KR101482435B1 - System for treating foreign material and method for treating foreign material having the same - Google Patents

Abstract

The present invention relates to a system for treating foreign materials, the system for treating foreign materials including a cleaning robot input to a specific zone, and configured to remove foreign materials or a mixed fluid containing them from the specific zone; a foreign material treating device configured to treat the mixed fluid discharged from the specific zone by centrifugation or sedimentation; a foreign material transfer line connected between the cleaning robot and the foreign material treating device, and configured to supply the mixed fluid introduced from the cleaning robot to the foreign material treating device; and a treated fluid transfer line connected between the specific zone and the foreign material treating device, and configured to supply, to the specific zone, a treated fluid where foreign materials are removed by the foreign material treating device. The system for treating foreign materials may stably seat the cleaning robot on a foreign material layer, such as sludge or the like accumulated in a specific zone, such as the inside of a structure or the like, and may quickly remove foreign materials by identifying the structure or shape of a cleaning zone, obstacles, or the like within a short time and being optimally activated and, simultaneously, may purify the removed foreign materials by centrifugation or sedimentation and collect the treated fluid, thereby ultimately improving foreign material removal capability and resource utilization.

Description

TECHNICAL FIELD [0001] The present invention relates to a foreign matter treatment system and a foreign matter treatment method using the same. BACKGROUND OF THE INVENTION [0002]

The present invention relates to a foreign matter treatment system capable of promptly removing foreign matter such as sludge accumulated in a specific area such as inside of a structure and simultaneously purifying the foreign matter, and a foreign matter treatment method using the same.

Many steel mills that use heated equipment or products use a large amount of cooling water for cooling steel making facilities and steel products. In order to process the cooling water, a water tank must be present, and physical and chemical impurities are introduced into the cooling water depending on the application.

When the time for which the foreign matter-containing water stays in the water tank is prolonged, the foreign matter precipitates and forms sludge. If you continue to use it without removing it, not only the water tank equipment itself will be damaged, but also steel making equipment and equipment using cooling water will increase the probability of failure. Consequently, the sludge settled in the tank should be removed.

In order to remove such sludge, conventionally, all the water in the water tank is discharged and the operator directly goes into the water tank to remove the sludge through a pump device or the like, or by using equipment such as a crane provided in the water tank, The sludge precipitated at the bottom was scraped off and discharged to the outside of the water tank.

In this case, the process using the water tank is temporarily stopped, which causes the productivity of the steel making process to be lowered. In addition, most of the water contained in the discharged sludge can not be properly separated and is discarded, which causes a problem that the resource recovery rate is lowered.

In order to solve this problem, a proposed method is to make a cleaning robot and clean the sludge by entering the water tank without removing the water in the water tank. The advantage of this method is that it can be cleaned even when the plant is running. It is possible to clean several times a year, not once or twice a year, so that the operation can be carried out efficiently since there is no need to clean large amounts of sludge at once.

However, the present cleaning robot runs on the power of the caterpillar attached to both sides. Although the caterpillar running system is used to improve the robustness of the robot, the general caterpillar can not be driven by the sludge in the form of mud because of the water tank inside the steel mill. That is, since the robot's caterpillar is rotated in the sludge layer, the wheel rotates as if it is floating in the air. If the capper filter is idle, the cleaning robot can not travel in the water tank.

Therefore, it is possible to remove the sludge under the capper filter so that the capper filter can contact the bottom surface of the water tank structure so as to prevent the capper filter from idling, and to remove the sludge regardless of the state of the sludge A cleaning robot is required. In addition, there is also a need for a foreign body treatment apparatus capable of improving the resource recovery rate by well separating the water contained in the sludge discharged from the inside of the water tank by the cleaning robot.

In addition, the cleaning robot and the foreign object processing apparatus should be controlled automatically according to each situation, and the workload of the worker should be reduced, not by manually operating the cleaning robot manually.

Relevant prior arts are disclosed in Publication No. 10-2012-0080484, Publication No. 10-2003-0043275.

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above problems, and it is an object of the present invention to stably mount a cleaning robot on a foreign matter layer such as sludge accumulated in a specific area such as inside of a structure, Which is capable of rapidly removing foreign matter at optimal maneuvering while simultaneously cleaning the removed foreign matters through centrifugal separation or sedimentation separation, and recovering the processing fluid.

In order to achieve the above object, an embodiment of the present invention provides a foreign body treating apparatus and a foreign body treating method using the same.

In one embodiment of the present invention, the cleaning robot for removing foreign matter or foreign matter contained in a specific region is installed in a specific region, is settled or traveled, and the cleaning robot is connected to the cleaning robot via a foreign matter transfer line, And a foreign matter treatment device for treating the foreign matter or the mixed fluid introduced from the cleaning robot by centrifugal separation or sedimentation separation.

In one embodiment, the cleaning robot includes a robot body to which a traveling driving unit is mounted, a first foreign body removing unit disposed on the robot body to remove a foreign substance from the robot body, and a first foreign body removing unit connected to the traveling driving unit, And a traveling unit provided to move a specific area.

In one embodiment, the first foreign body removing unit includes a first foreign body suction unit disposed at a lower end of the robot body and a foreign object sucked in from the first foreign body suction unit to be sucked to the outside of the robot body, And a first foreign body transferring unit connected to the first foreign body suction unit at an upper end of the robot body.

In one embodiment, the first foreign body suction part is formed at a lower end of the robot body, and the first foreign body is connected to the transmission part. The lower body suction port is installed at the lower end of the robot body, A first screw bar for moving a lower foreign matter of the robot body in the direction of the lower end suction port and a first driving part connected to the robot body through the first screw bar and the power transmitting member and driving the first screw bar .

In one embodiment, the lower inlet port is disposed at a lower central portion of the robot body, and the first screw bar may be formed with a screw wire on opposite sides of the lower inlet port.

In one embodiment, the first foreign matter suction unit may further include a crushing blade formed at both ends of the first screw bar and provided to crush the lower foreign matter of the robot body.

In one embodiment, the first foreign matter transferring unit includes a first pumping member disposed in the robot body and connected to the lower inlet port, and a first flow pipe connected to the first pumping member, And a first foreign matter flow rate measuring sensor provided to measure the flow rate of foreign matter discharged to the outside through the first flow path.

In one embodiment, the robot may further include a second foreign object removing unit mounted on the robot body, for removing foreign objects on the moving direction of the robot body.

In one embodiment, the second foreign body removing unit includes a second foreign body suction unit mounted on the robot body in the starting direction of the robot body and sucking foreign matter in the starting direction of the robot body, and a second foreign body suction unit And a second foreign body transferring part connected to the second foreign body suction part at an upper end of the robot body so as to transfer the foreign body to the outside.

In one embodiment, the second foreign body suction unit includes a support bracket disposed in a starting direction of the robot body, the support bracket having a front suction port through which the foreign object is sucked, a support link provided to connect the robot body and the support bracket, A second screw bar mounted on the bracket and provided to move the foreign object in the starting direction of the robot body to the front suction port and a second driving unit mounted on the support bracket and connected to the second screw bar and the power transmitting member can do.

In one embodiment, the front suction port is formed at a central portion of the support bracket, and the second screw bar may be formed with screw lines on opposite sides of the front suction port.

In one embodiment, the second foreign body removing unit may further include removal angle adjusting means for adjusting a foreign body removing angle of the second foreign body suction unit corresponding to a height of the foreign body layer in the starting direction of the robot body, The means may include a third driving part connected and arranged between the robot body and the supporting link so as to rotate the supporting link and a guide block arranged in the robot body and provided to guide the pivot range of the supporting link have.

In one embodiment, the removal angle adjusting means may further include a fourth driving unit mounted between the supporting link extended from the supporting bracket and the supporting link, and rotating the connecting link.

In one embodiment, the second foreign matter transferring portion includes a second pumping member disposed in the robot body and connected to the front suction port, and a second pumping member connected to the front suction port, for sucking foreign matter in the direction of movement of the robot body, And a second foreign matter flow rate sensor disposed on the flow tube and provided to measure a flow rate of foreign matter discharged to the outside through the second flow passage.

In one embodiment, the traveling unit includes a caterpillar connected to the traveling wheel linked to the traveling drive unit, disposed on both sides of the robot body, and a caterpillar, And a spike block disposed at a predetermined interval in the track link body.

In one embodiment, the spike block forms a staggered structure, and may be disposed in a staggered manner with respect to a central portion of the endless track.

In one embodiment, the traveling unit may further include a through hole formed at a central portion of the caterpillar connecting body at a predetermined interval, and provided to discharge the lower foreign object of the caterpillar body when the robot body sinks .

In one embodiment, the foreign body treatment apparatus includes foreign matter characteristic analyzing means for measuring a composition ratio and viscosity of the mixed fluid introduced from the apparatus frame and the foreign matter conveyance line, and means for analyzing the mixed fluid, A first foreign matter disposal means for firstly separating the fluid and the foreign matter concentrate into a liquid and a foreign matter concentrate, and a second foreign matter disposal means disposed in the lower portion of the first foreign matter disposal means in the apparatus frame, And a second foreign object processing means for extracting the second foreign object.

In one embodiment, the first foreign matter disposal unit includes a hydrocyclone part for separating the mixed fluid into a treatment fluid and a foreign substance concentrate by centrifugal separation, an overflow part connected to an upper end of the hydrocyclone part, And a foreign matter discharging unit connected to a lower end of the hydrocyclone unit and discharging the descending foreign substance concentrate.

In one embodiment, the second foreign material processing means includes a settling tank disposed in a lower portion of the first foreign material processing means and a foreign object settled in the foreign substance concentrate accumulated in the settling tank, An extracting screw disposed at the lower end of the inner surface of the sedimentation tank, and a foreign matter collecting tank disposed at one side of the sedimentation tank and collecting foreign matter extracted by the extraction screw.

In one embodiment, the settling tank has an inclined surface, and the extracting screw is installed on the inclined surface so as to extract foreign matter precipitated in the lower portion of the settling tank.

In one embodiment, the apparatus further includes extraction angle adjusting means for changing an angle of extraction of the foreign object by the extraction screw according to the physical property of the foreign object. The extraction angle adjusting means supports the settling vessel, And a fifth driving unit that is connected to and provided between the apparatus frame and the rotating frame at a predetermined distance from the hinge member so as to change an angle of the rotating frame and the rotating frame.

In one embodiment, the second foreign substance processing means includes a drain valve which is spaced apart from the lower end surface of the settling tank and is mounted so as to discharge the treatment fluid separated from the foreign substance concentrate accumulated in the settling tank, And a treatment water tank provided to collect the treatment fluid discharged from the drain valve.

In one embodiment, the foreign matter concentrate discharged from the foreign matter discharging portion is uniformly discharged in the width direction to the sedimentation tank. The foreign matter discharging portion is disposed between the foreign matter discharging portion and the settling tank, Wherein said discharge distributing means comprises a stationary panel disposed at the lower end of said foreign matter discharge portion in said apparatus frame, a flow panel rotatably connected by said stationary panel and a shaft, and a shaft connected to said shaft, And a sixth driving unit for adjusting an angle between the fixed panel and the floating panel by rotating the fixed panel.

In one embodiment, the apparatus further includes a processing fluid transfer line connected between the specific region and the object processing apparatus, the processing fluid transfer line connecting the specific region and the object processing apparatus to supply the processing fluid having the object removed from the object processing apparatus to a specific region, And the processing fluid transfer line may be configured to be connected between the specific region and the overflow portion or the processing bath.

In one embodiment, the cleaning robot may further include a control unit for controlling the cleaning robot, the foreign object processing apparatus, the foreign matter transfer line, or the process fluid transfer line.

In one embodiment, the control unit includes a cleaning robot control unit for controlling traveling or foreign object removal of the cleaning robot in a specific area, and a foreign matter treatment device for controlling the foreign matter treatment device for treating the mixed fluid introduced from the cleaning robot A foreign matter transfer line control unit for controlling foreign matter transfer between the cleaning robot and the foreign object processing apparatus, and a processing fluid transfer line control unit for controlling the transfer of the processing fluid between the foreign object processing apparatus and the specific region.

In one embodiment, the cleaning robot control unit may include a traveling driver that controls a traveling speed or a traveling direction of the cleaning robot in a specific area, and a controller that controls the first foreign object removing unit that removes foreign matter from the lower portion of the cleaning robot, And a current position determiner for determining a current position of the cleaning robot in the specific region and the second foreign object removing driver for controlling the foreign body removing driver and the second foreign body removing unit for removing foreign objects in the cleaning robot starting direction have.

