KR101689133B1 - A robot cleaner and a method for operating it - Google Patents

Abstract

A robot cleaner is disclosed. The robot cleaner includes first and second rotatable members each of which is rotatable about a first rotation axis and a second rotation axis by the power of the driving unit, And a control unit for controlling the driving unit to rotate at least one of the first and second rotary members so as to move the robot cleaner in a predetermined direction, And a dry cleaning unit including an inlet for sucking the particles.

Description

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

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

With the development of industrial technology, various devices are being automated. As is well known, the robot cleaner is a device for automatically cleaning the area to be cleaned by suctioning foreign objects such as dust from the surface to be cleaned while rubbing itself in the area to be cleaned without user's operation, or wiping off foreign matter on the surface to be cleaned .

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

The robot cleaner including such a vacuum cleaner has a limitation in that it can not remove foreign matter, stains, etc. adhering to the surface to be cleaned. Recently, a robot cleaner has been developed which can perform wet cleaning by attaching a mop to the robot cleaner .

However, the wet cleaning method using a general robot cleaner is merely a simple method of attaching a mop or the like to the lower part of a conventional vacuum cleaner, which lowers the effect of removing foreign matter and can not perform efficient wet cleaning.

Particularly, in the case of the wet cleaning method of a general robot cleaner, since it travels by using the conventional moving method for the suction type vacuum cleaner and the avoidance method for the obstacle, the foreign matter adhering to the surface to be cleaned even if the dust scattered on the surface to be cleaned is removed There is a problem that it can not be easily removed.

In addition, in the case of a wiping structure of a general robot cleaner, frictional force with the ground is increased by the rag face, and additional driving force is required to drive the wheels, which leads to an increase in battery consumption.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot cleaner in which a rotating force of a pair of rotary members is used as a moving power source of a robot cleaner and a cleaner for wet cleaning can be fixed to a rotary member, The present invention provides a robot cleaner capable of running while performing wet cleaning and a control method thereof.

It is another object of the present invention to provide a robot cleaner that can perform both wet cleaning and dry cleaning by controlling the rotational motion of a pair of rotating members such that free particles located on the surface to be clean are gathered near the suction port, .

According to an aspect of the present invention, there is provided a robot cleaner including: a driving unit for providing power; a first rotating shaft driven by the driving unit and a second rotating shaft; A control unit for controlling the driving unit to rotate at least one of the first and second rotary members so as to cause the robot cleaner to travel in a predetermined direction, And a suction port for suctioning the free particles collected from the surface to be cleaned while the robot cleaner is running in accordance with the rotational motion of the two rotary members.

According to another aspect of the present invention, there is provided a robot cleaner including: a main body that forms an outer appearance of the robot cleaner; a cleaner which is formed at a front end of the bottom of the main body, 1, a second rotary member, a second rotary member, and a second rotary member, which are formed at the rear end of the first and second rotary members on the bottom surface of the main body and are collected from the surface to be cleaned in accordance with the rotational motion of the first and second rotary members, A guide member for guiding the free particles to be collected near the suction port, and a suction port formed near the guide member on the bottom surface of the main body and sucking the collected free particles.

According to another aspect of the present invention, there is provided a method of controlling a robot cleaner, including rotating at least one of first and second rotating members rotating about a first rotation axis and a second rotation axis, Moving the robot cleaner in a predetermined direction, and sucking free particles gathered from the surface to be cleaned in accordance with the rotation of the first and second rotary members during running of the robot cleaner.

According to various embodiments of the present invention, the robot cleaner can travel while performing a wet cleaning using a rotational force of a pair of rotary members capable of fixing a cleaner for wet cleaning as a moving power source.

According to various embodiments of the present invention, the robot cleaner controls the rotational motion of the pair of rotary members such that the free particles located on the surface to be clean are gathered near the suction port, thereby performing the wet cleaning and the dry cleaning effectively .

