlling the resultant force of the frictional force between the first wet-cloth 210 mounted on the first wet-cloth mounting plate 110 and the second wet-cloth 220 mounted on the second wet-cloth mounting plate 120, It is possible to control so that the robot cleaner can move forward or backward.

In particular, the traveling mode of the robot cleaner may be selected by the user as a first forward mode for allowing the user to move forward or backward in a predetermined direction according to a program stored in the storage unit 160. In the first forward mode, the controller 170 rotates the first wet-cloth mounting plate 110 in the first rotation direction at the first rotation speed, and rotates the second wet-cloth mounting plate 120 in the opposite direction to the first rotation direction To the first rotation speed in the second rotation direction, which is the direction of rotation. In this case, as shown in FIG. 7, the robot cleaner can move linearly in a specific direction on the floor by the resultant force of the frictional forces acting on the first and second wet-cloths 210 and 220.

Meanwhile, the traveling mode of the robot cleaner may be selected by a user or a second forward mode in which the user moves forward or backward in an S-shape in a predetermined direction according to a program stored in the storage unit 160. In the second forward mode, the first wet-cloth mounting plate 110 is rotated for a predetermined time in the first rotation direction at the first rotation speed, and the second wet-cloth mounting plate 120 is rotated in the first rotation direction And then rotates the first wet-cloth mounting plate 110 at a second rotation speed in a second rotation direction opposite to the first rotation direction for a predetermined time, It is possible to control the wet-cloth mounting plate 120 to rotate in the second rotation direction at the first rotation speed, and to repeat it for a predetermined time in order to control to travel in the S-shape in a specific direction. In this case, the running speed of the robot cleaner is slower than in the first forward mode, but there is an effect that more intensive cleaning can be performed.

According to a preferred embodiment of the present invention, the controller 170 controls the first motor 150a and the second motor 150b according to a change in load applied from the motor load measuring means 200 to the first motor 150a and the second motor 150b, And the rotation of the second motor 150b. The amount of load applied to the motor due to the friction between the first and second wet-cloths 210 and 220 attached to the first and second wet-cloth mounting plates 110 and 120 and the bottom surface, The controller 170 controls the rotation of the wet-cloth mounting plate so that the position of the robot cleaner can be quickly disengaged when the robot cleaner is located at a position adjacent to an obstacle such as a carpet or a cliff. It is possible to prevent the battery from consuming by preventing the idle idling from being heard.

According to a preferred embodiment of the present invention, the controller 170 receives the information about the obstacle detection from the sensor unit 130 and controls the first motor 150a and the second motor 150b, The rotational direction and rotational speed of the wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120 are controlled to enable the avoidance start of the obstacle.

In addition, according to a preferred embodiment of the present invention, even when an obstacle is not detected for a predetermined time, the controller 170 changes the rotation direction and speed of the first and second wet-cloth mounting plates 110 and 120 Thus, when the robot cleaner can not move due to an obstacle not detected by the sensor unit 130, the robot cleaner can be moved away from the robot cleaner. For example, when the robot cleaner is in a state where the robot cleaner can not move due to a carpet not being sensed by the sensor unit 130, the rotation of the wet-cloth mounting plate can be controlled after a predetermined time so that the robot cleaner can be easily detached from the position.

Hereinafter, a preferred control method of the robot cleaner according to the present invention will be described with reference to FIGS. 5 to 9. FIG.

5 is a flowchart illustrating a control method of a robot cleaner according to a preferred embodiment of the present invention. 5, when the power of the robot cleaner 100 is turned on (S101), the controller 170 sets the progress direction according to the program stored in the user input or storage unit 160 (S102) The robot cleaner 100 is controlled by controlling the rotational speed and the rotational direction of the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120 so that the robot cleaner can travel in the traveling direction (S103).

During running of the robot cleaner 100, the amount of change in the load acting on the first motor 150a and the second motor 150b due to the friction between the floor surface and the wet cloth is measured using the motor load measuring means 200 (S104). Preferably, the change in the amount of current flowing through the first motor 150a and the second motor 150b is measured, and the change in the amount of load can be measured.