In one embodiment, the first foreign substance removing driver includes a first screw bar actuating part for actuating the first screw bar for collecting foreign objects under the cleaning robot, and a second screw bar actuating part for actuating the first screw bar, And a first flow rate measuring unit for measuring a flow rate of foreign matter discharged to the outside by the first pumping member, wherein the flow rate of the foreign matter measured by the first flow rate measuring unit The operation of the first screw bar and the first pumping member may be stopped when the first screw bar and the first pumping member are below the predetermined operation reference flow rate.

In one embodiment, the second foreign matter removing driver includes a second screw bar actuating part for actuating the second screw bar for collecting foreign matter in the cleaning robot starting direction, and a second screw bar actuating part for actuating the second screw bar actuating part for discharging the foreign matter introduced from the cleaning robot moving direction side to the outside And a second flow rate measuring unit for measuring a flow rate of foreign matter discharged to the outside by the first pumping member, wherein the second pumping member operating unit operates the second pumping member And the operation of the second screw bar and the second pumping member is stopped when the flow rate of the foreign object is less than a predetermined operation reference flow rate.

In one embodiment, the second foreign body removing driver may include a foreign body layer height measuring unit for measuring a height of the foreign body layer in the cleaning robot starting direction, and a second foreign body height measuring unit for measuring a foreign body layer height, And a removal angle adjusting unit for changing the height of the bar.

In one embodiment, the control unit is connected to the cleaning robot control unit, the foreign material processing unit control unit, the foreign material transfer line control unit, or the process fluid transfer line control unit, processes information collected therefrom, And a display unit connected to the central processing unit and displaying information collected by the central processing unit to an operator.

In one embodiment, the central processing unit includes an arithmetic unit for calculating information collected from the cleaning robot control unit, the foreign material processing device control unit, the foreign material transfer line control unit, or the process fluid transfer line control unit, A power source for supplying or cutting off the power of the foreign material processing apparatus, and a path determination and setting unit for setting a cleaning area and a cleaning path of the cleaning robot in a specific area.

In one embodiment, the path determination and setting unit may include a cleaning area setting unit for setting a cleaning area by the cleaning robot in a specific area, an obstacle determining unit for determining the presence, And a cleaning path setting unit for setting a cleaning path of the cleaning robot in consideration of an inaccessible obstacle position.

According to an embodiment of the present invention, a foreign object processing method using the foreign object processing system includes a preparing step of putting the cleaning robot into a specific area and determining and setting a cleaning path; A foreign matter sucking step of sucking a mixed fluid containing foreign matter or foreign matter, and a foreign matter processing step of treating the mixed fluid sucked from the cleaning robot.

In one embodiment, the preparing step may include a cleaning area setting step of determining a size and a shape of a specific area and setting a cleaning area, a self position determination step of determining a current position of the cleaning robot in a specific area, A cleaning path setting step of setting the cleaning path of the cleaning robot on the basis of the set cleaning area, the current position of the cleaning robot, and the irrecoverable obstacle position information, have.

In one embodiment, the foreign matter sucking step includes a first foreign matter removing step of removing the lower foreign object of the cleaning robot, a moving step of running the cleaning robot according to the set cleaning path, A second foreign object removing step and a target arrival determining step of determining whether the final target point of the cleaning robot is reached within the set cleaning area.

In one embodiment, the first foreign matter removal step may be configured to determine whether the foreign matter is operated by comparing a flow rate of foreign matter introduced from a lower portion of the cleaning robot with a predetermined operation reference flow rate.

In one embodiment, the second foreign matter removing step may include a step of measuring a height of a foreign object layer in a specific region and a height of a foreign matter layer of the second screw bar, And a foreign matter flow rate comparing step of comparing the flow rate of the foreign object to be inspected with a predetermined operation reference flow rate.

In one embodiment, the second foreign object removing step may be configured to determine whether the cleaning robot is operated depending on whether the cleaning robot has reached a final target point within the set cleaning area.

In one embodiment, the foreign matter treatment step may include a foreign matter characteristic analysis step of analyzing physical properties of the mixed fluid introduced in the foreign matter suction step, a first foreign matter separation step of separating the mixed fluid into a treatment fluid and a foreign matter concentrate by centrifugal separation And a second separation step of separating the foreign substance concentrate into a treatment fluid and foreign matter by sedimentation separation.

In one embodiment, the apparatus may further include a discharge dispersion adjusting step of adjusting an discharge angle of the foreign matter concentrate introduced into the second foreign matter separation step in the first foreign matter separation step according to the physical property of the foreign object measured in the foreign matter characteristic analysis step have.

In one embodiment, the method may further include an extraction angle adjustment step of adjusting an extraction angle of the foreign object in the second foreign material separation step according to the physical property of the foreign object measured in the foreign object characteristic analysis step.

An object of the present invention is to provide a foreign object processing system and a foreign object processing method using the foreign object processing system, which are capable of removing foreign matter from the lower end of the cleaning robot. When the object is loaded into a specific area such as inside of a structure, So that it can be stably mounted on a specific area of the ground. At this time, of course, foreign matter accumulated in a specific area is also partially removed.

In addition, the cleaning robot put in a specific area can quickly identify the structure and shape of the structure, the presence / absence of obstacles, overcome and detour paths, and set an optimal maneuvering path and a cleaning area to finish removal of foreign matter in a specific area have.

In addition, the cleaning robot can be configured to remove foreign matters in the starting direction of the cleaning robot, so that smooth start of the cleaning robot can be ensured within a specific area, and foreign matter in a specific area can be removed at the same time. At this time, the foreign object removing angle can be changed in the vertical direction, and the foreign object can be stably removed regardless of the height of the foreign object layer accumulated in the specific area on the starting direction side of the cleaning robot.

 In addition, the flow rate of the foreign object sucked from the lower end portion or the starting direction side of the cleaning robot is measured, and when the flow rate is less than the predetermined reference flow rate, the foreign matter suction is automatically stopped, thereby unnecessary power consumption can be prevented. At this time, whether or not the cleaning robot has reached the final target point in the specific area determines whether or not to re-operate.

It is also possible to analyze the physical properties such as composition ratios and viscosities of the foreign matter introduced from the cleaning robot, and to uniformly disperse and precipitate the foreign matter uniformly in the foreign matter treatment apparatus according to the analyzed foreign matter properties.

Further, in the foreign material processing apparatus, the foreign matter introduced from the cleaning robot is primarily separated into a treatment fluid and a foreign substance concentrate through centrifugal separation, and is subjected to a stepwise treatment in which the treatment fluid and the foreign substance are secondarily separated through sedimentation separation. Which improves the reusable treatment fluid recovery rate in the mixed fluid, which ultimately can increase resource utilization.

1 is a configuration diagram of a foreign object processing system according to the present invention.
FIG. 2 is a perspective view of a cleaning robot according to an embodiment of the present invention shown in FIG. 1. FIG.
3 is a front view of the invention shown in Fig.
4 is a side view of the invention shown in Fig.
5 is a top view of the invention shown in Fig.
6 is a bottom view of the invention shown in Fig.
7 is a rear view of the invention shown in Fig.
FIG. 8 is a partial enlarged view of an embodiment of a second foreign body removing unit in the invention shown in FIG. 2; FIG.
FIG. 9 is a partially enlarged view of an embodiment of the driving drive unit in the invention shown in FIG. 2. FIG.
FIG. 10 is a partially enlarged view of an endless track connector according to an embodiment of the present invention shown in FIG. 2. FIG.
FIG. 11 is a partially enlarged view of an embodiment of the first driving unit in the invention shown in FIG. 2. FIG.
12A and 12B are operational state diagrams showing a state in which the cleaning robot, which is the invention shown in FIG. 2, is seated in a specific region, activated and removed.
FIG. 13 is an operational state diagram illustrating a state in which the cleaning robot of FIG. 2 adjusts the removal angle of the second screw bar according to the height of the foreign material layer.
FIG. 14 is a perspective view of an embodiment of a foreign matter treatment apparatus in the invention shown in FIG. 1; FIG.
15 is a side view of the invention shown in Fig.
16 is a top view of the invention shown in Fig.
17 is a front view of the invention shown in Fig.
18 is a partial enlarged view of an embodiment of the hydrocyclone part in the invention shown in FIG.
Fig. 19 is a partial enlarged view of one embodiment of the discharge dispersing means in the invention shown in Fig. 14; Fig.
FIG. 20 is a partially enlarged view of an embodiment of the extraction angle adjusting means in the invention shown in FIG. 14; FIG.
FIG. 21 is a partially enlarged view of one embodiment of the extraction driver in the invention shown in FIG. 14; FIG.
Fig. 22 is a diagram showing the moving state of the foreign object treatment apparatus of the invention shown in Fig. 14;
23 is a block diagram of an embodiment of a control unit in the invention shown in FIG.
24 is a block diagram of an embodiment of the central processing unit in the invention shown in FIG.
FIG. 25 is a block diagram of an embodiment of the cleaning robot adjusting unit in the invention shown in FIG. 23. FIG.
FIG. 26 is a block diagram of an embodiment of a foreign material processing apparatus adjustment unit in the invention shown in FIG. 23. FIG.
Fig. 27 is a flowchart of the foreign matter treatment method of the present invention.
FIG. 28 is a flowchart showing an embodiment of the preparation step in the invention shown in FIG.
29A to 29C are diagrams showing a state in which the cleaning path of the cleaning robot is set in consideration of the structure and form of a specific area, the presence / absence of an obstacle, overcoming part, and detour path according to the flowchart shown in FIG.
FIG. 30 is a flowchart showing an embodiment of a foreign body inhalation step in the invention shown in FIG.
31A to 31C are detailed flowcharts of the invention shown in Fig.
FIG. 32 is a flowchart showing an embodiment of a foreign matter processing step in the invention shown in FIG.
33A to 33B are detailed flowcharts of the invention shown in FIG.

In order to facilitate understanding of the features of the present invention, a foreign object processing system and a foreign object processing method using the same according to an embodiment of the present invention will be described in detail.

In order to facilitate understanding of the embodiments described below, in the reference numerals shown in the accompanying drawings, the related components among the components that perform the same function in the respective embodiments are denoted by the same or an extension line number.

Embodiments related to the present invention are basically capable of stably mounting the cleaning robot on a foreign matter layer such as sludge accumulated in a specific area such as inside of a structure and quickly grasp the structure, It is possible to rapidly remove the foreign matter with optimum maneuvering, and at the same time, the removed foreign matter is purified through centrifugal separation, sedimentation separation or the like, and the treatment fluid is recovered.

Hereinafter, a specific embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a configuration diagram of a foreign object processing system according to the present invention.

1, an embodiment of a foreign object processing system 100 according to the present invention includes a cleaning robot 200, a foreign object processing apparatus 300, a foreign matter transfer line 500, and a processing fluid transfer line 600, .

The cleaning robot 200 may be installed in a specific area such as the inside of the structure and may be settled or run to remove mixed fluid containing foreign matter or foreign matter in a specific area. 200 can be processed stepwise by centrifugal separation or sedimentation separation.

Hereinafter, the specific region will be described as being limited to the inside of a structure such as a water tank. However, the present invention is not limited thereto, and various spaces may be formed in which a mixed fluid layer containing foreign matters or foreign matter is formed.

At this time, the foreign matter transfer line 500 connects the cleaning robot 200 and the foreign material processing apparatus 300 so that the mixed fluid sucked from the cleaning robot 200 is introduced into the foreign material processing apparatus 300 Can be provided. The process fluid transfer line 600 is connected to the inside of the structure and the foreign material processing apparatus 300 and is provided to re-supply the process fluid separated from the foreign material in the object processing apparatus 300 again into the structure .

Here, the foreign matter transfer line 500 and the process fluid transfer line 600 may be provided in the form of a pipe, and pumping means (not shown) may be mounted for smooth flow of the mixed fluid or the treatment fluid, respectively.

The foreign matter transfer line 500 may include a flow rate control valve (not shown) for controlling the flow rate of foreign matter or the mixed fluid, and may include a storage tank (not shown) capable of temporarily storing foreign matter or the mixed fluid according to the flow rate control Time). The process fluid transfer line 600 may also include a flow control valve (not shown) that controls the flow rate of the process fluid, and may include a storage tank (not shown) capable of temporarily storing the process fluid according to the flow rate control .

2 is a perspective view of an embodiment of the cleaning robot according to the invention shown in FIG. 1, FIG. 3 is a front view of the invention shown in FIG. 2, FIG. 4 is a side view of the invention shown in FIG. 2, FIG. 6 is a bottom view of the invention shown in FIG. 2, and FIG. 7 is a rear view of the invention shown in FIG. 2.

2 to 7, the cleaning robot 200 includes a robot body 210 on which a traveling drive unit 295 is disposed, a robot body 210 mounted on the robot body 210, A second foreign body removing unit 250 for removing foreign objects in the starting direction of the robot body 210 mounted on the robot body 210 and a second foreign body removing unit 250 for removing the foreign matters in the starting direction of the robot body 210, And a traveling unit 290 connected to the robot body 210 and provided for moving the robot body 210 inside the structure.

