KR102274465B1 - A robot cleaner and a method for operating it - Google Patents

Abstract

A robot vacuum cleaner is disclosed. This robot cleaner has a main body, a driving unit provided on the main body to supply power for driving of the robot cleaner, and a first and second rotational axis by the power of the driving unit to rotate around the first and second rotational axes, respectively, to obtain a moving force for the driving of the robot cleaner. and a cleaner for wet cleaning, each of which is fixable to first and second rotation members, and a prevention member for preventing dirt from entering the vicinity of the rotation shafts of the first and second rotation members, respectively.

Description

Robot vacuum cleaner and its control method {A ROBOT CLEANER AND A METHOD FOR OPERATING IT}

The present invention relates to a robot cleaner and a control method thereof, and more particularly, to a robot cleaner capable of performing wet cleaning while autonomously driving and a control method thereof.

With the development of industrial technology, various devices are being automated. As is well known, a robot vacuum cleaner is a device that automatically cleans the area to be cleaned by wiping foreign substances such as dust from the surface to be cleaned while driving within the area to be cleaned without user's manipulation or by wiping foreign substances from the surface to be cleaned. is being utilized

In general, such a robot cleaner may include a vacuum cleaner that performs cleaning using a suction force using a power source such as electricity.

Robot cleaners including such vacuum cleaners have a limitation in that they cannot remove foreign substances or dirt adhering to the surface to be cleaned. Recently, a robot cleaner capable of performing wet cleaning by attaching a mop to the robot cleaner has emerged. .

However, the wet cleaning method using a general robot cleaner is only a simple method of attaching a mop to the lower portion of the conventional vacuum cleaning robot cleaner, and thus has a low effect of removing foreign substances and has disadvantages in that efficient wet cleaning cannot be performed.

In particular, in the case of a wet cleaning method of a general robot vacuum cleaner, it travels using the existing suction type vacuum cleaner movement method and obstacle avoidance method as it is, so even if dust scattered on the surface to be cleaned is removed, foreign substances adhering to the surface to be cleaned are removed. There are problems that cannot be easily eliminated.

In addition, in the case of the mop attachment structure of a general robot cleaner, the frictional force with the ground is increased by the mop surface, and additional propulsion force is required for the wheel to move, so there is a problem in that battery consumption increases.

1. Korean Patent Laid-Open Patent No. 10-2003-0049484 (June 25, 2003), remote-controlled floor polishing device propelled in all directions 2. Korean Patent Application Laid-Open No. 10-2011-0108760 (October 06, 2011), Auxiliary wheel assembly equipped with brushes and mobile robot having the same

The present invention has been devised in response to the above-mentioned necessity, and an object of the present invention is to use the rotational force itself of a pair of rotating members as a moving force source of the robot cleaner, and to enable a cleaner for wet cleaning to be fixed to the rotating member. An object of the present invention is to provide a robot cleaner capable of running while cleaning and a method for controlling the same.

Another object of the present invention is to provide a robot cleaner having a preventing member for preventing dirt, such as hair or thread, from flowing into the vicinity of each of the first and second rotating shafts, and a method for controlling the same.

A robot cleaner according to an embodiment of the present invention for achieving the above object includes a main body, a driving unit provided on the main body to supply power for driving of the robot cleaner, a first rotating shaft, a first rotational shaft by the power of the driving unit The first and second rotational members each rotate about two rotational axes to provide a moving force for driving of the robot cleaner, and the first and second rotational members to which the cleaner for wet cleaning can be fixed, respectively, and the respective rotational axes of the first and second rotational members and an anti-fouling member for preventing dirt from entering the vicinity.

In addition, the robot cleaner is, when the cleaner for wet cleaning is fixed to the first and second rotating members, respectively, the frictional force between the surface to be cleaned and the attached cleaner generated according to the rotational motion of each of the fixed cleaners can drive along

In addition, the preventing member may include at least one first preventing member protruding from an upper surface of each of the first and second rotating members and at least one second preventing member protruding from a bottom surface of the robot cleaner body. .

In addition, when the first and second rotation members rotate, the first prevention member and the second prevention member may rotate while being spaced apart from each other by a predetermined distance.

In addition, the first and second preventing members such that the gap formed between the end of the first preventing member and the bottom surface of the main body and the gap formed between the end of the second preventing member and the upper surface of the rotating member are staggered from each other may be sequentially arranged.

In addition, the first and second preventing members may be formed of a brush to minimize the gap.

On the other hand, the control method of the robot cleaner according to an embodiment of the present invention for achieving the above object, the step of supplying power for the driving of the robot cleaner, the first rotation axis and the second rotation axis center by the power controlling the rotational movement of the first and second rotational members, respectively, to control the rotational movement of the first and second rotational members to control the robot cleaner to travel in a specific moving direction, and near the first and second rotational shafts using the prevention member formed in the robot cleaner and preventing dirt from being introduced into the furnace, wherein the robot cleaner may travel by using rotational motions of the first and second rotating members as a moving force source.