In addition, according to various embodiments of the present invention, the robot cleaner can improve the battery efficiency by using the rotational force of a pair of rotating members, to which a cleaner for wet cleaning can be fixed, as a moving power source.

According to various embodiments of the present invention, the rotation axis of each of the pair of rotary members of the robot cleaner is inclined so as to have a predetermined angle with respect to the central axis, so that the moving speed of the robot cleaner can be increased, When an obstacle of a predetermined height such as a threshold is located on the traveling path of the cleaner, wet cleaning and dry cleaning can be performed while climbing the obstacle.

1 is an exploded perspective view of a robot cleaner according to an embodiment of the present invention.
2 is a bottom view of a robot cleaner according to an embodiment of the present invention.
3 is a front view of a robot cleaner according to an embodiment of the present invention.
4 is a perspective view showing the inside of a main body of a robot cleaner of the present invention.
5 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention.
6 to 7 are views for explaining a traveling operation of the robot cleaner according to an embodiment of the present invention.
8 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention.
9 to 11 are flowcharts illustrating a method of controlling the robot cleaner according to an exemplary embodiment of the present invention.

The following merely illustrates the principles of the invention. Thus, those skilled in the art will be able to devise various apparatuses which, although not explicitly described or shown herein, embody the principles of the invention and are included in the concept and scope of the invention. Furthermore, all of the conditional terms and embodiments listed herein are, in principle, only intended for the purpose of enabling understanding of the concepts of the present invention, and are not to be construed as limited to such specifically recited embodiments and conditions do.

It is also to be understood that the detailed description, as well as the principles, aspects and embodiments of the invention, as well as specific embodiments thereof, are intended to cover structural and functional equivalents thereof. It is also to be understood that such equivalents include all elements contemplated to perform the same function irrespective of the currently known equivalents as well as the equivalents to be developed in the future, i.e., the structure.

Thus, for example, it should be understood that the block diagrams herein represent conceptual views of exemplary circuits embodying the principles of the invention. Similarly, all flowcharts, state transition diagrams, pseudo code, and the like are representative of various processes that may be substantially represented on a computer-readable medium and executed by a computer or processor, whether or not the computer or processor is explicitly shown .

The functions of the various elements shown in the figures, including the functional blocks depicted in the processor or similar concept, may be provided by use of dedicated hardware as well as hardware capable of executing software in connection with appropriate software. When provided by a processor, the functions may be provided by a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which may be shared.

Also, the explicit use of terms such as processor, control, or similar concepts should not be interpreted exclusively as hardware capable of running software, and may be used without limitation as a digital signal processor (DSP) (ROM), random access memory (RAM), and non-volatile memory. Other hardware may also be included.

In the claims hereof, the elements represented as means for performing the functions described in the detailed description include all types of software including, for example, a combination of circuit elements performing the function or firmware / microcode etc. , And is coupled with appropriate circuitry to execute the software to perform the function. It is to be understood that the invention defined by the appended claims is not to be construed as encompassing any means capable of providing such functionality, as the functions provided by the various listed means are combined and combined with the manner in which the claims require .

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, in which: There will be. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

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

1 to 4 are views for explaining a structure of a robot cleaner according to an embodiment of the present invention. 2 is a bottom view of a robot cleaner according to an embodiment of the present invention. FIG. 3 is a schematic view of a robot cleaner according to an embodiment of the present invention. Fig. 4 is a perspective view showing the inside of a main body of a robot cleaner of the present invention. Fig.

1 to 4, a robot cleaner 100 according to the present invention includes a main body 10 that structurally forms an outer appearance of a robot cleaner, and a main body 10 installed on the main body 10 for running the robot cleaner 100 A first rotating member 110 coupled to the first and second driving units 151 and 152 to rotate and a second rotating member 120 coupled to the first driving unit 151 and the second driving unit 152 for supplying power, A controller 170 installed in the main body 10 and controlling the overall operation of the robot cleaner 100, a main body 10 installed in the main body 10, A cleaning member 130 installed on the main body 10 for performing a dry cleaning by sucking free particles located on the surface to be cleaned, a hair member 230, a guide member 240, and auxiliary wheels 251 and 252 installed on the bottom surface of the main body 10, As shown in FIG.