The robot body 210 may include a support frame 211, a vertical beam 212, a horizontal beam 213, and a loop member 214. The support frame 211 is a part where the first and second foreign body removal units 220 and 250 are supported and mounted. A plurality of the vertical beams 212 may be mounted on the upper end of the support frame 211, In one embodiment of the invention, four are mounted. Of course, the present invention is not limited thereto.

The horizontal beam 213 connects the vertical beam 212 at an upper end of the vertical beam 212 so that the connection structure between the vertical beam 212 and the horizontal beam 213 is a rectangular parallelepiped Can be combined. This is for fixing or supporting a component disposed at the upper end of the support frame 211 with respect to the first and second foreign material removal units 220 and 250.

 The ring members 214 may be spaced apart from the horizontal beams 213 by a predetermined distance and may be connected to a crane or a hoist so as to be supplied to the cleaning robot 200 into the structure. In an embodiment of the present invention, the horizontal beams 213 are arranged in two, and the loop members 214 are mounted at four ends of the horizontal beams 213, spaced from each other. Accordingly, the cleaning robot 200 is supported at four places and is introduced into the structure, so that a more stable lowering operation is possible.

At this time, the ring member 214 includes a pair of fixing blocks 214a and a fastening bolt 214b, and adjusts the position of the pair of fixing blocks 214a according to the center of gravity position of the cleaning robot 200 And fixed with a fastening bolt 214b to adjust the position of the ring member 214. [

The robot 200 is fixed to the horizontal beam 213 and the vertical beam 212 and transmits information on the state of the cleaning robot 200 to the operator or the controller 400, And a communication member 219 for sending out to the robot 200 can be mounted.

The first foreign body removing unit 220 may be mounted on the robot body 210 and may be provided to remove the foreign object on the lower side of the robot body 210. The first foreign body removing unit 220, The first foreign body suction unit 230 and the first foreign body transfer unit 240 may be included.

The first foreign body suction unit 230 may be disposed at the lower end of the robot body 210 so as to suck the lower foreign matter of the robot body 210. [ The first foreign matter suction unit 230 may include a lower suction port 231, a first screw bar 232, a first driving unit 233, and a breaking blade 235.

The first foreign matter transferring unit 240 is connected to the first foreign body suction unit 230 at the upper end of the robot body 210 to transfer the foreign object sucked by the first foreign body suction unit 230 to the outside, . The first foreign matter transferring unit 240 may include a first pumping member 241, a first flow pipe 242, and a first foreign object flow rate measuring sensor 243.

2 to 7 and 11, the lower suction port 231 is formed at the lower end of the support frame 211 of the robot body 210, and the first foreign object is transferred to the first The robot body 210 may be connected to the pumping member 241 through a pipe 241a and may be provided so that the lower foreign matter of the robot body 210 may be introduced. In the embodiment of the present invention, the lower suction port 231 is formed at the lower end of the support frame 211, considering the size of the support frame 211, the number of the first screw bars 232, and the like . Accordingly, when the size of the support frame 211 is different or the number of the first screw bars 232 is different, the number of the lower suction ports 231 may be changed correspondingly.

The first screw bar 232 may be mounted on the lower end of the support frame 211 of the robot body 210 and may be provided to move the lower foreign object of the robot body 210 toward the lower end suction port 231 have. In an embodiment of the present invention, the first screw bar 232 is installed in four, and one lower inlet 231 is formed between the two first screw bars 232.

11, the first screw bar 232 may be integrally connected to a power transmitting member 234 such as a chain or a timing belt, and may be provided to be operated by the first driving unit 233 have. The first driving unit 233 may be disposed at an upper end of the support frame 211 of the robot body 210. In an embodiment of the present invention, the first driving unit 233 may be implemented as a driving motor, but the present invention is not limited thereto. The first driving unit 233 may be implemented by other power generating means such as an engine of an internal combustion engine.

The lower end suction port 231 is disposed at the center of the lower end of the support frame 211 of the robot body 210. The first screw bar 232 is connected to the lower end suction port 231, To form a screw line.

In order to smoothly remove foreign matter present in the lower portion of the cleaning robot 200 through the lower suction port 231 when the cleaning robot 200 descends, the first screw bar 232 moves the foreign matter into the lower suction port 231. [ (231).

The lower end suction port 231 at the lower end of the support frame 211 is connected to the first pumping member 241 installed at the upper end of the support frame 211, It is subject to some restrictions. The first pumping member 241 is disposed on one side of the upper center of the support frame 211 so that the lower pumping member 241 connected to the first pumping member 241 through the pipe 241a 231 are positioned at the lower central portion of the support frame 211.

Accordingly, the first screw bar 232 must be formed with a screw line in the opposite direction to the lower end of the support frame 211 based on the position of the lower end suction port 231 so that the pair of first screw bars 232 are rotated, the foreign object will be gathered along the screw lines toward the lower inlet 231.

The crushing blade 235 is mounted on the distal end and the rear end of the first screw bar 232 and is not moved by the screw line of the first screw bar 232 from the lower side of the robot body 210 May be provided to break the foreign object located in the portion. This is in contrast to the case of a foreign matter such as sludge accumulated in a water tank of a steel making facility or the like, and the foreign material is a hard material. Of course, in the case of a foreign object located below the screw line of the first screw bar 232, it may be broken by a screw line.

The first pumping member 241 is disposed at one side of the upper center of the robot body 210 and is connected to the lower inlet 231 through a pipe 241a and a foreign object at the lower end of the robot body 210 And may be provided so as to be sucked into the lower suction port 231. The first pumping member 241 may be a hydraulic pump or the like.

The first flow pipe 242 is connected to the first pumping member 241 and may be provided as a path through which foreign matter sucked by the first pumping member 241 is discharged to the outside. The first foreign matter flow rate measuring sensor 243 can be mounted on the first flow tube 242 and the flow rate of the foreign matter or the mixed fluid sucked from the lower end of the robot body 210 can be grasped.

Meanwhile, the second foreign body removing unit 250 may be mounted on the robot body 210 and may be provided to remove foreign matter on the moving direction of the robot body 210. The second foreign body removing unit 250 May include a second foreign body suction portion 260, a removal angle adjusting means 280, and a second foreign body transfer portion 270.

The second foreign body suction unit 260 may be mounted on the robot body 210 in the starting direction of the robot body 210 and may be provided to suck foreign matters in the starting direction of the robot body 210, A front suction port 261, a support bracket 262, a second screw bar 263, and a second driving unit 264.

The removal angle adjusting means 280 may be provided to adjust the foreign object removal angle of the second foreign body suction portion 260 in correspondence with the height of the foreign body layer in the starting direction of the robot body 210, 3 and 4 driving units 283 and 285, and a guide block 282.

The second foreign matter transferring unit 270 is connected to the second foreign body suction unit 260 at the upper end of the robot body 210 to transfer the foreign object sucked by the second foreign body suction unit 260 to the outside, And may comprise a second pumping member 271, a second flow tube 272 and a second foreign-body flow rate sensor 273.

2 to 7 and 8, the support bracket 262 may be disposed on the robot body 210 in the starting direction, and may be provided in a long cylindrical shape with one side opened . The front suction port 261 may be formed at the center of the support bracket 262. The front suction port 261 is a portion where the foreign body in the starting direction of the robot body 210 is sucked.

One end of the support link 281 may be rotatably mounted on the robot body 210 with a shaft 281a and the other end may be connected to the upper end of the support bracket 262 with a shaft 281b. The support bracket 262 moves up and down when the support link 281 rotates.

The second screw bar 263 is mounted inside the support bracket 262 and rotates so that the foreign object in the starting direction of the robot body 210 is transferred toward the front suction port 261. The second driving unit 264 is mounted on one side of the upper end of the supporting bracket 262 and connected to one end of the second screw bar 263 by a power transmitting member 265, ). In an embodiment of the present invention, the second driving unit 264 may be implemented as a driving motor, but the present invention is not limited thereto. The second driving unit 264 may be realized by other power generating means such as an engine of an internal combustion engine.

In this embodiment, the front suction port 261 is formed at the center of the support bracket 262, so that the second screw bar 263 is moved in a direction opposite to the front suction port 261 A screw line can be formed.

Accordingly, when the second screw bar 263 is rotated by the second driving unit 264, foreign matter is collected from both sides of the second screw bar 263, and the front suction port 261 . If the front suction port 261 is formed at another position on the support bracket 262, the screw lines of the second screw bar 263 may be formed in opposite directions with respect to the front suction port 261.

The third driving portion 283 of the removal angle adjusting means 280 is fixed on the vertical beam 212 of the robot body 210 with one side fixed to the fixing block 283a and rotatable by the shaft 283b And the other side may be connected by the shaft 283c on the support link 281. [ The worker can adjust the position of the fixing block 283a and adjust the vertical position of the third driving part 283 in accordance with the connection structure with the supporting link 281. [

The supporting link 281 connected to the third driving unit 283 rotates within a certain range so that the supporting bracket 262 connected to the supporting link 281 rotates, The height of the second screw bar 263 disposed inside the support bracket 262 is changed. In an embodiment of the present invention, the third driving unit 283 may be implemented as a linear motor, but the present invention is not limited thereto, and other power means such as a hydraulic cylinder may be used.

The guide block 282 may be mounted on the vertical beam 212 of the robot body 210 and may be moved along the support link 281 and the pivotable range for stable rotation of the support link 281. [ Groove 282a. A moving pin 281c disposed in the extension block 281d (see FIG. 2) extended upwardly from the supporting link 281 can be fitted on the moving groove 282a.

The fourth driving unit 285 is mounted between the supporting link 281 and the connecting link 284 extended from the upper end of the supporting bracket 262 and rotates the connecting link 284 to rotate the supporting bracket 262 In order to finely adjust the height. The fourth driving unit 285 is provided on both sides of the support bracket 262 so that the support bracket 262 can be raised and lowered more stably. In an embodiment of the present invention, the fourth driving unit 285 may be implemented as a linear motor, but the present invention is not limited thereto, and other power means such as a hydraulic cylinder may be used.

The operator drives the third and fourth driving units 283 and 285 in accordance with the height of the foreign material layer present on the side of the cleaning robot 200 in the starting direction of the cleaning robot 200 to adjust the height of the second screw bar 263, So that the layer can be broken down and removed smoothly.

5, the second pumping member 271 is disposed on the other end of the upper end of the support frame 211 of the robot body 210, and is connected to the front suction port 261 and the pipe 271a Can be connected. The second pumping member 271 drives the robot body 210 in the starting direction to be sucked into the front suction port 261 and removed.

At this time, the second flow pipe 272 is connected to the second pumping member 271 and may be provided as a path through which foreign matter sucked by the second pumping member 271 is discharged to the outside. The second foreign matter flow rate measuring sensor 273 may be mounted on the second flow tube 272 to determine the flow rate of the foreign matter or the mixed fluid sucked from the moving direction side of the robot body 210 have.

The traveling unit 290 is connected to the traveling driving unit 295 and the robot body 210 is provided to move inside the structure. The traveling unit 290 includes an endless track link 291, A spike block 293 and a through hole 294. [

9, the travel driving unit 295 may be disposed at the upper rear side of the robot body 210. In an exemplary embodiment of the present invention, the travel driving unit 295 may include a driving motor But are not limited to, and may be implemented as other power generating means such as an engine of an internal combustion engine, or may be provided with other numbers.

A gear box 295a is mounted on the lower end of the travel driving part 295 and a gear reducer and a bevel gear are built in the gear box 295a so that the power generated by the travel driving part 295 And may be provided to be transferred to the endless track connector 291 by switching to the vertical direction.

The rotation shaft protruding from one side of the gear box 295a is connected to the driving wheel 292 by the power transmitting member 296 to rotate the driving wheel 292.

The endless track link 291 includes the traveling wheel 292 and is connected to a plurality of support wheels 297 and is rotated by the traveling wheel 292 to travel the robot body 210 .

10, the spike block 293 is disposed at a predetermined interval along the circumference of the endless track link 291, and the spiking block 293 is disposed between the cleaning robot 200 and the spool block 293, Or < / RTI >

For example, in the case of a water tank of a steel making facility, a soft material sludge forms a foreign layer inside the water tank. If the spike block 293 is not formed, A phenomenon may occur. In this case, the spike block 293 can minimize the phenomenon of idling of the endless link 291 by digging into the foreign material layer, and consequently, it is possible to prevent the waste of the power transmitted from the traveling wheel 292 It will be possible to do.

The spike block 293 may be arranged in a staggered fashion with respect to the center of the endless track connector 291. The shape of the spike block 293 may be implemented differently depending on the work environment.