In addition, the preventing member may include at least one first preventing member protruding from an upper surface of each of the first and second rotating members and at least one second preventing member protruding from a bottom surface of the robot cleaner body. .

In addition, when the first and second rotation members rotate, the first prevention member may rotate while being spaced apart from the second prevention member by a predetermined distance.

In addition, the first and second preventing members such that the gap formed between the end of the first preventing member and the bottom surface of the main body and the gap formed between the end of the second preventing member and the upper surface of the rotating member are staggered from each other may be sequentially arranged.

According to various embodiments of the present invention described above, the robot cleaner may run while performing wet cleaning by using the rotational force of a pair of rotating members as a moving force source.

Further, according to various embodiments of the present disclosure, the robot cleaner may improve battery efficiency by using the rotational force of a pair of rotating members as a moving force source.

In addition, according to various embodiments of the present disclosure, the robot cleaner is applied to the surface to be cleaned through friction between the first and second cleaners and the surface to be cleaned, respectively rotating by the respective rotational movements of the first and second rotational members. It is possible to more effectively remove adhering foreign substances.

In addition, according to various embodiments of the present invention, dirt such as hair or thread is caught in the rotational movement of the rotating member and is wound around the rotating shaft to prevent a winding phenomenon, thereby preventing motor overload and a decrease in cleaning efficiency due to the winding phenomenon, and the robot Stable running of the vacuum cleaner can be achieved.

1 is an exploded perspective view of a robot cleaner according to an embodiment of the present invention.
2 is a bottom view of a robot cleaner according to an embodiment of the present invention.
3 is a front view of a robot cleaner according to an embodiment of the present invention.
4 is a cross-sectional view of a robot cleaner according to an embodiment of the present invention.
5 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention.
6 to 7 are diagrams for explaining a driving operation of the robot cleaner according to an embodiment of the present invention.
8 is a cross-sectional view of a robot cleaner specifically illustrating a prevention member according to an embodiment of the present invention.
9 is a perspective view specifically illustrating an preventing member formed on a rotating member according to an embodiment of the present invention.
10 is a cross-sectional view showing a gap between the prevention member and the component according to an embodiment of the present invention.
11 is a cross-sectional view of a robot cleaner specifically illustrating a prevention member according to another embodiment of the present invention.
12 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present invention.

The following is merely illustrative of the principles of the invention. Therefore, those skilled in the art will be able to devise various devices which, although not explicitly described or shown herein, embody the principles of the present invention and are included within the spirit and scope of the present invention. In addition, it should be understood that all conditional terms and examples listed herein are, in principle, expressly intended only for the purpose of understanding the inventive concept and are not limited to the specifically enumerated embodiments and states as such. do.

Moreover, it is to be understood that all detailed description reciting the principles, aspects, and embodiments of the present invention, as well as specific embodiments, are intended to cover structural and functional equivalents of such matters. It is also to be understood that such equivalents include not only currently known equivalents, but also equivalents developed in the future, i.e., all devices invented to perform the same function, regardless of structure.

Thus, for example, the block diagrams herein are to be understood as representing conceptual views of illustrative circuitry embodying the principles of the present invention. Similarly, all flowcharts, state transition diagrams, pseudo code, etc. may be tangibly embodied on computer-readable media and be understood to represent various processes performed by a computer or processor, whether or not a computer or processor is explicitly shown. should be

The functions of the various elements shown in the figures including a processor or functional blocks represented by similar concepts may be provided by the use of dedicated hardware as well as hardware having the ability to execute software in association with appropriate software. When provided by a processor, the functionality may be provided by a single dedicated processor, a single shared processor, or a plurality of separate processors, some of which may be shared.

In addition, clear use of terms presented as processor, control, or similar concepts should not be construed as exclusively referring to hardware having the ability to execute software, and without limitation, digital signal processor (DSP) hardware, ROM for storing software. It should be understood to implicitly include (ROM), RAM (RAM) and non-volatile memory. Other common hardware may also be included.

In the claims of the present specification, a component expressed as a means for performing the function described in the detailed description includes, for example, a combination of circuit elements that perform the function or software in any form including firmware/microcode, etc. It is intended to include all methods of performing the functions of the device, coupled with suitable circuitry for executing the software to perform the functions. Since the present invention defined by these claims is combined with the functions provided by the various enumerated means and combined in a manner required by the claims, any means capable of providing the functions are equivalent to those contemplated from the present specification. should be understood as

The above-described objects, features and advantages will become more apparent through the following detailed description in relation to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains can easily implement the technical idea of the present invention. There will be. In addition, in the description of the present invention, when it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 to 4 are views for explaining the structure of a robot cleaner according to an embodiment of the present invention. More specifically, FIG. 1 is an exploded perspective view of a robot cleaner according to an embodiment of the present invention, FIG. 2 is a bottom view of the robot cleaner according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention It is a front view of the robot cleaner, and FIG. 4 is a cross-sectional view corresponding to the front view of FIG. 3 .