Thereafter, it is determined whether the decrease in the load measured by the motor load measuring means 200 is less than the first predetermined value (S105). If the load reduction value is equal to or greater than the first predetermined value, the robot cleaner 100 is lifted by the user or the robot cleaner 100 falls and the first wet-cloth mounting plate 110 and the second water- It is determined that the plate 120 is idling and the rotation of the first motor 150a and the second motor 150b is stopped (S110). As a result, the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120 are prevented from idling idling and battery consumption can be suppressed.

When it is determined that the amount of decrease of the load measured by the motor load measuring means 200 is less than the first predetermined value, it is determined whether the change value of the load amount is less than the second predetermined value (S106). When the change value of the load is equal to or greater than the second predetermined value, the robot cleaner 100 determines that the robot cleaner 100 is located near the bottom surface of the robot cleaner 100, such as a carpet, The rotating speed or the rotating direction of the first and second wet-cloth mounting plates 110 and 120 is controlled so that the first and second wet-cloth mounting plates 110 and 120 can be separated from the corresponding position.

As described above, there are several preferable control methods for releasing the robot cleaner from its current position.

For example, when it is determined that the load applied to the first motor 150a and the second motor 150b has fallen by a second predetermined value or more, the first wet-cloth mounting plate 110, which is currently traveling of the robot cleaner 100, And the rotation direction of the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120 may be controlled to be opposite to the rotating direction of the first wet-cloth mounting plate 120 and the second wet-cloth mounting plate 120. In this case, the robot cleaner 100 may move away from the current position because the robot cleaner 100 moves in a direction opposite to the traveling direction of the robot cleaner.

Further, preferably, the rotation of any one of the first and second wet-cloth mounting plates 110 and 120 is stopped or the rotation speed is reduced so that the robot cleaner rotates or swivels in place You can control to leave the current location.

Preferably, the robot cleaner 100 senses a difference in the amount of load between the first motor 150a and the second motor 150b, determines whether the difference between the loads is equal to or greater than a third predetermined value, It is possible to control the rotational speed or the rotational direction of the first and second wet-cloth mounting plates 110 and 120 so that the first and second wet-cloth mounting plates 110 and 120 can be separated from the corresponding position. In this case, since either the first wet-cloth mounting plate 110 or the second wet-cloth mounting plate 120 is on the bottom surface, not on the area to be cleaned, or on the obstacle or near the cliff, It is possible to perform control so as to move out of the position.

Preferably, in the control method according to the present invention, the presence or absence of an obstacle can be detected around the robot cleaner 100 by the obstacle detection sensors 130a, 130b, 130c, and 130d (S107).

If it is determined that there is an obstacle around the robot cleaner 100 as a result of detection, control is performed to control the first and second wet-cloth-attaching plates 110 and 120 so as to avoid the obstacle (S112).

In the case of the avoidance start, the control method may be different depending on the traveling direction of the robot cleaner 100 and the obstacle detection position.

For example, when the obstacle located in the traveling direction of the robot cleaner 100 is sensed by an obstacle detection sensor located near both the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120, It is determined that an obstacle exists in the entire traveling direction of the vehicle 100. Therefore, the rotation directions of the first and second wet-cloth-attaching plates 110 and 120 can be reversed so that the robot cleaner 100 can move backward.

When the obstacle located in the traveling direction of the robot cleaner 100 is detected by any of the obstacle detection sensors located near both the first and second wet-cloth mounting plates 110 and 120 , It is determined that an obstacle exists in the vicinity of the position. Therefore, it is possible to stop the rotation of the wet-cloth mounting plate at the position, to allow the robot cleaner 100 to rotate in place, or to reduce the rotational speed and to perform swirling motion to avoid the obstacle.

Alternatively, by resetting the traveling direction of the robot cleaner 100, the robot cleaner 100 may proceed in the third traveling direction other than the current traveling direction, thereby controlling the obstacle to be avoided.

After the evasive maneuver is performed in accordance with the detection results of the motor load measuring means 200 and the obstacle detecting sensors 130a, 130b, 130c, and 130d, the robot cleaner 100 again resets the traveling direction, Let's proceed.