The through hole 294 is formed at a predetermined distance in the center of the endless track connecting body 291 so that the lower foreign body of the endless track connecting body 291 is discharged when the robot body 210 sinks. Can be provided.

Bottom foreign matter of the robot body 210 is removed by the second screw bar 263 while being inserted into the structure of the cleaning robot 200, but the lower foreign matter of the endless track connector 291 is not smoothly removed It may be an obstruction factor between the descent of the cleaning robot 200. Therefore, in order to minimize such disturbing factors, the through-hole 294 is formed in the endless track connector 291, and foreign matter is allowed to pass through the through-hole 294.

9 and 10, the size of the through-hole 294 is small, but the size of the through-hole may be determined differently depending on characteristics such as the work environment and the viscosity of the foreign object .

The configuration of one embodiment of the cleaning robot 200 according to the present invention is the same as described above, and an operation state will be described below.

12A and 12B are operation state diagrams showing a state in which the cleaning robot, which is the invention shown in FIG. 2, is seated in a specific region and starts and removes foreign matter. FIG. 13 is a view showing the cleaning robot, In which the angle of the second screw bar is adjusted.

Referring to FIGS. 1 to 7, 12A, 12B and 13, the operation of the cleaning robot 200 according to the present invention will be briefly described. First, as shown in FIG. 12A, A hook such as a crane or a hoist is connected to the loop member 214 and the cleaning robot 200 of the present invention is gradually introduced into a structure such as a water tank on a steelmaking facility. At this time, foreign matter such as a large amount of sludge or the like generated in the process of cooling the steelmaking process is deposited on the floor in the inside of the structure, which may hinder the descent of the cleaning robot 200 of the present invention and landing on the bottom surface of the stable structure.

Accordingly, the operator operates the first driving unit 233 to drive the first screw bar 232. As the cleaning robot 200 descends according to the present invention, the foreign matter existing in the lower portion of the robot body 210 is collected by the first screw bar 232 in the direction of the lower suction port 231, By operating the first pumping member 241, the fluid is discharged to the outside of the structure along the first flow tube 242.

That is, the foreign object existing in the lower part of the robot body 210 is discharged in the above-described manner, so that the cleaning robot 200 of the present invention stably stays on the floor of the structure and cleans the foreign object in the descending process.

12B shows a state in which the cleaning robot 200 according to the present invention is mounted on the bottom surface of the water tank. In this case, the operator operates the pair of the traveling drive units 295 at the same rotation speed or output The traveling wheel 292 rotates at the same rotational speed, so that the traveling wheel 292 is advanced inside the water tank as shown in FIG. 12B.

Of course, since the operator continuously operates the first pumping member 241, foreign matter collected by the lower inlet 231 can be continuously removed by the first screw bar 232. Then, the operator operates the second driving unit 264 to rotate the second screw bar 263 to remove the foreign object in the starting direction of the robot body 210. The foreign matter flowing in from the front is discharged to the outside through the second pumping member 271 through the second flow pipe 272.

If the traveling direction of the cleaning robot 200 according to the present invention is to be changed, the operator may operate the pair of travel driving units 295 at different rotation speeds or outputs. At this time, the cleaning robot 200 according to the present invention changes its direction inside the structure and travels. In this case, the direction will be switched to a direction in which the number of rotations or the output is relatively small. Of course, at this time, the operator continuously operates the first and second pumping members 241 and 271 and removes the foreign matter together with the traveling.

Next, referring to FIG. 13, it can be seen that a foreign matter layer accumulated at a predetermined height is formed in front of the cleaning robot 200 that starts inside the structure. At this time, the operator drives the third driving unit 283 to adjust the position of the support bracket 262 so that the second screw bar 263 is elevated to match the height of the foreign material layer.

The second driving unit 264 is operated to rotate the second screw bar 263 to break the foreign material layer and simultaneously collect foreign matter toward the front suction port 261. At this time, the operator can operate the fourth driving unit 285 to adjust the position of the second screw bar 263 so as to intensively attract foreign matter from a specific height of the foreign matter layer.

This is for intensively destroying and sucking foreign objects having different component ratios, viscosities, etc., at a specific height of the foreign matter layer, for example, a foreign matter of a harder material, to the second screw bar 263, The fourth driver 285 capable of finely adjusting the position of the second screw bar 263 is required.

Of course, if the control unit 400 is added as described below, the above-described operation process can be automatically performed according to the work environment separately from the instructions of the operator. The control process of the control unit 400 will be discussed later do.

In summary, one embodiment of the cleaning robot 200 according to the present invention is capable of stably mounting the cleaning robot 200 on the inside of the structure by removing the foreign material layer accumulated in the structure through the above-described structure and operation, And foreign matter existing on the side of the starting direction can be removed easily.

14 is a perspective view of an embodiment of a foreign matter treatment apparatus in the invention shown in Fig. 1, Fig. 15 is a side view of the invention shown in Fig. 14, Fig. 16 is a top view of the invention shown in Fig. 14 And Fig. 17 is a front view of the invention shown in Fig.

14 to 17, an embodiment of the foreign object treatment apparatus 300 according to the present invention includes an apparatus frame 310, a foreign matter characteristic analyzing means 320, a first foreign matter processing means 330, (340).

The apparatus frame 310 may be provided with a plurality of beams welded or bolted to each other so as to support the first and second foreign matter processing units 330 and 340.

The first foreign material processing unit 330 recovers a part of the processing fluid through the centrifugal separation of the mixed fluid transferred through the foreign material transfer line 500 by the cleaning robot 200 from the inside of the structure The first foreign material processing unit 330 may include a hydrocyclone unit 331, an overflow unit 332, and a foreign matter discharging unit 333. The first foreign substance processing unit 330 may include a hydrocyclone unit 331, an overflow unit 332,

Herein, the mixed fluid may mean water containing foreign matter such as sludge, and the foreign matter concentrate may mean water in which water is partially removed from the mixed fluid, and the treatment fluid may mean purified water in the mixed fluid.

14 and 18, the hydrocyclone unit 331 is connected to a mixed fluid inlet 334 connected to the foreign matter transfer line 500, and is supplied from the mixed fluid inlet 334 The mixed fluid is basically separated and separated into a foreign matter concentrate and treated water.

At this time, the overflow portion 332 is connected to the upper end of the hydrocyclone portion 331, and the treatment fluid centrifuged in the hydrocyclone portion 331 rises and is discharged to the outside through the overflow portion 332 And the treatment fluid, i.e., water, is primarily recovered. The recovered water is stored in the structure again via the treatment fluid transfer line 600, or reused as water in a steel making facility or the like.

The foreign matter characteristic analyzing means 320 is disposed between the foreign matter transferring line 500 and the mixed fluid inlet 334 to analyze a component ratio or a viscosity of foreign matter flowing into the mixed fluid inlet 334 Can be provided. The foreign matter characteristic analyzing means 320 may be provided as a foreign matter detection sensor such as a detection sensor using an X-ray line, an electromagnetic induction type sensor for detecting metal water, and the like.

The foreign matter discharge unit 333 is connected to the lower end of the hydrocyclone unit 331 and the centrifugal impurity concentrate is lowered in the hydrocyclone unit 331 and flows through the foreign matter discharge unit 333 to the second And moves to the foreign object processing means 340.

On the other hand, the foreign substance concentrate discharged from the foreign matter discharging portion 333 is extracted again by the second foreign substance disposing means 340 once again by sedimentation separation, and the treatment fluid is secondarily recovered. The means 340 may comprise a settling tank 341, an extraction screw 342 and a foreign material collecting tank 345.

More specifically, the sedimentation tank 341 is disposed below the first foreign material processing unit 330. Accordingly, the foreign matter concentrate discharged from the foreign matter discharging unit 333 is accumulated in the settling tank 341.

The extraction screw 342 is disposed at the lower end of the inner surface of the settling tank 341 and the foreign substance precipitated at the lower end of the settling tank 341 is extracted from the concentrated liquid stored in the settling tank 341 do. The precipitated foreign matter moves along the extraction screw 342 and moves to the foreign matter collecting tank 345.

The foreign matter collecting tank 345 may be disposed at one side of the sedimentation tank 341, that is, in a direction in which the foreign object moves by rotation of the extraction screw 342, The foreign object is collected.

Here, the extraction screw 342 may be provided on the entire bottom surface of the sedimentation tank 341, and at this time, foreign matter deposited on the edge of the sedimentation tank 341 may be prevented from being missed and discharged .

One side of the extraction screw 342 may be connected to an extraction driving unit 343 fixed to the upper end of the sedimentation tank 341. The extraction driver 343 may be implemented by a stepping motor, an inverter motor, a servo motor, or the like, but is not limited thereto.

In an embodiment of the present invention, a plurality of extraction screws 342 may be provided. At this time, a power transmission structure as shown in FIG. 21 may be provided to simultaneously rotate the plurality of extraction screws 342 in one direction.

A pulley 348a is connected to the drive shaft of the extraction driving unit 343 and a pulley 348b is connected to the extraction screw 342 by coupling 348c respectively and the pulleys 348a, Is connected to the power transmission member 348d such as a timing belt and transmits the rotational force of the extraction drive unit 343 to the extraction screw 342 at the same time.

Meanwhile, the sedimentation tank 341 has an inclined surface, and the extraction screw 342 is installed on the inclined surface and can be provided to draw up and extract foreign matter precipitated in the lower part of the sedimentation tank 341.

In this case, the settling tank 341 receives water separated from the foreign object in the space defined by the inclined surface, and when the foreign object rises along the inclined surface, it is discharged to the foreign object collecting tank 345.

Meanwhile, an embodiment of the foreign object processing apparatus 300 according to the present invention may further include extraction angle adjusting means 350 for changing the angle at which the foreign object is extracted by the extraction screw 342 according to the physical property of the foreign object. The extraction angle adjusting means 350 may include a rotating frame 351 and a fifth driving unit 352.

20, the rotating frame 351 is rotatably connected to the apparatus frame 310 by a hinge member 353 and is provided in a shape corresponding to the sedimentation tank 341 to support the sedimentation tank 341 . In the embodiment of the present invention, since the settling tank 341 has a cross section of a rectangular shape, the rotating frame 351 also has a rectangular parallelepiped beam connecting structure to support the settling tank 341. The beam connecting structure described above can be coupled to each other by bolting or welding.

The fifth driving unit 352 is connected between the apparatus frame 310 and the rotation frame 351 at a predetermined distance from the hinge member 353 so as to change the angle of the rotation frame 351, . In an embodiment of the present invention, the fifth driving unit 352 is provided as a hydraulic cylinder, but other driving means such as a linear motor may be used.

That is, when the operator drives the fifth driving unit 352, the rotating frame 351 rotates the hinge member 353 by a predetermined range and adjusts the angle of the inclined surface of the settling tank 341, Therefore, the extraction angle of the extraction screw 342 can be adjusted according to the physical property of the foreign object.

For example, when the viscosity of foreign matter precipitated in the sedimentation tank 341 is low, the angle of the extraction screw 342 is adjusted to be low. In another example, when the viscosity of the foreign matter precipitated in the sedimentation tank 341 is high but the water content is high The rotation frame 351 is rotated to raise the inclined angle of the sedimentation tank 341 so that the processing fluid separated from the foreign object can be stored more and the foreign object is extracted to the extraction screw 342. If the viscosity of foreign matter is high, even if the angle of the extraction screw 342 is high, it can be extracted smoothly.

The extraction angle value may be a predetermined data value according to the physical property of the foreign object by an experiment or the like.

Here, instead of the fifth driving unit 352, another embodiment of the extraction angle adjusting unit 350 may include a fixing bracket and a fixing bar.

The fixing bracket is arranged at a predetermined distance from a point where the hinge member 353 is installed, that is, at a point where the fifth driving unit 352 is mounted, in a vertical direction on the apparatus frame 310, And may be provided with a plurality of fixing holes.

At this time, the fixing bar is installed in the rotation frame 351 and inserted into the fixing hole to support the rotation angle of the rotation frame 351. Accordingly, the angle of the sedimentation tank 341 supported by the rotating frame 351 is adjusted and maintained.

The second foreign material processing unit 340 may further include a drain valve 346 and a process water tank 347 so as to collect the separated water from the sedimentation tank 341.

The drain valve 346 may be installed at a predetermined height apart from the lower end surface of the settling tank 341. The drain valve 346 may be provided so as to discharge the separated processing fluid over time in the foreign substance concentrate accumulated in the settling tank 341 .

The treatment water tank 347 may be disposed below the settling tank 341 and may be provided to collect the treatment fluid discharged through the drain valve 346.