1 to 4 , the robot cleaner 100 of the present invention has a main body 10 that structurally forms the exterior of the robot cleaner 100, and is formed on the outer periphery of the main body 10 to protect the body from external impact. The bumper 20 to protect the 10, the sensor 130 for detecting an external shock applied to the bumper 20, and a driving unit installed on the main body 10 to supply power for driving the robot cleaner 100 150 , a first rotating member 110 , a second rotating member 120 , coupled to the driving unit 150 for rotational movement, and a power supply unit 190 installed inside the main body 10 . have.

The robot cleaner 100 may run while performing wet cleaning using the cleaners 210 and 220 for wet cleaning. Here, wet cleaning may mean cleaning of wiping the surface to be cleaned using the cleaners 210 and 220 , and may include, for example, cleaning using a dry rag and cleaning using a rag wet with a liquid.

The driving unit 150 is a first driving unit 151 installed in the main body 10 and coupled to the first rotating member 110 , and is installed in the main body 10 and coupled to the second rotating member 120 . A first driving unit 152 may be included. Here, the driving unit 150 may be implemented including a motor, a gear assembly, and the like.

The first rotating member 110 is coupled to the first driving unit 151 to transmit power by the first driving unit 151, and a first transmission that rotates about the first rotating shaft 310 by the power. A member 111 may be included. In addition, the first cleaner 210 for wet cleaning may include a fixable first fixing member 112 .

In addition, the second rotation member 120 is coupled to the second driving unit 152 to transmit power by the second driving unit 152, and the second rotation member 120 rotates about the second rotation shaft 320 by the power. Two transmission members 121 may be included. In addition, the second cleaner 220 for wet cleaning may include a fixable second fixing member 122 .

Here, the lower regions of the first transmission member 111 and the second transmission member 112 may be implemented to protrude in the direction of the surface to be cleaned when coupled to the main body 10 . Alternatively, when the first transmission member 111 and the second transmission member 112 are coupled to the main body 10, they may be implemented so as not to protrude in the direction of the surface to be cleaned.

In addition, when the first fixing member 112 and the second fixing member 122 are coupled to the main body 10 , they may be implemented to protrude in the direction of the surface to be cleaned, for example, to protrude in the direction of the floor surface, The first cleaner 210 and the second cleaner 220 for cleaning may be formed to be fixed.

The first cleaner 210 and the second cleaner 220 include a cloth capable of wiping various surfaces to be cleaned, such as a microfiber cloth, a mop, a non-woven fabric, a brush, etc., so as to remove foreign substances adhering to the floor surface through rotational motion. It may be composed of the same fiber material. In addition, the shapes of the first cleaner 210 and the second cleaner 220 may be circular as shown in FIG. 1 , but may be implemented in various shapes without limitation.

In addition, the fixing of the first and second cleaners 210 and 220 may be performed using a method of covering the first fixing member 112 and the second fixing member 122 or using a separate attachment means. have. For example, the first cleaner 210 and the second cleaner 220 may be attached to and fixed to the first fixing member 112 and the second fixing member 122 using Velcro tape or the like.

As described above, in the robot cleaner 100 according to the embodiment of the present invention, the first cleaner 210 and the second cleaner 220 are rotated by the rotational movement of the first rotating member 110 and the second rotating member 120 . As a result, foreign substances adhering to the floor can be removed through friction with the surface to be cleaned. Also, when a frictional force with the surface to be cleaned is generated, the frictional force may be used as a moving force source of the robot cleaner 100 .

More specifically, in the robot cleaner 100 according to an embodiment of the present invention, as the first rotating member 110 and the second rotating member 120 rotate, frictional force with the surface to be cleaned is generated, respectively, and the resultant force is Depending on the size and direction of the action, the moving speed and direction of the robot cleaner 100 may be adjusted.

In particular, referring to FIGS. 3 to 4 , the first and second rotational shafts 310 and 320 of the first and second rotational members 110 and 120 by the power of the pair of driving units 151 and 152, respectively, are robot cleaners. It may be inclined to have a predetermined angle with respect to the central axis 300 corresponding to the vertical axis of (100). In this case, the first and second rotation members 110 and 120 may be downwardly inclined outward with respect to the central axis. That is, among the regions of the first and second rotation members 110 and 120 , a region located farther from the central axis 300 may strongly adhere to the surface to be cleaned than a region located closer to the central axis 300 .

Here, the central axis 300 may mean a vertical axis with respect to the surface to be cleaned of the robot cleaner 100 . For example, when it is assumed that the robot cleaner 100 runs and cleans the XY plane formed by the X and Y axes during the cleaning operation, the central axis 300 is perpendicular to the surface to be cleaned of the robot cleaner 100 . It may mean the Z-axis which is an axis.

On the other hand, the predetermined angle is a first angle (a degree) corresponding to an angle at which the first rotation shaft 310 is inclined with respect to the central axis 300 and the second rotation axis 320 with respect to the central axis 300 . A second angle (b degree) corresponding to the inclined angle may be included. Here, the first angle and the second angle may be the same as or different from each other.