Each of the first driving unit 151 and the second driving unit 152 may be installed inside the main body 10 and may be coupled to the first rotating member 110 and the second rotating member 120, .

The first rotating member 110 is coupled to the first driving unit 151 and transmits the power by the first driving unit 151. The first rotating member 110 rotates about the first rotating shaft 310 by the power, (111). Further, the first cleaner 210 for wet cleaning may include a first fixing member 112 to which the first cleaner 210 can be fixed.

The second rotating member 120 is coupled to the second driving unit 152 to transmit the power by the second driving unit 152 and rotates about the second rotating shaft 320 by the power. And may include a transmitting member 121. In addition, the second cleaner 220 for wet cleaning may include a second fixing member 122 to which the second cleaner 220 can be fixed.

Here, when the lower end regions of the first transmitting member 111 and the second transmitting member 112 are coupled to the main body 10, they may be protruded in the direction of the surface to be cleaned. Or when the first transmitting member 111 and the second transmitting member 112 are coupled to the main body 10, they may not be protruded in the direction of the surface to be cleaned.

When the first fixing member 112 and the second fixing member 122 are coupled to the main body 10, the first fixing member 112 and the second fixing member 122 may be protruded in the direction of the surface to be cleaned, for example, The first cleaner 210 and the second cleaner 220 for cleaning may be fixed.

The first cleaner 210 and the second cleaner 220 may be made of a cloth such as a microfibre cloth, a mop, a nonwoven fabric, or the like capable of wiping various surfaces to be cleaned, Fiber material. In addition, a plurality of brushes 211 and 221 for easily collecting free particles such as dust, trash, and the like located on the surface to be cleaned in a wide range can be formed on the outer circumference of each of the first and second cleaners 210 and 220. Here, the plurality of brushes 211 and 221 may be made of the same material as the cleaners 210 and 220, or may be made of other materials. The shapes of the first cleaner 210 and the second cleaner 220 may be circular as shown in the drawing, but may be embodied in various forms without limitation.

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

The robot cleaner 100 according to an embodiment of the present invention includes a first cleaner 210 and a second cleaner 210. The first cleaner 210 and the second cleaner 210 are rotated by the rotational movement of the first rotating member 110 and the second rotating member 120, So that the user can travel while removing the foreign substances adhering to the surface to be cleaned through the friction between the cleaning surface 220 and the surface to be cleaned. Here, the robot cleaner 100 can adjust the traveling speed and traveling direction according to the magnitude and direction in which the resultant force due to the friction acts.

3, the first rotary shaft 310 and the second rotary shaft 320 of the first and second rotary members 110 and 120 are driven by the motive power of the pair of the driving units 151 and 152, The center axis 300 may be inclined at an angle with respect to the center axis 300 corresponding to the vertical axis.

Accordingly, when the cleaners 210 and 220 for wet cleaning are respectively fixed to the first and second rotary members 110 and 120, the fixed cleaners 210 and 220 are inclined with respect to the first and second rotary shafts 310 and 320, And may be inclined downward inward with respect to the central axis 330, as shown in FIG.

Here, the center axis 300 may mean the axis perpendicular to the surface to be cleaned of the robot cleaner 100. For example, assuming that the robot cleaner 100 travels in an XY plane formed by the X and Y axes to clean the robot cleaner 100 during the cleaning operation, the center axis 300 is perpendicular to the surface to be cleaned of the robot cleaner 100 Axis Z axis.