In an embodiment of the present invention, the foreign matter discharging unit 333 and the settling tank 341 are disposed between the foreign matter discharging unit 333 and the settling tank 341 such that the foreign matter concentrate discharged from the foreign matter discharging unit 333 is uniformly discharged to the settling tank 341 in the width direction. And an exhaust dispersing means 360 disposed in the exhaust passage. The discharge dispersing unit 360 may include a fixed panel 361, a floating panel 362, and a sixth driving unit 363.

19, the fixing panel 361 may be welded or bolted to the lower end of the apparatus frame 310 supporting the first foreign material processing means 330, and the moving panel 362 May be connected to the fixed panel 361 at an angle with the shaft 364. Accordingly, the foreign matter concentrate discharged through the foreign matter discharging unit 333 flows uniformly on the flow panel 362 and flows into the settling tank 341.

If the foreign matter concentrate is uniformly introduced into the sedimentation tank 341, the foreign matter is precipitated relatively uniformly at the lower end of the sedimentation tank 341, so that the extraction by the extraction screw 342 can be performed more effectively.

At this time, the shaft 364 is connected to the speed reducer 365 and the sixth driving unit 363, and may be provided to adjust the discharge dispersion angle between the fixed panel 361 and the flow panel 362 as it rotates.

In this case, by controlling the angle formed by the flow panel 362 according to the component ratio of the foreign object, the viscosity, etc., it is possible to control the concentration of the foreign matter concentrate in the sedimentation tank 341 to be evenly distributed. For example, when the viscosity of the foreign object is low, the flow time of the flow panel 362 is short, so that the angle formed by the flow panel 362 with respect to the fixed panel 361 is reduced to increase the residence time, 362 and then lowered to the settling tank 341. [0054]

Here, the angular value between the moving panel 362 and the fixed panel 361 may be a data value previously set according to the physical property of the foreign object by an experiment.

One embodiment of the foreign object treatment apparatus 300 according to the present invention may further include a moving means 370 so as to be moved near a structure to be extracted. The moving means 370 may include a wheel member 371 and a rotating member 372.

22, the wheel member 371 is mounted on the lower ends of the foreign object collecting tank 345 and the process water tank 347 and is connected to the apparatus frame 310 (see FIG. 22) including the first and second foreign object processing units 330 and 340 May be provided so as to be movable in the direction of the structure.

The rotating member 372 may also be arranged so that the supporting block 311 supporting the first foreign material processing means 330 can be laid down so that the first foreign material processing means 330 does not interfere with other factory facilities during the movement Can be provided. In an embodiment of the present invention, the rotary member 372 is hinge-shaped, but it is not limited thereto. The rotary member 372 may be connected to a power unit such as a driving motor to be automatically laid or raised.

The configuration of an embodiment of the foreign object treatment apparatus 300 according to the present invention is the same as described above, and an operation state will be described below.

Referring again to FIG. 14, the mixed fluid flowing into the mixed fluid inlet 334 from the foreign matter transfer line 500 is first analyzed by the foreign matter characteristic analyzer 320 to determine the physical properties such as a component ratio or a viscosity of the foreign matter . This information is sent to the operator or the control unit 400 and the fifth driving unit 352 is driven to change the foreign matter extraction angle of the extraction screw 342 and the sixth driving unit 363 So that the discharge dispersion angle between the flow panel 362 and the fixed panel 361 is changed.

When the physical property value of the foreign object is recognized by the foreign material characteristic analyzing means 320, the mixed fluid flows into the hydrocyclone portion 331 through the mixed fluid inlet portion 334 connected to the foreign material transfer line 500 , And the hydrocyclone part (331) separates the mixed fluid into a foreign matter concentrate and a processing fluid through centrifugal separation.

The treated water is discharged to the overflow portion 332 through a synergistic action and is stored again inside the structure via the treatment fluid transfer line 600 or reused as water in a steel making facility or the like, And is discharged to the foreign matter discharging portion 333.

The foreign matter concentrate discharged to the foreign matter discharging unit 333 flows to the discharging dispersing unit 360 disposed between the first foreign matter treating unit 330 and the second foreign matter treating unit 340.

At this time, the operator adjusts the discharge dispersion angle between the fixed panel 361 and the flow panel 362 according to the composition ratio of the foreign materials, the viscosity, etc., so that the foreign matter concentrate is uniformly dispersed and discharged to the settling tank 341.

As the foreign matter concentrate is uniformly discharged to the settling tank 341, foreign matter is deposited on the lower part of the settling tank 341, and the treatment fluid, which may be water, etc., is separated over time.

The operator drives the extraction driving unit 343 to rotate the extraction screw 342 so that the foreign matter precipitated in the lower part of the settling tank 341 is drawn up and discharged to the foreign material collecting tank 345. Thereafter, the drain valve 346 is opened to discharge the processing fluid separated in the upper part of the sedimentation tank 341 to the treatment water tank 347. The secondarily recovered water can be stored inside the structure via the treatment fluid transfer line 600 again or can be reused as water in a steel making facility or the like.

Here, the operator can easily extract the foreign object by the extraction screw 342 by adjusting the angle of inclination of the sedimentation tank 341 by using the extraction angle adjusting means 350 according to the composition ratio, viscosity, etc. of the foreign object.

In summary, an embodiment of the foreign object treatment apparatus 300 according to the present invention is configured such that the mixed fluid introduced from the inside of the structure through the above-described structure and operation process is treated stepwise by centrifugal separation and sedimentation separation, Thereby recovering the processing fluid.

Specifically, the foreign matter transfer line 500 is connected to the mixed fluid inflow section of the first and second flow tubes 242 and 272 of the cleaning robot 200 and the hydrocyclone section 331 of the foreign material processing apparatus 300, The processing fluid transfer line 600 may be connected between the inside of the structure and the overflow portion 332 of the material processing apparatus 300 or the processing water tank 347.

The foreign object processing system 100 according to the present invention includes a controller 400 for controlling the cleaning robot 200, the foreign object processing apparatus 300, the foreign material transfer line 500 or the process fluid transfer line 600 And the like.

FIG. 23 is a block diagram of an embodiment of the control unit in the invention shown in FIG. 1, FIG. 24 is a block diagram of an embodiment of the central processing unit in the invention shown in FIG. 23, FIG. 26 is a block diagram of an embodiment of a foreign material processing apparatus control unit in the invention shown in FIG. 23; FIG.

Hereinafter, the control unit 400 will be described in detail with reference to FIGS. 23 to 26. FIG.

23, the control unit 400 includes a cleaning robot control unit 410, a foreign material processing unit control unit 420, a foreign matter transfer line control unit 430, a process fluid transfer line control unit 440, And an illumination control unit 470, a foreign matter characteristic measuring unit 480, a central processing unit 450, and a display unit 460. [ Hereinafter, reference will be made to the reference numerals associated with the cleaning robot 200 and the foreign material processing apparatus 300 with reference to FIG. 1 to FIG.

The central processing unit 450 is connected to the cleaning robot control unit 410, the foreign material processing device control unit 420, the foreign material transfer line control unit 430 or the process fluid transfer control unit 440, And processes information collected therefrom and performs an operator's control command.

The display unit 460 is connected to the central processing unit 450 and displays the information collected by the central processing unit 450 to the operator. The display unit 460 may be a job status room including a monitor and the like.

The cleaning robot control unit 410 controls traveling or foreign object removal of the cleaning robot 200 inside the structure and the foreign material processing unit control unit 420 controls the flow of the mixed fluid flowing from the cleaning robot 200 So as to control the foreign material processing apparatus 300 to be processed.

The foreign material transfer line control unit 430 controls a flow rate control valve (not shown) disposed in the foreign material transfer line 500 to control the foreign matter transfer line 500 from the cleaning robot 200 to the foreign material processing apparatus 300 or a flow rate of the mixed fluid.

The process fluid transfer line control unit 440 controls a flow control valve (not shown) disposed in the process fluid transfer line 600 to control the flow rate of the fluid supplied from the process unit 300 through the process fluid transfer line 600 May be provided to regulate the flow rate of the processing fluid supplied into the structure.

Control of the flow control valve (not shown) of the foreign matter transfer line control unit 430 and the process fluid transfer line control unit 440 is controlled by the central processing unit 450.

The central processing unit 450 controls the flow of the foreign matter on the basis of flow information of foreign matter sent from the first and second foreign matter flow rate measuring sensors 243 and 273 installed on the first and second flow tubes 242 and 272 of the cleaning robot 200, The degree of opening and closing of the flow control valve (not shown) of the line 500 will be indicated.

Although not shown in the drawing, a photographing member (not shown) capable of photographing the interior of the structure may be mounted on the cleaning robot 200. The photographing member (not shown) may be a camera using an X-ray, an infrared ray, an ultraviolet ray, or the like, a general image camera, or the like, and any mechanism capable of photographing the inside of the structure smoothly may be considered. An illumination member (not shown) may be mounted to provide light in case the interior of the structure is dark.

The photographing and lighting control unit 470 controls the photographing member (not shown) and the illumination member (not shown) to smoothly photograph the shape and state of the inside of the structure through the cleaning robot 200, Information to the central processing unit 450. The central processing unit 450 is used as data for setting a starting path and a cleaning area of the cleaning robot 200 on the basis of the transmitted inside information of the structure.

The foreign matter characteristic measuring unit 480 controls the foreign matter characteristic analyzing unit 320 to calculate the foreign matter characteristic analyzing unit 320 such that the foreign matter characteristic measuring unit 480 calculates the component ratio, And transmits the analyzed information to the central processing unit 450.

The central processing unit 450 gives a signal to the foreign material processing device control part 420 based on the analyzed physical property information of the foreign object so that the foreign material processing device control part 420 is provided to the foreign substance processing device 300 The fifth driving portion 352 of the ejection angle adjusting means 350 or the sixth driving portion 363 of the ejection dispersing means 360 may be driven to control the ejection dispersion between the moving panel 362 and the fixed panel 361 Angle or the extraction angle of the extraction screw 342.

24, the central processing unit 450 may include an operation unit 457, a power supply unit 452, a communication unit 451, and a path determination and setting unit 453. [

The power supply unit 452 may be provided to supply or cut off power to the cleaning robot 200 or the foreign material processing apparatus 300. [ This can be done by an operator's control command, and the power source unit 452 can be automatically powered or shut down depending on an emergency situation or the like. At this time, however, the predetermined emergency module is input to the database of the central processing unit 450.

The communication unit 451 collects information sent from the cleaning robot 200, the foreign object processing apparatus 300, and the like, and transmits the collected information to the operation unit 457. The communication unit 451 may be a wired or wireless communication device.

Next, the operation unit 457 controls the operation of the photographing and lighting control unit 470, the foreign matter characteristic measuring unit 480, the cleaning robot control unit 410, the foreign material processing unit control unit 420, And the information collected from the control unit 430 or the process fluid transfer line control unit 440 is calculated.

For example, the operation unit 457 calculates information such as the size and shape of the structure, the formed range of the foreign object, the presence / absence of the obstacle, and the size based on the internal information of the structure collected from the photographing and lighting control unit 470, And transmitted to the display unit 460. The calculated information is used as data for determining the starting path and the cleaning area of the cleaning robot 200 in the path determination and setting unit 453. [

In another example, the operation unit 457 analyzes the component ratio, viscosity, and the like of the foreign object on the basis of the foreign material property information collected from the foreign material property measuring unit 480, and calculates the driving amount of the sixth driving unit 363, And calculates the discharge dispersion angle between the flow panel 362 and the fixed panel 361. The driving amount of the fifth driving unit 352 and the inclination angle of the extraction screw 342 and the sedimentation tank 341, And outputs the calculated value to the display unit 460. In the case of automatic control, the controller directs the control unit 420 to the foreign object processing unit.

The operation unit 457 compares the operation reference flow rate with the operation reference flow rate based on the information sent from the first and second foreign matter flow rate measurement sensors 243 and 273 of the cleaning robot 200, It is possible to send information to the display unit 460 to determine whether the first and second pumping members 241 and 271 and the first and second screw bars 232 and 263 are operating, (410) to indicate whether to stop the operation or continue operation. The degree of opening and closing of the flow control valve (not shown) disposed on the foreign matter transfer line 500 may also be indicated on the basis of the comparison calculated information.

Next, the path determination and setting unit 453 receives the structure internal information calculated by the operation unit 457, and sets a cleaning area and a cleaning path of the cleaning robot 200 in the structure. The path determination and setting unit 453 may further include a cleaning area setting unit 454, an obstacle determining unit 455, and a cleaning path setting unit 456 in detail.

The cleaning area setting unit 454 sets the area to be cleaned by the cleaning robot 200 in the structure based on the information about the range of the foreign object formed inside the structure delivered from the operation unit 457.

The obstacle judging unit 455 judges the position where the obstacle exists based on the current position information of the cleaning robot 200 inside the structure and the presence or absence of obstacles and the size of obstacles transmitted from the arithmetic unit 457, ) Whether or not this obstacle can be overcome, and so on.