On the other hand, even when no obstacle is detected in the obstacle detecting sensors 130a, 130b, 130c, and 130d, the undetected time is measured and it is determined whether or not the time has exceeded a predetermined value (S108) The robot cleaner 100 may be in a state in which the robot cleaner 100 does not move due to an obstacle that is not detected by the obstacle detection sensors 130a, 130b, 130c, and 130d. Therefore, the first and second wet- (120) is rotated in the same direction for a predetermined period of time so as to perform rotational driving in the same place (S109). Thereafter, the robot cleaner 100 is controlled so as to advance along the originally set traveling mode so as to avoid obstacles. Accordingly, even if the robot cleaner is obstructed by an obstacle that is not detected by the obstacle detection sensors 130a, 130b, 130c, and 130d of the robot cleaner 100, such as a carpet, the avoidance start can be performed.

If the obstacle non-detection time is within the predetermined time, the traveling is continued along the traveling mode and the traveling direction which were originally intended.

Hereinafter, the forward traveling mode of the robot cleaner according to the preferred embodiment of the present invention will be described with reference to FIGS. 6 to 9. FIG.

6 and 7 are a flowchart and an explanatory diagram for explaining the first forward mode of the robot cleaner 100 according to the preferred embodiment of the present invention.

Referring to FIG. 6, a progress direction setting step (S101) shown in the flowchart of FIG. 5 is shown in more detail. Specifically, in setting the traveling direction, the cleaning mode is first determined (S201), and the traveling route and the forwarding mode are determined according to the determined cleaning mode (S202). The cleaning mode and the movement path and the forward mode may be already stored in the user's direct input or storage unit 160 or may be determined according to the program transmitted through the communication unit 140. [

(S203). If it is determined that the determined forward mode is the first forward mode or the second forward mode (S203), then the traveling mode of the robot cleaner is set to the first forward mode in the first forward mode, And the running control of the robot cleaner is performed (S204).

When it is determined that the predetermined condition is satisfied and the cleaning is finished (S205), the end of cleaning is notified through the output unit 185 (S213) and the cleaning is terminated.

Hereinafter, the first forward mode will be described in detail with reference to FIG. FIG. 7 shows the robot cleaner 100 in a top down view and a forward direction 300 in the first forward mode.

In the first forward mode, the first wet-cloth mounting plate 110 is rotated in the first rotational direction at a first rotational speed, and the second wet-cloth mounting plate 120 is rotated in the second rotational direction So as to rotate at the first rotational speed in the rotational direction. 7, the first wet-cloth mounting plate 110 rotates counterclockwise (first rotation direction), and the second wet-cloth mounting plate 120 rotates in the clockwise direction Direction).

At this time, since the rotational speeds of the two wet-laid mounting plates are the same at the first rotational speed, the resultant force of the wet-cloth and the bottom surface mounted on the two wet-cloth mounting plates acts on the main body 10 of the robot cleaner 100 , The robot cleaner runs straight in a predetermined traveling direction (300).

In such a first forward mode, it is possible to move the same distance that the robot cleaner travels in the shortest distance with respect to the target direction within the earliest time. It is therefore suitable for cleaning a wide range of cleaning areas in a short time.

Hereinafter, the forward traveling mode of the robot cleaner according to the preferred embodiment of the present invention will be described with reference to FIGS. 8 to 9. FIG.

8 and 9 are explanatory diagrams and flowcharts for explaining the second forward mode of the robot cleaner 100 according to the preferred embodiment of the present invention.

If it is determined that the traveling mode of the robot cleaner 100 is the second forward mode, first, the rotation direction of the first wet-cloth board 110 is rotated in the second direction and the rotation speed is rotated at the first rotation speed (S301 (Step S302), the rotation direction of the second woolen mounting plate 120 is rotated in a second direction, and the rotation speed is rotated at a second rotation speed which is larger than the first rotation speed.

8, the rotational speeds of the first and second wet-cloth-attaching plates 110 and 120 are the same in the counterclockwise second direction, and the second The rotation speed of the wet-cloth mounting plate 120 is fast, and the robot cleaner 100 performs the rotation movement in the counterclockwise direction.

It is determined whether or not the first step has progressed for a predetermined time (first time) (S303), and if it is determined that the predetermined time has passed, control for the second step shown in FIG. 8 is performed.