The predetermined angle is a first angle (a degree) corresponding to an angle at which the first rotation shaft 310 is tilted with respect to the central axis 300-1 moved in parallel to the side surface of the main body 10, (B degrees) corresponding to an angle at which the second rotation axis 320 is tilted with respect to the central axis 300-2 moved in parallel to the side of the center axis 300-2. Here, the first angle and the second angle may be the same or different from each other.

Further, each of the first angle and the second angle can be selected in an angle range in which the obstacle climbing ability, the wet cleaning ability, and the traveling speed of the robot cleaner 100 can be optimally maintained.

Tilted angle 4.7mm height obstacle climbing ability (based on 3 points)  Wet cleaning ability (based on 3 points)  Driving speed (based on 3 points) Less than 1 degree Not all cleaners can climb (0) Clean all surfaces cleaned with cleaner (3) Very slow (0) 1 degree Some cleaner climbing (1) Clean all surfaces cleaned with cleaner (3) Slow (1) 1.85 degrees Some cleaner climbing (2) Clean all of the cleaning surfaces that are in contact with the cleaner except for a part of the cleaning surface away from the central axis (300) (2) Usually (2) 3 degrees All cleaner climbing boxes (3) Clean all of the cleaning surfaces that rub against the cleaner except for a part of the cleaning surface away from the center axis (300) (1) Fast (3) Greater than 3 degrees All cleaner climbing boxes (3) (0) cleaned away from most of the cleaned surface far away from the center shaft (300) Fast (3)

That is, referring to Table 1, the robot cleaner 100 has a pair of rotation shafts 310 and 320 inclined at a predetermined angle with respect to the central axis 300, And when the first obstacle of a predetermined height such as a threshold is located on the traveling path of the robot cleaner 100, the first obstacle can be climbed and travel while performing the wet cleaning. Particularly, it is possible to maintain the first obstacle climbing ability, the wet cleaning ability, and the traveling speed of the robot cleaner optimally by keeping the predetermined angle within the range of 1 degree to 3 degrees.

However, various embodiments of the present invention may not be limited to the angular ranges described above.

When the pair of rotating members 110 and 120 are rotated according to the tilting of the rotating shafts 310 and 320 as described above, the relative frictional force generated between the surface to be cleaned and the cleaners 210 and 220 is greater (300). Therefore, the traveling speed and direction of the robot cleaner 100 can be controlled by the relative frictional force generated by controlling the rotation of the pair of rotary members 110 and 120, respectively.

Meanwhile, the robot cleaner 100 according to an embodiment of the present invention can simultaneously perform wet cleaning and dry cleaning while traveling on the surface to be cleaned.

In this case, each of the first rotating member 110 and the second rotating member 120 has free particles located on the surface to be cleaned, near the inlet 131 located at the rear end of the first rotating member 110 and the second rotating member 120 As shown in FIG.

2, the front end of each of the first and second rotary members 110 and 120 can be rotated from the outside to the inside with reference to the advancing direction F of the robot cleaner 100. [

More specifically, the first rotary member 110 located on the left side of the robot cleaner 100 rotates in a clockwise direction on the basis of the perspective view, and the second rotary member 120 positioned on the right side of the robot cleaner 100 rotates counterclockwise It is possible to rotate clockwise.

In this case, the robot cleaner 100 can perform the forward running (F) and the wet cleaning by the frictional force between the cleaners 210 and 220 and the surface to be cleaned, and the first rotary member 110 and the second rotary member 120 The free particles positioned on the surface to be cleaned can be collected near the suction port 131. FIG.