In addition, each of the first angle and the second angle may preferably be an angle within an angle range of 1 degree or more and 3 degrees or less. Here, as can be seen from Table 1 below, the above-described angle range may be a range in which the wet cleaning capability, running speed, and running performance of the robot cleaner 100 can be optimally maintained.

inclined angle Cleaning ability (based on 3 points) Driving speed (based on 3 points) less than 1 degree Both the cleaner and the rubbing surface can be cleaned (3) very slow (0) 1 degree Both the cleaner and the rubbing surface can be cleaned (3) slow(1) 1.85 degrees All cleaning surfaces that rub against the cleaner can be cleaned except for a part near the central axis (2) Normal (2) 3 degrees All cleaning surfaces in friction with the cleaner can be cleaned except for a part near the central axis (1) Fast(3) more than 3 degrees Can be cleaned except for most areas near the central axis among the cleaning surfaces that rub against the cleaner (0) Fast(3)

That is, referring to Table 1 above, the pair of rotation shafts 310 and 320 of the robot cleaner 100 have a structure inclined to have a predetermined angle with respect to the central axis 300 , and the traveling speed of the robot cleaner 100 . and cleaning ability. In particular, by maintaining the predetermined angle in the range of 1 degree or more and 3 degrees or less, the wet cleaning ability and running speed of the robot cleaner can be optimally maintained. However, various embodiments of the present invention may not be limited to the above-described angle range.

Meanwhile, when the pair of rotating members 110 and 120 rotate according to a predetermined angle, the relative frictional force generated between the surface to be cleaned and the surface to be cleaned may be greater outside the center than the center of the body 10 . Accordingly, the movement speed and direction of the robot cleaner 100 may be controlled by the relative friction force generated by controlling the rotation of the pair of rotation members 110 and 120, respectively. As such, according to an embodiment of the present invention, the movement speed and direction control of the robot cleaner 100 will be described later.

Meanwhile, when the robot cleaner 100 travels by the above-described operation, the robot cleaner 100 may collide with various obstacles existing on the surface to be cleaned. Here, the obstacles may include various obstacles that obstruct the cleaning operation of the robot cleaner 100, such as low obstacles such as thresholds and carpets, obstacles floating above a certain height such as sofas or beds, and high obstacles such as walls.

In this case, the bumper 20 formed around the outer periphery of the main body 10 of the robot cleaner 100 may protect the main body 10 from external shocks caused by collision with an obstacle and absorb external shocks. In addition, the sensing unit 130 installed inside the main body 10 may sense an impact applied to the bumper 10 .

The bumper 20 includes a first bumper 21 formed on a first outer periphery of the main body 10 and a second bumper 22 formed on a second outer periphery of the main body 10 separately from the first bumper 21 . can do. Here, the bumper 20 may be formed around the left and right sides of the main body 10, respectively, based on the direction F in which the front of the robot cleaner 10 faces. For example, referring to FIGS. 1 to 4 , the first bumper 21 may be formed around the left side of the main body 10 with respect to the direction F in which the front of the robot cleaner 10 faces, and the second bumper (22) may be formed on the right periphery of the main body 10 based on the direction (F) to which the front faces.

Here, the first bumper 21 and the second bumper 22 may be implemented as physically separate and different bumpers. Accordingly, the bumpers of the robot cleaner may operate independently of each other. That is, when the first bumper 21 collides with an obstacle while the robot cleaner 100 is running, the first bumper 21 absorbs an external shock and applies the absorbed external shock to the first bumper 21 corresponding to the first bumper 21 . 1 It can be transmitted to the sensing unit. However, the second bumper 22 is implemented as a physically separate bumper from the first bumper 21 , and is not affected by the collision, and the second sensor installed corresponding to the second bumper 22 detects an external impact. may not be delivered.

Meanwhile, according to an embodiment of the present invention, by forming the height of the upper end and the lower end of the bumper 20 to meet a predetermined condition, the robot cleaner 100 can detect various obstacles encountered while driving. This will be described in detail with reference to FIG. 4 .

Referring to FIG. 4 , the lower ends of the first bumper 21 and the second bumper 22 may be formed to be as close as possible to the surface to be cleaned. Specifically, the distance between the lower ends of the first bumper 21 and the second bumper 22 and the surface to be cleaned may be the same as the thickness of the cleaners 210 and 220 or smaller than the thickness of the cleaners 210 and 220 . Accordingly, the first bumper 21 and the second bumper 22 collide with a low obstacle such as a shallow threshold or a carpet, and the robot cleaner 100 can detect and avoid the low obstacle.

In addition, the upper ends of the first bumper 21 and the second bumper 22 may be formed to prevent a case in which an obstacle is caught only in the main body 10 without colliding with the bumpers 21 and 22 . Specifically, the height of the upper ends of the first bumper 21 and the second bumper 22 may be the same as the height of the main body 10 or may be formed higher than the height of the main body 10 . Accordingly, the first bumper 21 and the second bumper 22 collide with an obstacle floating above a certain height, such as a sofa or a bed, and only the main body 10 in a state that does not collide with the bumpers 21 and 22 . You can avoid getting caught.