The cleaning path setting unit 456 receives the cleaning area set by the cleaning area setting unit 454 and the irrecoverable obstacle position information determined by the obstacle determining unit 455 and outputs the obstacle avoiding path, And a cleaning path of the cleaning robot 200 is set.

25, the cleaning robot control unit 410 includes a traveling driver 411, a first foreign object removing driver 412, a second foreign object removing driver 413, and a current position determining unit 414 ). ≪ / RTI >

The traveling driver 411 includes a traveling speed adjusting unit 411a and a traveling direction adjusting unit 411b and based on the information inside the structure sent from the calculating unit 457 of the central processing unit 450, The driving direction of the cleaning robot 200 is adjusted according to the driving speed of the cleaning robot 200 in the structure, the obstacle avoidance and overcoming, the cleaning path, and the like.

The first foreign material removing driver 412 may include a first screw bar actuating part 412a, a first pumping member actuating part 412b and a first flow rate measuring part 412c, Unit 220 is operated. At this time, the first flow rate measuring unit 412c measures the flow rate of the foreign matter flowing through the first flow path 242 through the first foreign matter flow rate measuring sensor 243, and transmits the information to the calculating unit 457 , The operation unit 457 analyzes the foreign material flow rate information and calculates whether the first screw bar 232 or the first pumping member 241 operates according to the flow rate information and transmits it to the display unit 460, In the case of automatic control, the first screw bar actuating part 412a or the first pumping member actuating part 412b is directly instructed.

The operation of the first screw bar 232 and the first pumping member 241 is stopped when the flow rate of the foreign object measured by the first flow rate measuring unit 412c is less than a predetermined operation reference flow rate.

The second foreign object removing driver 413 is provided with a second screw bar operating portion 413a, a second pumping member actuating portion 413b, a second flow rate measuring portion 413c, a foreign object layer height measuring portion 413d, And an adjusting unit 413e. The second foreign material removing unit 250 is operated. The second flow rate measuring unit 413c measures the flow rate of the foreign matter flowing through the second flow path 272 through the second foreign matter flow rate measuring sensor 273 and transmits this information to the calculating unit 457 , The operation unit 457 analyzes the foreign material flow rate information and calculates whether the second screw bar 263 or the second pumping member 271 operates according to the information and transmits the calculated flow rate to the display unit 460 And in the case of automatic control, directs to the second screw bar actuating part 413a or the second pumping member actuating part 413b.

For example, the operation of the second screw bar 263 and the second pumping member 271 is stopped when the flow rate of the foreign object measured by the second flow rate measuring unit 413c is less than a preset reference operation flow rate.

The height of the foreign object layer height measuring unit 413d measures the height of the foreign object in the starting direction of the cleaning robot 200 using an optical sensor mounted on the cleaning robot 200, When the information is transmitted to the operation unit 457 of the central processing unit 450, the operation unit 457 analyzes the operation amount, and the driving amount of the third and fourth driving units 283 and 285 and the driving amount of the second screw bar 263 and outputs the calculated information to the display unit 460 or, in the case of automatic control, sends a signal to the removal angle adjusting unit 413e to operate the third and fourth driving units 283, 285 So that the height of the second screw bar 263 is changed corresponding to the height of the foreign layer.

The current position determination unit 414 determines the current position of the cleaning robot 200 working inside the structure by using the position detection sensor 218 such as GPS built in the communication member 219, And transmitted to the processing unit 450.

26, the foreign object processing section control unit includes a first foreign object processing driver 421, a second foreign object processing driver 422, a discharge dispersion adjusting driver 423, and an extraction angle adjusting driver 424 .

The first foreign matter disposal driver 421 includes a hydrocyclone operation part 421a and a hydrocyclone valve opening and closing part 421b and the hydrocyclone operation part 421a operates the hydrocyclone part 331 to perform centrifugal separation Thereby separating the mixed fluid into a foreign matter concentrate and a processing fluid.

At this time, the hydrocyclone valve opening / closing part 421b opens / closes an opening / closing valve disposed between the mixed fluid inflow part 334, the overflow part 332 or the foreign matter discharge part 333 connected to the hydrocyclone part 331 Or closed.

The second foreign material processing driver 422 includes an extraction screw operating portion 422a and a drain valve opening and closing portion 422b and the extraction screw operating portion 422a operates the extraction driving portion 343 to operate the extraction screw 342 rotate to extract foreign matter precipitated at the lower end of the sedimentation tank 341.

At this time, the drain valve opening / closing part 422b opens the drain valve 346 so that the treatment fluid separated from the foreign substance in the settling tank 341 is collected in the treatment water tank 347. [ And closes the drain valve 346 when not in use.

The emission dispersion adjustment driver 423 drives the sixth driving unit 363 according to a signal from the operation unit 457 to adjust the discharge dispersion angle between the flow panel 362 and the fixed panel 361, The composition ratio, the viscosity of the foreign matter, and the like.

The extraction angle adjustment driver 424 drives the fifth driving unit 352 in accordance with a signal from the operation unit 457 to change the extraction angle of the extraction screw 342 by moving the precipitation tank 341 up and down. It is also possible to comply with the preliminarily set extraction angle data values according to the analyzed physical properties such as the composition ratio of foreign matters, viscosity, and the like.

The cleaning robot 200, the foreign object processing apparatus 300, and the like may be separately provided in the respective situations by including the control unit 400 in addition to the instructions of the operator So that the automatic control becomes possible. Accordingly, the working efficiency can be expected to be further increased.

Referring to FIG. 27, an embodiment of the foreign object processing method according to the present invention may be configured to include a preparation step (S100), a foreign object suction step (S200), and a foreign object processing step (S300). Here, reference is made to figures 1 to 26 relating to the foreign object processing system 100.

First, the preparing step S100 may include injecting the cleaning robot 200 into the structure, and determining and setting a cleaning path.

28, the preparing step S100 includes a cleaning area setting step S110, a self position determining step S120, an obstacle determining step S130, S140, and a cleaning path setting step S160. Lt; / RTI >

First, in the cleaning area setting step S110, the inside information of the structure sent out by the photographing member (not shown) is calculated by the operation unit 457 to determine the size and shape of the inside of the structure, the range where the foreign object is formed, To the path determining and setting unit 453, the path determining and setting unit 453 sets a cleaning area in the structure based on the information.

The next self position determination step S120 is a step of determining the current position of the cleaning robot 200 in the structure to analyze the starting path of the cleaning robot 200 when a cleaning area inside the structure is set. Which can be grasped by the position sensing sensor 218 described above.

When the current position of the cleaning robot 200 is determined, the obstacle determining step S130 and 140 determines whether or not an obstacle exists based on the obstacle information collected by the photographing member (not shown) If not, the cleaning route of the cleaning robot 200 is set, and if there is an obstacle, the position of the obstacle and the over travel distance are determined.

If there is an obstacle but it is possible to overcome the obstacle, a cleaning route is set. On the contrary, if the obstacle can not be overcome, a detour route is determined.

The next cleaning path setting step S160 may include cleaning the inside of the structure including the detour path S150, the starting path, etc. according to the set cleaning area, the current position of the cleaning robot 200, the presence / The cleaning path of the robot 200 is finally set.

For example, referring to FIGS. 29A to 29C, it can be seen that the cleaning routes of the cleaning robot 200 are set differently depending on the size and shape of the inside of the structure, the presence or absence of an obstacle, and the like. That is, the optimum cleaning route is set in accordance with the working environment to perform the optimum maneuvering.

Next, the foreign matter sucking step (S200) may be a step in which the cleaning robot 200 travels inside the structure to suck foreign matter or the mixed fluid.

In detail, referring to FIG. 30 and FIGS. 31A to 31C, the foreign body sucking step S200 includes a first foreign body removing step S210, a driving step S230, a second foreign body removing step S250, (S270).

First, the first foreign substance removing step S210 is a step of removing the lower foreign object of the cleaning robot 200. When the cleaning robot 200 is inserted into the structure and descends, the first foreign substance removing driver 412 The first pumping member 241 and the first screw bar 232 are operated (S211, S212). The foreign matter or the mixed fluid existing in the lower portion of the cleaning robot 200 is collected by the first screw bar 232 into the lower suction port 231 and is discharged by the first pumping member 241, And then sent to the foreign matter transferring line 500 along the line 242.

At this time, the first flow rate measuring unit 412c continuously measures the flow rate of the foreign object through the first foreign substance flow rate measuring sensor 243 disposed on the first flow pipe 242 (S214). Then, the flow rate of the measured foreign matter is compared with the preset reference flow rate (S215).

If the flow rate of the measured foreign matter is equal to or greater than the preset reference operating flow rate, the operation of the first pumping member 241 and the first screw bar 232 is maintained. On the other hand, The operation of the first pumping member 241 and the first screw bar 232 is stopped (S216, S217), and the first foreign material removing step S210 is finished.

The detection sensor 237 is installed at the lower end of the robot body 210 of the cleaning robot 200 to detect the presence of foreign objects in step S213. If there is no foreign object, . ≪ / RTI >

Of course, not only when the operation is automatically controlled as described above, but also when the operator manually stops the operation of the first pumping member 241 and the first screw bar 232 irrespective of the flow rate of the foreign matter, or It can be continued.

Next, the driving step S230 is a step in which the cleaning robot 200 travels according to the set cleaning path, and the driving driver 411 transmits the cleaning path related information set by the path determining and setting unit 453 (S231), and sets the traveling speed and traveling direction of the cleaning robot 200 and starts the operation (S232, S233).

At this time, a detection sensor 269 (see FIG. 2) is mounted in front of the cleaning robot 200 to detect the presence of foreign objects in the starting direction of the cleaning robot 200 (S251). If there is no foreign object, it is determined whether or not the target is reached at the final stage (S270). If there is foreign object, the second foreign object removing step S250 is performed.

The second foreign body removing step S250 is a step of removing foreign objects in the starting direction of the cleaning robot 200. Specifically, the second foreign body removing step S250 includes a foreign body layer height measuring step S252, a removing angle adjusting step S253 to S255, And a flow rate comparison step (S258 to S260).

If it is detected that the foreign object exists on the moving direction side of the cleaning robot 200 (S251), the height of the foreign object layer is measured by the foreign object layer height measuring unit 413d (S252).

If the height of the foreign matter layer is higher than the height of the second screw bar 263 (S253), the height of the foreign matter layer is compared with the height of the foreign matter layer (S254) The height of the second screw bar 263 is raised through the third and fourth driving parts 283 and 285 by operating the removal angle adjusting part 413e. When the height of the foreign object layer is lower than the height of the second screw bar 263, the removal angle adjusting part 413e is operated to move the second screw bar 263 through the third and fourth driving parts 283 and 285, Is lowered. That is, the height of the second screw bar 263 corresponds to the height of the foreign matter layer, so that the second screw bar 263 smoothly breaks and removes the foreign matter layer (S255).

When the height of the second screw bar 263 corresponds to the height of the foreign layer, the second foreign material removing driver 413 is operated to move the second pumping member 271 and the second screw bar 263 So that the foreign object is removed (S256, S257). At this time, the third and fourth driving units 283 and 285 may be continuously operated to change the height of the second screw bar 263, thereby effectively breaking down and removing the foreign matter layer.

Here, the second foreign matter flow rate measuring sensor 273 disposed in the second flow pipe 272 continuously measures the flow rate of the foreign object (S258). Then, the flow rate of the measured foreign matter is compared with the preset reference flow rate (S259).

 If the measured flow rate of the foreign object is equal to or greater than the predetermined reference flow rate, the operations of the second pumping member 271 and the second screw bar 263 are maintained. On the other hand, The operation of the second pumping member 271 and the second screw bar 263 is stopped (S262, S263), and the second foreign material removing step S250 is finished.

 Of course, at this time, the detection sensor 269 continuously senses whether there is a foreign object on the moving direction side of the cleaning robot 200 (S260), and if the foreign object is not present, the second foreign material removing step S250 is finished The foreign object is removed by changing the height of the second screw bar 263 by the removal angle adjusting unit 413e (S261).

Then, the flow rate of the foreign object sucked through the second foreign object flow rate measuring sensor 273 is measured and compared with the preset reference flow rate (S258, S259) (S260), the second foreign object removing driver 413 stops the second screw bar 263 and the second pumping member 271 (S262, S263) .

Then, the process proceeds to the target arrival determining step (S270), and determines whether the cleaning robot 200 has reached the final target within the set cleaning area. If the target point has not been reached, the process proceeds to the driving step S233 and the second foreign material processing step S250 is performed again, and the above process is repeated.

That is, the running step S230 and the second foreign object removing step S250 are determined depending on whether the cleaning robot 200 reaches the final target point within the set cleaning area. Of course, in the second foreign substance removal step S250, the operation of the second screw bar 263 and the second pumping member 271 is stopped even when foreign matter on the moving direction side of the cleaning robot 200 is not present, It is temporary.