The robot cleaner 100 according to an embodiment of the present invention may include a first rotating member 110 and a hairy member 230 formed between the second rotating member 120 on the bottom surface of the main body 10 have. When the first and second cleaners 210 and 220 are rotated according to the rotational movement of the first and second rotary members 110 and 120, the hairy member 230 is formed on the outer periphery of each of the first and second cleaners 210 and 220 The free particles collected by the plurality of brushes 211 and 221 come into contact with the plurality of brushes 211 and 221 and can be blown toward the suction port 131. [

The robot cleaner 100 according to an embodiment of the present invention may include a first and a second rotating members 110 and 120 at the bottom surface of the main body and a guide member 240 formed at a rear end of the hairy member 230. The guide member 240 may extend toward the side end of the main body 10 and the lower end may be formed to approach the surface to be cleaned while the robot cleaner 100 is running. Accordingly, the guide member 240 can guide the free particles, which are worn out by the hairy member 230, to be collected near the suction port 131.

The robot cleaner 100 according to an embodiment of the present invention includes a suction port 131 formed at the rear end of the main body 10 for suctioning free particles and a fan 132 for generating a suction force to the suction port 131. [ And a dust collecting device 133 for collecting the dust introduced into the suction port by the air blowing device.

Here, the suction port 131 may be formed along with the front end, the rear end, or the guide member of the guide member so that the free particles guided by the guide member 240 can be easily sucked. When the suction port 131 is formed at the rear end of the guide member, a hole may be formed in the guide member such that free particles can be sucked into the suction port 131. When the suction port 131 is formed side by side with the guide member, the guide member 131 may be separated into two and formed on both sides with respect to the suction port 131.

Also, the robot cleaner 100 according to an embodiment of the present invention may include auxiliary wheels 251 and 252 formed at a rear end of the bottom surface of the robot cleaner 100. The auxiliary wheels 251 and 252 support the main body of the robot cleaner 100, minimize the friction with the bottom surface (the surface to be cleaned), and facilitate the running of the robot cleaner 100. Here, the auxiliary wheels 251 and 252 may be implemented as a caster that rotates in accordance with the running direction of the robot cleaner 100 to maintain the body in a stable posture.

Meanwhile, the robot cleaner 100 according to an embodiment of the present invention further includes a plurality of sensor units (not shown) formed in a predetermined region of the main body 10 for detecting a second obstacle that can not climb like a wall . Accordingly, the robot cleaner 100 can detect the forward second obstacle on the basis of the information sensed by the sensor unit based on the traveling direction, and avoid the second obstacle, thereby performing the clean running.

5 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention. 5, the robot cleaner 100 according to an exemplary embodiment of the present invention includes rotary members 110 and 120, a dry cleaning unit 130, a communication unit 140, a driving unit 150, a storage unit 160, The input unit 180, the output unit 185, the power supply unit 190, and the sensor unit 195, all of or part of the sensor unit 195, the tilt control unit 175,

The inclination adjusting unit 175 may adjust the inclination angle of at least one of the first and second rotation shafts 310 and 320 with respect to the central axis 300 corresponding to the vertical axis of the robot cleaner 100.

The sensor unit 195 may include one or more sensors provided on the side surface of the main body 10 as described above to detect a second obstacle that can not be climbed like a wall.

The sensor unit 195 may include one or more sensors positioned at the front and / or rear bottom of the main body 10 to detect a first obstacle at a predetermined height, such as a threshold. Here, the sensors for sensing the first and second obstacles may be embodied as an obstacle detection sensor or a camera sensor that emits infrared or ultrasound signals to the outside and receives signals reflected from obstacles.

In addition, the sensor unit 195 may include a sensor, for example, an acceleration sensor, for sensing a traveling state of the robot cleaner 100 such as a traveling distance, a traveling speed, and a traveling acceleration.

Meanwhile, the sensor unit 195 may transmit the sensing signal to the controller 170.

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

The robot cleaner 100 can be controlled in its operation state or operation mode by a control signal received by the communication unit 140. [ The terminal for controlling the robot cleaner 100 may include, for example, a smart phone, a tablet, a personal computer, and a remote controller (a remote controller) that can communicate with the robot cleaner 100.