Meanwhile, according to an embodiment of the present invention, the robot cleaner 100 may include guide parts 113 and 123 for guiding the cleaners 210 and 220 to be fixed at an optimal position.

If the cleaners 210 and 220 are not fixed at the optimal positions, the portions in which the cleaners 210 and 220 and the surface to be cleaned are changed according to the rotation of the first and second rotation members 112 and 122, which An imbalance is created with respect to the pair of cleaners 210 and 220 . In this case, the robot cleaner 100 may not be able to perform a desired driving. For example, the robot cleaner 100 in the straight travel mode may not be able to travel in a straight line, but may cause a situation in which the robot cleaner 100 is bent in a curved manner.

Accordingly, according to an embodiment of the present invention, the lower surface to which the cleaners 210 and 220 are fixed in each of the first rotating member 112 and the second rotating member 122 protrude toward the surface to be cleaned along the edge of the lower surface. It may include guide portions 113 and 123 for guiding the cleaners 210 and 220 to be fixed at an optimal position. Accordingly, the user of the robot cleaner 100 can fix the cleaners 210 and 220 to an optimal position.

Meanwhile, the sensing unit 130 may detect an external impact applied to the bumper 10 . Here, the sensing unit 130 may include a plurality of sensing units installed at positions corresponding to the respective bumpers. For example, when implemented with two bumpers 21 and 22 , the sensing unit 130 includes at least one first sensing unit installed to correspond to the first bumper 21 and at least one corresponding to the second bumper 22 . may include a second sensing unit of , and may be implemented as a contact sensor, an optical sensor, or the like. The sensing unit 130 may transmit the sensing result to the control unit 170 .

In addition, the control unit 170 determines a collision location where a collision occurs with an obstacle in the area of the bumper 20 using the detection result of the sensing unit 130 , and based on this, the first driving unit 151 and the second driving unit 151 to avoid the obstacle. 2 The driving unit 152 can be controlled.

5 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention. Referring to FIG. 5 , the robot cleaner 100 according to an embodiment of the present invention is configured to drive the sensing unit 130 , the communication unit 140 , the first rotating member 110 , and the second rotating member 120 . It may be configured to include a driving unit 150 , a storage unit 160 , a control unit 170 , an input unit 180 , an output unit 185 , and a power supply unit 190 .

The sensing unit 130 may detect various pieces of information required for the operation of the robot cleaner 100 , and transmit a detection signal to the control unit 170 . Here, the sensing unit 130 may include an external impact sensing unit 131 .

The external shock detection unit 131 may detect an external shock applied to the bumper 20 and transmit a detection signal to the control unit 170 . Such an external impact sensor may be implemented as a contact sensor, an optical sensor, or the like.

The communication unit 140 may include one or more modules that enable wireless communication between the robot cleaner 100 and another wireless terminal or between the robot cleaner 100 and a network in which the other wireless terminal is located. For example, the communication unit 140 may communicate with a wireless terminal as a remote control device, and may include a short-distance communication module or a wireless Internet module for this purpose.

The robot cleaner 100 may have an operation state or an operation method controlled by a control signal received by the communication unit 140 as described above. The terminal for controlling the robot cleaner 100 may include, for example, a smartphone, a tablet, a personal computer, a remote controller (remote control device), etc. capable of communicating with the robot cleaner 100 .

The driving unit 150 may supply power to rotate the first rotating member 110 and the second rotating member 120 under the control of the control unit 170 . Here, the driving unit 150 may include the first driving unit 151 and the second driving unit 152 , and may be implemented by including a motor and/or a gear assembly.

Meanwhile, the storage unit 160 may store a program for the operation of the control unit 170 , and may temporarily store input/output data. Storage unit 160 is a flash memory type (flash memory type), hard disk type (hard disk type), multimedia card micro type (multimedia card micro type), card type memory (for example, SD or XD memory, etc.), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Programmable Read-Only Memory (PROM), Magnetic Memory, It may include at least one type of storage medium among a magnetic disk and an optical disk.

The input unit 180 may receive a user input for operating the robot cleaner 100 . In particular, the input unit 180 may receive a user input for selecting an operation mode of the robot cleaner 100 .

Here, the input unit 180 may include a keypad, a dome switch, a touch pad (static pressure/capacitance), a jog wheel, a jog switch, and the like.

The output unit 185 is for generating an output related to vision and hearing, and although not shown in the drawings, a display unit, a sound output module, an alarm unit, and the like may be included.

The display unit displays (outputs) information processed by the robot cleaner 100 . For example, when the robot cleaner is cleaning, a user interface (UI) or a graphic user interface (GUI) that displays a cleaning time, a cleaning method, a cleaning area, etc. related to a cleaning mode may be displayed.