In addition to the case where the operation is automatically controlled as described above, it is also possible that the operator artificially stops the operation of the second pumping member 271 and the second screw bar 263 irrespective of the flow rate of foreign matter, or It can be continued.

Next, the foreign object processing step (S300) may be a step of processing the foreign object sucked from the cleaning robot (200) or the mixed fluid.

32, 33A and 33B, the foreign substance processing step S300 includes a foreign material characteristic analysis step S310, an emission dispersion control step S320, an extraction angle control step S330, And a second foreign material separation step (S340).

In the foreign substance characteristic analysis step S310, the physical property values such as the composition ratios and viscosities of the foreign object or the mixed fluid analyzed by the foreign material characteristic analysis means 320 are measured by the foreign substance characteristic measurement unit 480, And the calculation section 457 of the central processing section 450 calculates the discharge dispersion angle value formed between the flow panel 362 and the fixed panel 361 according to the physical property of the foreign object and the discharge angle angle value of the extraction screw 342 Value. At this time, the emission dispersion angle value and the extraction angle value may be data values previously set by experiment or the like, as described above.

Thereafter, the flow proceeds to the emission dispersion control step S320. In step S321, a value of an angle formed between the flow panel 362 and the fixed panel 361 is determined (S321). Then, And determines whether or not it is within the error tolerance range (S322).

If it is not within the error tolerance range, a signal is sent to the emission dispersion adjustment driver 423 to drive the sixth driving unit 363 to adjust the forming angle between the flow panel 362 and the fixed panel 361 S323).

At the same time, the process proceeds to the extraction angle adjustment step S330, and the extraction angle value of the extraction screw 342 is determined (S331). The extraction angle value is compared with a predetermined extraction angle value according to the physical property of the foreign object, (S332).

If it is not within the error tolerance range, a signal is sent to the extraction angle adjusting driver 424 to drive the fifth driving unit 352 to adjust the extraction angle of the extraction screw 342 (S333).

If the above-described emission dispersion angle value and extraction angle value are within the error tolerance range, the process proceeds to the first and second foreign matter processing steps (S340).

First, in the first foreign matter treatment step, the mixed fluid is separated into a treatment fluid and a foreign matter concentrate by centrifugal separation. The hydrocyclone unit 331 is operated to open the on / off valves on the mixed fluid inlet 334, the overflow unit 332 and the foreign matter discharge unit 333 (S341).

The second foreign matter treatment step separates the foreign matter concentrate into a treatment fluid and a foreign matter by sedimentation separation. In operation S342, the extraction screw 342 is operated to extract foreign matter and the drain valve 346 is opened so that the separated processing fluid is collected in the processing water tank 347.

At this time, the first foreign matter flow rate measuring sensor 243 continuously measures the flow rate of the mixed fluid supplied from the foreign matter transfer line 500 (S344), and compares the flow rate with a predetermined operation reference flow rate (S345). Here, the operation reference flow rate may be a data value preset by an operator related to whether the first and second foreign object processing units 330 and 340 are operated.

If the measured flow rate of the mixed fluid is higher than the preset reference flow rate, the operation state of the hydrocyclone unit 331 and the extraction screw 342 is maintained, and the flow rate of the mixed fluid is continuously measured .

On the other hand, when the flow rate of the mixed fluid measured is lower than the preset reference flow rate, the operation of the hydrocyclone unit 331 and the extraction screw 342 is stopped (S346, S347), and the drain valve 346 (S348), and the foreign object processing step (S300) is completed.

Of course, not only when the operation is automatically controlled as described above, but also when the operator artificially stops the operation of the hydrocyclone unit 331 and the extraction screw 342, regardless of the flow rate of the foreign object, .

In summary, one embodiment of the present invention is capable of performing optimum maneuvering of the cleaning robot 200, removal of foreign objects inside the structure, and efficient foreign object processing of the foreign object processing apparatus 300, Unnecessary power can be prevented from being wasted, and automatic control according to the working environment as well as the direct control of the operator can be performed, ultimately improving the working efficiency.

The above description only shows specific embodiments of the foreign object processing system and the foreign object processing method using the same.

Therefore, it should be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims. do.

100 ... Foreign material handling system 200 ... Cleaning robot
210 ... Robot body 211 ... Support frame
212 ... vertical beam 213 ... horizontal beam
214 ... loop member 219 ... communication member
220 ... first foreign body removing unit 230 ... first foreign body suction part
231 ... bottom inlet 232 ... first screw bar
233 ... first driving portion 234 ... power transmitting member
235 ... breaking blade 240 ... first foreign matter is sent
241 ... first pumping member 242 ... first flow tube
243 ... first foreign matter flow rate measuring sensor 250 ... second foreign matter removing unit
260 ... second foreign matter suction portion 261 ... front suction portion
262 ... support bracket 263 ... second screw bar
264 ... second drive part 265 ... power transmission member
270 ... second foreign matter sending portion 271 ... second pumping member
272 ... second flow tube 273 ... second foreign matter flow rate measuring sensor
280 ... removing angle adjusting means 281 ... supporting link
282 ... guide block 283 ... third drive section
284 ... connection link 285 ... fourth drive section
290 ... running unit 291 ... endless track connector
292 ... traveling wheel 293 ... spike block
294 ... through hole 295 ... driving drive section
297 ... support wheel
300 ... Foreign material handling device 310 ... Device frame
311 ... supporting block 320 ... foreign material characteristic analyzing means
330 ... first foreign material processing means 331 ... hydrocyclone unit
332 ... overflow section 333 ... foreign matter discharge section
334 ... mixed fluid inflow part 340 ... second foreign material processing means
341 ... settling tank 342 ... extraction screw
343 ... Extraction driving unit 345 ... Foreign matter collecting tank
346 ... drain valve 347 ... treated water tank
348 ... power transmitting member 350 ... extraction angle adjusting means
351 ... rotation frame 352 ... fifth drive section
353 ... hinge member 360 ... discharge dispersion means
361 ... fixed panel 362 ... floating panel
363 ... sixth drive part 364 ... shaft
365 ... Reducer 370 ... Moving means
371 ... wheel member 372 ... rotating member
400 ... controller 410 ... cleaning robot controller
411 ... Driving driver 412 ... First foreign object removal driver
413 ... second foreign object removing driver 414 ... current position judging unit
420 ... Foreign material handling device control unit 421 ... First foreign substance handling driver
422 ... second foreign matter disposal driver 423 ... discharge dispersion adjustment driver
424 ... Extraction angle adjustment driver 430 ... Foreign matter transfer line control unit
440 ... processing fluid transfer line control unit 450 ... central processing unit
451 ... communication unit 452 ... power source unit
453 ... path determination and setting unit 454 ... cleaning area setting unit
455 ... obstacle determining unit 456 ... cleaning path setting unit
457 ... operating section 460 ... display section
470 ... shooting and lighting control unit 480 ... foreign matter characteristic measuring unit
500 ... Foreign material transfer line 600 ... Processing fluid transfer line
S100 ... Preparatory step S200 ... Foreign body sucking step
S300 ... foreign matter processing step

Claims (43)