Specifically, the rotation direction of the first wet-cloth mounting plate 110 is rotated in the first direction, the rotation speed is rotated at the second rotation speed (S304), and the rotation direction of the second wet- The rotation speed is rotated at the first rotation speed in the first direction (S305). In this case, as shown in FIG. 8, the rotating direction of the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120 is a clockwise direction (first direction) opposite to the first step, The rotational speed of the woolen mounting plate 120 is fast, and the robot cleaner 100 rotates in the clockwise direction.

Thereafter, it is determined whether or not the second step has progressed for a predetermined time (second time) (S306). If it is determined that the predetermined time has passed, the first step and the second step are repeatedly performed during the cleaning time do.

In this case, the robot cleaner 100 proceeds in an S-shape along a predetermined traveling direction. In this second forward mode, more time is required to travel a certain distance than in the first forward mode, but it is possible to intensively clean the cleaning area during the course of travel, and the obstacle detection sensors 130a, 130b, 130c And 130d are arranged alternately and advance first, there is an advantage that the obstacle can be detected more effectively.

In addition, it is possible to change the direction or mode according to the schedule of the internal memory or the time without obstacle or current sensing.

Meanwhile, the control method according to various embodiments of the present invention described above may be implemented in a program code and provided to each server or devices in a state stored in various non-transitory computer readable media. Specifically, it may be stored in a non-volatile readable medium such as a CD, a DVD, a hard disk, a Blu-ray disk, a USB, a memory card, a ROM, and the like.

100: Robot cleaner
10: Body
110: first wet-cloth mounting plate
120: second wet-cloth mounting plate
130:
130a, 130b, 130c, and 130d: an obstacle detection sensor
140:
150a: first motor
150b: second motor
151:
152: second rotating shaft
160:
170:
180: input
185:
190: Power supply
200: motor load measuring means
210, 220, wet cloth

Claims (17)