The power supply unit 190 supplies power to the robot cleaner 100 . Specifically, the power supply unit 190 supplies power to each functional unit constituting the robot cleaner 100 , and when the remaining power is insufficient, the power supply unit 190 may be charged by receiving a charging current. Here, the power supply 190 may be implemented as a rechargeable battery.

The controller 170 generally controls the overall operation of the robot cleaner 100 . Specifically, the control unit 170 may control the driving unit 150 to rotate at least one of the first rotating member 110 and the second rotating member 120 to drive the robot cleaner 100 in a specific moving direction. .

For example, if the first rotation member 110 and the second rotation member 120 rotate in the same direction and at the same speed, the robot cleaner 100 may perform a rotational motion in place. The robot cleaner 100 may rotate in place according to the rotation speed of the first rotating member 110 and the second rotating member 120 .

More specifically, when the first rotating member 110 and the second rotating member 120 rotate in the same direction and at the same speed, each relatively opposite to the center of the body 10 of the robot cleaner 100 The direction of movement of the one end and the other end located on the surface to be cleaned is opposite to each other. That is, by the rotation of the first rotating member 110, one end located on the opposite side of the first rotating member 110 of the robot cleaner 100 with respect to the surface to be cleaned moves in the direction in which the second rotating member 120 rotates. The direction in which the other end of the robot cleaner 100 opposite to the second rotating member 120 moves with respect to the surface to be cleaned is opposite to each other.

Accordingly, the resultant force of the frictional force acting on the robot cleaner 100 may act as a rotational force with respect to the robot cleaner 100 while being opposite to each other.

As another example, the controller 170 may control the first rotation member 110 and the second rotation member 120 to rotate in different directions and at the same speed. In this case, the direction in which one end moves with respect to the surface to be cleaned by the frictional force of the first rotating member 110 with respect to the body 10 of the robot cleaner 100 is the surface to be cleaned by the frictional force of the second rotating member 110 . It may be the same as the direction in which the other end moves with respect to . Accordingly, the robot cleaner 100 may perform straight travel in a specific direction. This will be described in detail with reference to FIGS. 6 to 7 .

6 to 7 are diagrams for explaining a driving operation of the robot cleaner according to an embodiment of the present invention.

6 is a view showing a rotation control table for realizing the straight travel of the robot cleaner according to an embodiment of the present invention. The controller 170 may control the rotation of each of the rotation members 110 and 120 by controlling the driving unit 150 based on the rotation control table value stored in the storage 160 . The rotation control table may include at least one of a direction value, a speed value, and a time value allocated to each of the rotation members 110 and 120 for each movement mode. 6 , the rotation direction of the first rotation member 110 and the rotation direction of the second rotation member 120 may be different from each other. In addition, the rotation speed and time of each of the rotation members 110 and 120 may have the same value.

The rotational direction of the rotating member according to an embodiment of the present invention may be described based on the direction in which the robot cleaner 100 is viewed from the top. For example, the first direction may mean a direction in which the robot cleaner 100 is rotated counterclockwise in a state in which the traveling direction 300 is viewed from the top at 12 o'clock. Also, the second direction is different from the first direction, and may mean a direction in which the traveling direction 300 is rotated in a clockwise direction at 12 o'clock.

In this case, the robot cleaner 100 may perform a straight travel as shown in FIG. 7 . Referring to FIG. 7 , the robot cleaner 100 according to an embodiment of the present invention rotates the first rotating member 110 in a first direction, and rotates the second rotating member 120 in a second direction different from the first direction. By rotating in the two directions, a relative movement force according to the frictional force is generated, and straight travel in the travel direction can be performed.

On the other hand, the inclination direction of the rotation shafts 310 and 320 in FIGS. 1 to 7 described above is only an example, and may be implemented by being inclined in another direction depending on the embodiment. As an example, the first and second rotational shafts 310 and 320 of each of the first and second rotational members 110 and 120 are shown in FIG. 3 with respect to the central axis 300 corresponding to the vertical axis of the robot cleaner 100 . In contrast to the case of to 4, it may be inclined at an angle. In this case, the first and second rotation members 110 and 120 may be upwardly inclined outward with respect to the central axis 300 . That is, among the regions of the first and second rotation members 110 and 120 , a region located closer to the central axis 300 may strongly adhere to the surface to be cleaned than a region located far from the central axis 300 . In this case, when the pair of rotating members 110 and 120 rotate, the relative frictional force generated between the surface to be cleaned may be greater at the center of the main body 10 than at the outside.

Accordingly, contrary to the case of FIGS. 1 to 7 , the movement speed and direction of the robot cleaner 100 can be controlled by controlling the rotation of the pair of rotating members 110 and 120 , respectively. Specifically, the robot cleaner 100 rotates the first rotating member 110 in a second direction and rotates the second rotating member 120 in a first direction different from the second direction, thereby relative movement according to frictional force. It can generate a force and perform a straight run in the moving direction.