A cleaning robot which is charged in a specific area, settles or runs, and removes a mixed fluid containing foreign matter or foreign matter in a specific area; And
Wherein the cleaning robot is connected to the cleaning robot by a foreign material conveyance line and is configured to perform centrifugal separation or sedimentation separation on the foreign matter or the mixed fluid introduced from the cleaning robot, the apparatus frame, the composition ratio and viscosity of the mixed fluid introduced from the foreign matter conveyance line A first foreign matter disposal means disposed in the apparatus frame for primarily separating the mixed fluid into a centrifugal separation fluid and a foreign matter concentrate; Second foreign matter processing means for secondarily extracting the foreign matter concentrated through the first foreign matter disposal means with sedimentation separation processing fluid and foreign matter, and second foreign matter disposal means disposed between the first foreign matter disposal means and the second foreign matter disposal means A foreign matter disposal apparatus including a discharge dispersing means for controlling the dispersion angle of the foreign object according to the physical property of the foreign object;
/ RTI >
Wherein the first foreign substance processing means comprises:
A hydrocyclone part for separating the mixed fluid into a treatment fluid and a foreign substance concentrate by centrifugal separation;
An overflow portion connected to an upper end of the hydrocyclone portion and discharging a rising processing fluid; And
A foreign matter discharging unit connected to a lower end of the hydrocyclone unit and discharging a descending foreign substance concentrate;
Lt; / RTI >
Wherein the second foreign substance processing means comprises:
A sedimentation tank disposed at a lower portion of the first foreign matter disposal unit so that the foreign matter concentrate discharged from the foreign matter discharge unit is accumulated;
An extraction screw disposed at the bottom of the inner surface of the settling tank so as to extract the precipitated foreign matter from the concentrated foreign matter accumulated in the settling tank; And
A foreign matter collecting tank disposed at one side of the settling tank and collecting foreign matter extracted by the extracting screw;
/ RTI >
Wherein the discharge dispersing means is disposed between the foreign matter discharge portion and the sedimentation tank,
A stationary panel disposed at a lower end of the foreign object discharge portion in the apparatus frame;
A flow panel rotatably connected to the stationary panel and the shaft; And
A sixth driver connected to the shaft and rotating the shaft to adjust an angle between the fixed panel and the floating panel;
Wherein the foreign matter processing system comprises:
The method according to claim 1,
The cleaning robot includes:
A robot body to which a travel driving unit is mounted;
A first foreign object removing unit disposed on the robot body for removing a foreign object on the lower side of the robot body; And
A traveling unit connected to the travel driving unit, the traveling unit being provided to move the robot body in a specific region;
Wherein the foreign object processing system comprises:
3. The method of claim 2,
The first foreign material removing unit includes:
A first foreign body suction part disposed at a lower end of the robot body so as to suck the lower foreign body of the robot body; And
A first foreign matter transferring part connected to the first foreign body suction part at an upper end of the robot body so as to transfer the foreign object sucked by the first foreign body suction part to the outside;
Wherein the foreign matter processing system comprises:
A robot body to which a running drive unit is mounted so as to remove a mixed fluid containing a foreign substance or foreign matter contained in a specific region that has been loaded into a specific region, settles or travels, and is provided in the robot body, 1. A cleaning robot comprising: a dust removing unit; and a traveling unit connected to the traveling driving unit, the traveling robot including a traveling unit provided so that the robot body moves in a specific area; And
A foreign matter processing device connected to the cleaning robot by a foreign material transfer line and treating the foreign object or the mixed fluid introduced from the cleaning robot by centrifugal separation or sedimentation separation;
Lt; / RTI >
The first foreign material removing unit includes:
A first foreign body suction part disposed at a lower end of the robot body so as to suck the lower foreign body of the robot body; And
A first foreign matter transferring part connected to the first foreign body suction part at an upper end of the robot body so as to transfer the foreign object sucked by the first foreign body suction part to the outside;
/ RTI >
Wherein the first foreign body suction unit comprises:
A lower suction port formed at a lower end of the robot body and connected to the first foreign body sending part and through which a lower foreign matter of the robot body flows;
A first screw bar mounted on a lower end of the robot body for moving a lower foreign matter of the robot body toward the lower end inlet; And
A first driving unit connected to the robot body through the first screw bar and the power transmitting member, the first driving unit driving the first screw bar;
Wherein the foreign matter processing system comprises:
5. The method of claim 4,
Wherein the lower end suction port is disposed at a lower central portion of the robot body, and the first screw bar is formed with screw lines on opposite sides of the lower end suction port.
6. The method of claim 5,
Wherein the first foreign matter suction unit further comprises a crushing blade formed at both ends of the first screw bar and provided to crush the lower foreign matter of the robot body.
The method according to claim 6,
The first foreign matter transferring unit includes:
A first pumping member disposed in the robot body and connected to the lower end suction port so as to suck foreign matter from the lower end of the robot body; And
A first foreign matter flow rate measuring sensor disposed on a first flow pipe connected to the first pumping member and provided to measure a flow rate of foreign matter discharged to the outside through the first flow pipe;
Wherein the foreign object processing system comprises:
8. The method of claim 7,
And a second foreign object removing unit mounted on the robot body for removing foreign objects in the starting direction of the robot body.
9. The method of claim 8,
The second foreign material removing unit includes:
A second foreign body suction part mounted on a side of the robot body in the starting direction and sucking foreign matter in the starting direction of the robot body; And
A second foreign matter transferring part connected to the second foreign body suction part at an upper end of the robot body so as to transfer the foreign object sucked by the second foreign body suction part to the outside;
Wherein the foreign matter processing system comprises:
10. The method of claim 9,
Wherein the second foreign body suction part comprises:
A support bracket disposed in a starting direction of the robot body and having a front suction port through which foreign matter is sucked;
A support link provided to connect the robot body and the support bracket;
A second screw bar mounted on the support bracket and provided to transfer foreign objects in the starting direction of the robot body to the front suction port; And
A second driver mounted on the support bracket and connected to the second screw bar and the power transmitting member;
Wherein the foreign matter processing system comprises:
11. The method of claim 10,
Wherein the front suction port is formed at a central portion of the support bracket, and the second screw bar is formed with screw lines on opposite sides of the front suction port.
12. The method of claim 11,
Wherein the second foreign body removing unit includes removal angle adjusting means for adjusting a foreign body removing angle of the second foreign body suction part in correspondence with the height of the foreign body layer in the starting direction of the robot body,
Wherein the removal angle adjusting means comprises:
A third driver connected and arranged between the robot body and the support link to rotate the support link; And
A guide block disposed on the robot body and provided to guide a rotation range of the support link;
Wherein the foreign matter processing system comprises:
13. The method of claim 12,
Wherein the removal angle adjusting means comprises:
And a fourth driving unit mounted between the support link and the support link extended from the support bracket and rotating the connection link.
14. The method of claim 13,
The second foreign matter transferring unit may include:
A second pumping member disposed in the robot body and connected to the front suction port so as to suck foreign matters in the starting direction of the robot body; And
A second foreign matter flow rate measuring sensor disposed on a second flow pipe connected to the second pumping member and provided to measure a flow rate of foreign matter discharged to the outside through the second flow pipe;
Wherein the foreign object processing system comprises:
15. The method of claim 14,
The driving unit includes:
An endless track connected to a traveling wheel linked to the travel driving unit and disposed on both sides of the robot body; And
A spike block disposed at a predetermined interval in the caterpillar link so as to improve a maneuvering force with respect to a foreign layer between movements of a specific region;
Wherein the foreign object processing system comprises:
16. The method of claim 15,
Wherein the spike block forms a streak structure and is arranged in a staggered manner with respect to a center of the endless track.
17. The method of claim 16,
The traveling unit may further include a through hole formed at a central portion of the caterpillar connecting body at a predetermined distance and provided to discharge the lower foreign object of the caterpillar body when the robot body sinks A foreign matter processing system.
18. The method according to any one of claims 4 to 17,
The above-mentioned foreign matter processing apparatus comprises:
Device frame;
A foreign matter characteristic analyzing means for measuring a composition ratio and a viscosity of the mixed fluid flowing from the foreign matter transfer line;
A first foreign matter disposal means disposed in the apparatus frame for primarily separating the mixed fluid into a centrifugal treatment fluid and a foreign matter concentrate; And
A second foreign object processing means disposed in the lower portion of the first foreign object processing means in the apparatus frame for secondarily extracting the foreign object concentrated through the first foreign object processing means with sedimentation separation processing fluid and foreign matter;
And a control unit for controlling the foreign matter processing system.
19. The method of claim 18,
Wherein the first foreign substance processing means comprises:
A hydrocyclone part for separating the mixed fluid into a treatment fluid and a foreign substance concentrate by centrifugal separation;
An overflow portion connected to an upper end of the hydrocyclone portion and discharging a rising processing fluid; And
A foreign matter discharging unit connected to a lower end of the hydrocyclone unit and discharging a descending foreign substance concentrate;
Wherein the foreign matter processing system comprises:
20. The method of claim 19,
Wherein the second foreign substance processing means comprises:
A sedimentation tank disposed at a lower portion of the first foreign matter disposal unit so that the foreign matter concentrate discharged from the foreign matter discharge unit is accumulated;
An extraction screw disposed at the bottom of the inner surface of the settling tank so as to extract the precipitated foreign matter from the concentrated foreign matter accumulated in the settling tank; And
A foreign matter collecting tank disposed at one side of the settling tank and collecting foreign matter extracted by the extracting screw;
Wherein the foreign matter processing system comprises:
21. The method of claim 20,
Wherein the sedimentation tank has an inclined surface and the extraction screw is mounted on the inclined surface to extract foreign matter precipitated in the lower portion of the sedimentation tank.
22. The method of claim 21,
And extracting angle adjusting means for changing an angle of extracting the foreign object with the extraction screw according to the physical property of the foreign object,
The extraction angle adjusting means
A rotating frame supporting the settling chamber and connected to the device frame by a hinge member; And
A fifth driving unit that is provided at a predetermined distance from the hinge member to be connected between the apparatus frame and the rotating frame to change an angle of the rotating frame;
Wherein the foreign matter processing system comprises:
23. The method of claim 22,
Wherein the second foreign substance processing means comprises:
A drain valve spaced apart from the bottom surface of the settling tank so as to discharge a treatment fluid separated from the concentrate accumulated in the settling tank; And
A treatment water tank disposed below the settling tank and provided to collect the treatment fluid discharged from the drain valve;
Further comprising: a control unit for controlling the flushing system.
24. The method of claim 23,
And a discharge dispersing unit disposed between the foreign matter discharging unit and the settling tank so that the foreign substance concentrate discharged from the foreign matter discharging unit is uniformly discharged in the width direction to the sedimentation tank and controlling the dispersion angle of the foreign matter according to the physical property of the foreign matter Including,
Wherein said discharge-
A stationary panel disposed at a lower end of the foreign object discharge portion in the apparatus frame;
A flow panel rotatably connected to the stationary panel and the shaft; And
A sixth driver connected to the shaft and rotating the shaft to adjust an angle between the fixed panel and the floating panel;
Wherein the foreign matter processing system comprises:
25. The method of claim 24,
Further comprising: a processing fluid transfer line connected between the specific region and the object processing apparatus, the processing fluid transfer line being configured to supply the object fluid from the object processing apparatus to a specific region,
Wherein the foreign matter transferring line is connected between the first and second flow tubes and the hydrocyclone part, and the processing fluid transfer line is connected between the specific area and the overflow part or the processing water tank.
26. The method of claim 25,
Further comprising: a control unit for controlling the cleaning robot, the foreign matter processing apparatus, the foreign matter transfer line, or the process fluid transfer line.
27. The method of claim 26,
Wherein,
A cleaning robot control unit for controlling traveling or removal of foreign matter from the cleaning robot in a specific area;
A foreign matter processing apparatus control unit for controlling a foreign matter processing apparatus for processing the mixed fluid introduced from the cleaning robot;
A foreign matter conveyance line control unit for controlling foreign matter transfer between the cleaning robot and the foreign matter processing apparatus; And
A processing fluid transfer line control unit for controlling the transfer of the processing fluid between the object processing apparatus and the specific region;
Wherein the foreign matter processing system comprises:
28. The method of claim 27,
The cleaning robot control unit,
A traveling driver for controlling a traveling speed or traveling direction of the cleaning robot in a specific area;
The first foreign object removing driver for controlling the first foreign object removing unit for removing foreign objects under the cleaning robot;
The second foreign object removing driver for controlling the second foreign object removing unit for removing the foreign matter on the cleaning robot starting direction side; And
A current position determination unit for determining a current position of the cleaning robot in a specific area;
Wherein the foreign matter processing system comprises:
29. The method of claim 28,
The first foreign material removing driver includes:
A first screw bar actuating part for actuating the first screw bar for collecting foreign matter under the cleaning robot;
A first pumping member actuating part for actuating the first pumping member for discharging the foreign matter introduced from the lower part of the cleaning robot to the outside; And
A first flow rate measuring unit for measuring a flow rate of foreign matter discharged to the outside by the first pumping member;
, ≪ / RTI &
And the operation of the first screw bar and the first pumping member is stopped when the flow rate of the foreign matter measured by the first flow rate measurement unit is less than a predetermined operation reference flow rate.
30. The method of claim 29,
The second foreign material removing driver includes:
A second screw bar actuating part for actuating the second screw bar for collecting foreign matter on the cleaning robot moving direction side;
A second pumping member actuating part for actuating the second pumping member for discharging the foreign matter introduced from the cleaning robot starting direction side to the outside; And
A second flow rate measuring unit for measuring a flow rate of foreign matter discharged to the outside by the second pumping member;
, ≪ / RTI &
Wherein the operation of the second screw bar and the second pumping member is stopped when the flow rate of the foreign matter measured by the second flow rate measurement unit is less than a predetermined operation reference flow rate.
31. The method of claim 30,
The second foreign material removing driver includes:
A foreign matter layer height measuring unit for measuring a height of the foreign object layer in the cleaning robot starting direction; And
A removal angle adjusting unit for changing a height of the second screw bar corresponding to a height of the foreign object layer measured from the foreign object layer height measuring unit;
Wherein the foreign matter processing system comprises:
32. The method of claim 31,
Wherein,
A central processing unit connected to the cleaning robot control unit, the foreign material processing unit control unit, the foreign material transfer line control unit, or the process fluid transfer line control unit, processes information collected from the cleaning robot control unit, and controls the operator; And
A display unit connected to the central processing unit and displaying information collected by the central processing unit to an operator;
Further comprising: a control unit for controlling the flushing system.
33. The method of claim 32,
The central processing unit,
An arithmetic unit for calculating information collected from the cleaning robot control unit, the foreign material processing device control unit, the foreign material transfer line control unit, or the process fluid transfer line control unit;
A power supply unit for supplying or cutting off power to the cleaning robot or the foreign material processing apparatus; And
A path determination and setting unit for setting a cleaning area and a cleaning path of the cleaning robot in a specific area;
Wherein the foreign matter processing system comprises:
34. The method of claim 33,
Wherein the path determination and setting unit comprises:
A cleaning area setting unit for setting a cleaning area by the cleaning robot in a specific area;
An obstacle determining unit for determining the presence, position, and overcoming of obstacles in the set cleaning area; And
A cleaning path setting unit for setting a cleaning path of the cleaning robot in consideration of a set cleaning area and an inaccessible obstacle position;
Wherein the foreign matter processing system comprises:
A foreign substance treatment method using a foreign matter treatment system,
A preparing step of putting the cleaning robot into a specific area and judging and setting a cleaning path;
A foreign matter suctioning step in which the cleaning robot travels in a specific area and sucks mixed fluid containing foreign matter or foreign matter; And
A foreign matter processing step of processing the mixed fluid sucked from the cleaning robot;
/ RTI >
The foreign matter treatment step may include:
Analyzing a physical property value of the mixed fluid flowing in the foreign matter sucking step;
A first separation step of separating the mixed fluid into a treatment fluid and a foreign matter concentrate by centrifugation;
A second separation step of separating the foreign matter concentrate into a treatment fluid and foreign matter by sedimentation separation; And
A discharge dispersion adjusting step of adjusting an discharge angle of the foreign matter concentrate introduced into the second foreign matter separation step in the first foreign matter separation step according to the physical property of the foreign matter measured in the foreign matter characteristic analysis step;
Wherein the foreign matter processing method comprises the steps of: 36. The method of claim 35,
In the preparation step,
A cleaning area setting step of determining a size and a shape of a specific area and setting a cleaning area;
Determining a current position of the cleaning robot in a specific area;
An obstacle determining step of determining the presence, position, and overcoming of obstacles in the set cleaning area; And
A cleaning path setting step of setting a cleaning path of the cleaning robot on the basis of the set cleaning area, the current position of the cleaning robot, and the irrecoverable obstacle position information;
Wherein the foreign matter processing method comprises the steps of:
37. The method of claim 36,
In the foreign matter sucking step,
A first foreign object removing step of removing a lower foreign object of the cleaning robot;
A running step in which the cleaning robot travels according to a set cleaning path;
A second foreign object removing step of removing foreign objects on the moving direction side of the cleaning robot; And
Determining whether a final target point of the cleaning robot is reached within a set cleaning area;
Wherein the foreign matter processing method comprises the steps of:
39. The method of claim 37,
Wherein the first foreign matter removal step is determined by comparing a flow rate of foreign matter introduced from a lower portion of the cleaning robot with a predetermined operation reference flow rate.
39. The method of claim 38,
The second foreign material removing step may include:
A foreign particle layer height measuring step of measuring a foreign particle layer height in a specific region;
Comparing the height of the second screw bar with the height of the foreign object layer and changing the height of the second screw bar to correspond to the height of the foreign object layer; And
A foreign matter flow rate comparing step of measuring a flow rate of a foreign object to be sucked and comparing the flow rate to a predetermined operation reference flow rate;
Wherein the foreign matter processing method comprises the steps of:
40. The method of claim 39,
Wherein the second foreign matter removal step is determined depending on whether the cleaning robot reaches the final target point within the set cleaning area.
delete delete 36. The method of claim 35,
Further comprising an extracting angle adjusting step of adjusting an extracting angle of the foreign object in the second foreign material separating step according to the physical property of the foreign object measured in the foreign material characteristic analyzing step.

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