A first wet-laid mounting plate and a second wet-laid mounting plate which are arranged on the bottom surface of the main body and are mounted on the main body so as to be rotatable about the first rotation axis and the second rotation axis, respectively, A method of controlling a robot cleaner having a first motor and a second motor for rotationally driving a wet-laid mounting plate and a first wet-cloth mounting plate and a second wet-
Controlling at least one of the first wet-cloth mounting plate and the second wet-cloth mounting plate so that the robot cleaner travels in a specific traveling direction according to the traveling mode;
Measuring changes in load values applied to the first motor and the second motor due to friction between the wet cloth and the bottom surface mounted on the first and second wet-cloth mounting plates during traveling of the robot cleaner;
And controlling the rotation direction or rotation speed of the first and second wet-cloth mounting plates according to the change of the load value. The method according to claim 1,
Determining whether a load applied to the first motor and the second motor has decreased by a first predetermined value or more during traveling of the robot cleaner; And
And stopping the operation of the first motor and the second motor when it is determined that the load applied to the first motor and the second motor has decreased by the first predetermined value or more A control method of the robot cleaner. The method according to claim 1,
Determining whether a load applied to the first motor and the second motor has changed by a second predetermined value or more during traveling of the robot cleaner; And
When the load applied to the first motor and the second motor is judged to have changed by a second predetermined value or more, the rotational direction or rotational speed of each of the first and second wet- And controlling the robot cleaner to perform the avoidance operation. The method of claim 3,
The step of controlling the robot cleaner to perform the avoiding operation includes:
The robot cleaner is configured to change the direction of rotation of the first wet-cloth mounting plate and the second wet-cloth mounting plate so as to be opposite to the rotating direction of the first wet-cloth mounting plate and the second wet- And controls the robot cleaner to move in a direction opposite to a traveling direction during travel. The method of claim 3,
The step of controlling the robot cleaner to perform the avoiding operation includes:
Wherein the robot cleaner stops the rotation of one of the first and second wet-cloth mounting plates or reduces the rotation speed so as to cause the robot cleaner to perform a rotation or a pivot movement so as to leave the current position. Control method. The method according to claim 1,
Determining whether a difference between load values applied to the first motor and the second motor is equal to or greater than a third predetermined value; And
When the difference between the load values applied to the first motor and the second motor is equal to or greater than the third predetermined value, the rotation of one of the wet-laid mounting plates is stopped or the rotation speed is reduced, Or swiveling the robot so as to move away from the current position. 7. The method according to any one of claims 1 to 6,
Detecting the existence of an obstacle from an obstacle detection sensor provided on a traveling direction side of the robot cleaner;
And controlling the rotation speed or rotation direction of at least one of the first wet-cloth mounting plate and the second wet-cloth mounting plate to avoid the obstacle when the obstacle detecting sensor detects the presence of the obstacle Control method of vacuum cleaner. 7. The method according to any one of claims 1 to 6,
Controlling the robot cleaner to travel in a specific traveling direction according to the traveling mode,
And selecting either the first forward mode or the second forward mode for advancing the robot cleaner in a predetermined traveling direction in accordance with the setting speed or the cleaning mode setting of the robot cleaner. The method of claim 8,
Controlling the robot cleaner to travel in a specific traveling direction according to the traveling mode,
Wherein when the first advancing mode is selected, the first wet-cloth mounting plate is rotated at a first rotation speed in a first rotation direction, and the second wet-cloth mounting plate is rotated in a second rotation To rotate at a first rotation speed in the direction of the rotation of the robot cleaner. The method of claim 8,
Controlling the robot cleaner to travel in a specific traveling direction according to the traveling mode,
The second wet-laid mounting plate is rotated in the first rotation direction at a first rotation speed, and the second wet-cloth mounting plate is rotated in a second rotation direction opposite to the first rotation direction, To rotate at a first rotation speed in the direction of the rotation of the robot cleaner. The method of claim 8,
Controlling the robot cleaner to travel in a specific traveling direction according to the traveling mode,
When the second forward mode is selected,
Rotating the first wet-cloth mounting plate for a predetermined time in a first rotation direction at a first rotation speed, and rotating the second wet-cloth mounting plate in a first rotation direction at a second rotation speed greater than the first rotation speed In the first step,
After the first step, the first wet-cloth mounting plate is rotated at a second rotation speed in a second rotation direction opposite to the first rotation direction for a predetermined time, and the second wet-cloth mounting plate is rotated in the second rotation direction A second step of controlling to rotate at the first rotation speed; And
And repeating the first step and the second step sequentially for a predetermined period of time to advance the robot cleaner in a predetermined direction. The method according to claim 1,
Wherein the moving direction is determined according to an input of a user. The method of claim 7,
Wherein when the obstacle is not detected for a predetermined period of time, the control unit controls the first wet-cloth mounting plate and the second wet-cloth mounting plate to rotate in different rotational directions to depart the corresponding position. main body;
A first wet-laid mounting plate and a second wet-laid mounting plate which are arranged on the bottom surface of the main body and are mounted on the main body so that one surface thereof is rotatable about a first rotation axis and a second rotation axis, respectively, 2 Wet Blank Mounting Plate;
And a first motor and a second motor which are installed in the main body and cause the first wet-cloth mounting plate and the second wet-cloth mounting plate to rotate at predetermined rotational directions and rotational speed, respectively,
Wherein at least one of the first wet-cloth mounting plate and the second wet-cloth mounting plate is rotated to apply a force to the bottom surface of the cleaning area by using a friction force generated between the wet- 1. A robot cleaner for traveling, comprising:
A motor load measuring unit that measures a change in a load value applied to the first motor and the second motor due to friction between the wet cloth and the bottom surface mounted on the first and second wet- Means,
And a controller for controlling the rotation direction or rotation speed of the first and second wet-cloth mounting plates according to the change of the load value. 15. The method of claim 14,
And an obstacle detection sensor provided on an outer surface of the main body for detecting an obstacle around the robot cleaner. 16. The method of claim 15,
Wherein the control unit controls the first wet-cloth mounting plate and the second wet-cloth mounting plate so as to avoid the obstacle according to the position of the obstacle when the obstacle is detected by the obstacle detecting sensor, A robot cleaner that performs direction switching by controlling the speed. 15. The method of claim 14,
Wherein the motor load measuring means measures a change in the amount of current flowing through the first motor and the second motor to measure a load applied to the first motor and the second motor.

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