8 is a cross-sectional view of a robot cleaner specifically illustrating a prevention member according to an embodiment of the present invention. 9 is a perspective view specifically illustrating an preventing member formed on a rotating member according to an embodiment of the present invention. 8 to 9 , the preventing member 400 includes a first rotating member 110 and a first preventing member 410 protruding from the upper surface of each of the second rotating member 120 and the robot cleaner 100 body ( 10) may include a second preventing member 420 protruding from the bottom surface.

Here, the first preventing member 410 may be implemented as at least one protruding member, for example, may be implemented as two protruding members as shown in FIGS. 8 to 9 . More specifically, referring to FIG. 9 , the first preventing member 410 includes a protruding member 411 formed to protrude around a first circle centered on the rotation shaft 310 and a second prevention member 411 centered on the rotation shaft 310 . It may include a protrusion member 412 protruding from the circumference of the circle. Here, the diameter of the first circle may be greater than the diameter of the second circle. The first preventing member 410 may be made of the same material as the rotating members 110 and 120 , for example, plastic.

In addition, the second prevention member 420 may be implemented as at least one or more protruding members, for example, may be implemented as two protruding members as shown in FIG. 8 . More specifically, the second preventing member 420 is formed to protrude around the third circle centered on the rotation shaft 310 and the protrusion member 421 protruding around the fourth circle centered on the rotation shaft 310 . It may include a protruding member 422 . Here, the diameter of the third circle may be greater than the diameter of the fourth circle. The second prevention member 420 may be made of the same material as the body 10 , for example, plastic.

When the first rotating member 110 and the second rotating member 120 rotate in the robot cleaner 100 , the first preventing member 410 is spaced apart from the second preventing member 420 by a predetermined distance. can rotate That is, in a state where the second preventing member 420 formed on the bottom surface of the main body 10 of the robot cleaner 100 is fixed, only the first preventing member 410 formed on the rotating members 110 and 120 is in the rotation of the rotating members 110 and 120. can be rotated accordingly.

The prevention member 400 can prevent the inflow of dirt near the rotating shafts 310 and 320 by reducing a gap through which dirt, such as hair or thread, can flow. Specifically, when the robot cleaner 100 is not provided with the preventing member 400 according to an embodiment of the present invention, dirt such as hair or thread is drawn into the rotational movement of the rotating members 110 and 120 and wound around the rotating shaft. Winding may occur. When such a winding phenomenon occurs, the possibility of failure due to motor overload increases as well as a problem of lowering cleaning efficiency. However, the robot cleaner 100 according to an embodiment of the present invention is provided with the prevention member 400 to prevent the winding phenomenon, thereby preventing the occurrence of malfunctions and reduction in cleaning efficiency due to motor overload, and the robot cleaner 100 . stable driving can be achieved.

Meanwhile, the first preventing member 410 and the second preventing member 420 may be sequentially disposed in order to more effectively prevent dirt from being introduced into the vicinity of the rotation shafts 310 and 320 . For example, as shown in FIG. 8 , the robot cleaner 100 includes two protruding members 411 and 412 on the upper surfaces of the rotating members 110 and 120 , and two protruding members 421 and 422 on the bottom of the main body 10 . In this case, the protruding member 421 , the protruding member 411 , the protruding member 422 , and the protruding member 412 may be disposed in this order from the outside away from the rotating shaft 310 toward the center of the rotating shaft 310 .

In this case, a gap 430 formed between the end of the first preventing member 410 and the bottom surface of the main body 10 and the gap formed between the end of the second preventing member 420 and the upper surfaces of the rotating members 110 and 120 ( 440) may be alternately formed. More specifically, referring to FIG. 10 , the gap 430 formed between the end of the first prevention member 410 and the bottom surface of the body 10 is formed near the bottom surface of the body 10 , and the second prevention member A gap 440 formed between the end of the 420 and the upper surfaces of the rotating members 110 and 120 may be formed near the rotating members 110 and 120 .

Accordingly, it is possible to prevent the winding phenomenon that occurs when dirt, such as hair or thread, flows into the vicinity of the rotation shafts 310 and 320 . More specifically, since it is not possible to completely block the gaps 430 and 440 between the parts for the rotational movement of the first rotating member 110 and the second rotating member 120 of the robot cleaner 100, the gaps 430 and 440 are minimized. At the same time, it is possible to reduce the probability of ingress of dirt such as hair or thread by configuring the interstitial paths to be staggered. That is, it is possible to prevent the inflow of dirt by making a winding path through which the dirt may be introduced.

11 is a cross-sectional view of a robot cleaner specifically illustrating a prevention member according to another embodiment of the present invention. Referring to FIG. 11 , at least one protruding member 411 and 412 included in the first preventing member 410 and at least one protruding member 421 , 422 included in the second preventing member 420 may be formed of a brush. .

When the prevention member 400 is formed of a brush brush made of a flexible material, it may bend even when it comes into contact with a counterpart part due to the flexible nature of the brush brush, so as not to interfere with the rotational movement of the rotating members 110 and 120, and at the same time create a wall to create a gap It is possible to remove the space where the dirt can enter by completely blocking it. In addition, when dirt collects on the brush, only the brush can be cleaned and reused, thereby improving user convenience.

12 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present invention. Referring to FIG. 12 , first, the robot cleaner 100 may supply power for driving ( S101 ).

In addition, the robot cleaner 100 may control the rotational movement of the first and second rotational members respectively rotating about the first rotational axis and the second rotational axis by power to control the robot cleaner to travel in a specific moving direction. There is (S102). More specifically, the robot cleaner 100 may rotate at least one of the first rotating member 110 and the second rotating member 120 according to the driving mode to travel in a specific moving direction. Here, the driving mode may include various modes such as a straight driving mode, a reverse driving mode, an intensive cleaning mode, and an S-shaped driving mode.

In addition, the robot cleaner 100 may prevent dirt from being introduced into the vicinity of the first rotational shaft 310 and the second rotational shaft 320 by using the prevention member formed in the robot cleaner ( S103 ). Here, the preventing member may be implemented as the preventing member described with reference to FIGS. 8 to 11 .

On the other hand, when the bumper 20 collides with an obstacle while the robot cleaner 100 is driving, the control unit 170 determines a bumper that collides with the obstacle among the plurality of bumpers 20 based on the detection result of the sensing unit 130 . and, based on this, at least one of the first driving unit 151 and the second driving unit 152 may be controlled to avoid obstacles.

Meanwhile, in the above-described FIGS. 8 to 11 , the case in which the prevention member 400 is implemented as a total of four protruding members has been described as an example, but the number is not limited thereto. In addition, in the above-described FIGS. 8 to 10 , it has been described as an example that the outermost protruding member is formed on the bottom surface of the main body 10 , but is not limited thereto, and the outermost protruding member is formed on the upper surface of the rotating member 110 and 120 according to the embodiment A member may be formed.

Meanwhile, the above-described control method according to various embodiments of the present invention may be implemented as a program code and stored in various non-transitory computer readable media, and may be provided to each server or device.

The non-transitory readable medium refers to a medium that stores data semi-permanently, rather than a medium that stores data for a short moment, such as a register, cache, memory, etc., and can be read by a device. Specifically, the above-described various applications or programs may be provided by being stored in a non-transitory readable medium such as a CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, and the like.

In addition, although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention as claimed in the claims Various modifications are possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or prospect of the present invention.

100: robot cleaner 10: body
20: bumper 110: first rotation member
120: second rotation member 130: sensing unit
140: communication unit 150: driving unit
160: storage unit 170: control unit
180: input unit 185: output unit
190: power supply 400: prevention member

Claims (10)

In the robot vacuum cleaner,
main body;
a driving unit provided on the main body to supply power for driving of the robot cleaner;
a plurality of rotation members each rotating about a plurality of rotation shafts by the power of the driving unit to provide a moving force for driving of the robot cleaner, and to which the cleaners can be fixed, respectively; and
Including a; prevention member for preventing the inflow of dirt near the rotation shaft of each of the plurality of rotation members;
The preventing member includes at least one first preventing member protruding from an upper surface of each of the plurality of rotation members, and at least one second preventing member protruding from a bottom surface of the robot cleaner body,
The first and second preventing members are sequentially arranged such that the gap formed between the end of the first preventing member and the bottom surface of the main body and the gap formed between the end of the second preventing member and the upper surface of the rotating member are staggered. A robot cleaner, characterized in that it is disposed. According to claim 1,
The robot vacuum cleaner,
When the cleaners are respectively fixed to the plurality of rotating members, the robot cleaner, characterized in that it can travel according to the frictional force between the fixed cleaner and the surface to be cleaned generated according to the rotational movement of each of the fixed cleaners. delete According to claim 1,
When the plurality of rotating members rotate, the first preventing member rotates while being spaced apart from the second preventing member by a predetermined distance. delete According to claim 1,
The first and second preventing members are formed of a brush to minimize the gap. In the control method of a robot cleaner,
supplying power for driving of the robot cleaner;
controlling the rotational motions of the first and second rotational members respectively rotating about a plurality of rotational shafts by the power to control the robot cleaner to travel in a specific moving direction; and
Including; using the prevention member formed in the robot cleaner to prevent the inflow of dirt to the vicinity of the plurality of rotation shafts;
The robot cleaner is characterized in that it travels using the rotational motion of the plurality of rotating members as a moving force source,
The preventing member includes at least one first preventing member protruding from an upper surface of each of the plurality of rotation members, and at least one second preventing member protruding from a bottom surface of the robot cleaner body,
The first and second preventing members are sequentially arranged such that the gap formed between the end of the first preventing member and the bottom surface of the main body and the gap formed between the end of the second preventing member and the upper surface of the rotating member are staggered. Control method characterized in that it is arranged as. delete 8. The method of claim 7,
When the plurality of rotation members rotate, the first prevention member rotates while being spaced apart from the second prevention member by a predetermined distance. 8. The method of claim 7,
The first and second prevention members are formed of a brush to minimize the gap.

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