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

Meanwhile, the storage unit 160 may store a program for the operation of the controller 170, and temporarily store input / output data. The storage unit 160 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory) (Random Access Memory), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM) A magnetic disk, and / or an optical disk.

The input unit 180 may receive a user input for operating the robot cleaner 100. In particular, the input unit 180 may be configured to allow the user to adjust the inclination angle of at least one of the first and second rotation shafts 310 and 320 with respect to the central axis 300 corresponding to the vertical axis of the robot cleaner 100, Input can be received. In addition, the input 180 may receive user input to select a cleaning mode, such as a wet cleaning mode, a wet and dry cleaning mode, an automatic cleaning mode, and the like.

The input unit 180 may include a key pad dome switch, a touch pad (static / static), a jog wheel, a jog switch, and the like.

The output unit 185 is for generating an output related to visual, auditory, etc., and may include a display unit, an audio output module, an alarm unit, and the like although not shown in the figure.

The display unit displays (outputs) information processed by the robot cleaner 100. For example, when the robot cleaner is being cleaned, a UI (User Interface) or a GUI (Graphic User Interface) indicating a cleaning time, a cleaning method, a cleaning area, and the like related to the cleaning mode can be displayed.

The control unit 170 typically controls the overall operation of the robot cleaner 100. The control unit 170 may control the driving unit 150 to rotate the robot cleaner 100 in a predetermined direction by rotating at least one of the first rotating member 110 and the second rotating member 120 .

For example, when the cleaning mode of the robot cleaner 100 is a wet and dry cleaning mode in which both the wet cleaning and the dry cleaning are performed, the controller 170 controls the first The first driving unit 151 and the second driving unit 152 may be controlled such that the front ends of the first and second rotary members 110 and 120 are rotated from the outside to the inside. That is, the control unit 170 rotates the first rotary member 110 located on the left side of the robot cleaner 100 in the clockwise direction on the basis of the perspective view and rotates the second rotary member 120 May control the first driving unit 151 and the second driving unit 152 so as to rotate in the counterclockwise direction.

In addition, if a second obstacle such as a wall that can not be climbed is detected through the sensor unit 195 during the clean running, the control unit 170 can control the driving unit 150 to avoid the second obstacle and to travel. For example, when the second obstacle is sensed, the controller 170 controls the driving unit 150 to adjust the rotational direction, the rotational speed, and the time of each of the first rotating member 110 and the second rotating member 120, It is possible to control the driving unit 150 to rotate the cleaner 100 in place and to travel in the forward direction F when the second obstacle is avoided in accordance with the rotation of the robot cleaner 100.

Hereinafter, the operation of the robot cleaner according to an embodiment of the present invention will be described with reference to FIGS.

The rotation direction of the rotary member according to the embodiment of the present invention can be described based on the direction from the upper side of the robot cleaner 100. 6, the first rotary member 110 located on the left side of the robot cleaner 100 rotates in a clockwise direction and the second rotary member 120 located on the right side of the robot cleaner 100 It is possible to rotate in a counterclockwise direction.

In this case, the robot cleaner 100 can perform the forward running (F) and the wet cleaning by the frictional force between the cleaners 210 and 220 and the surface to be cleaned, and the first rotary member 110 and the second rotary member 120 The free particles positioned on the surface to be cleaned can be collected near the suction port 131. FIG.

Fig. 7 shows a rotation control table for implementing such forward travel. The control unit 170 may control the driving unit 150 based on the rotation control table values stored in the storage unit 160 to control rotation of the respective rotation members 110 and 120. [ The rotation control table may include at least one of a direction value, a velocity value, and a time value assigned to each of the rotary members 110 and 120 for each of the traveling modes such as forward and backward rotation. As shown in FIG. 7, the rotation direction of the first rotating member 110 may be different from the rotating direction of the second rotating member 120. Further, the rotational speed and time of each of the rotating members 110 and 120 may have the same value. In this case, the robot cleaner 100 can travel in the forward direction F. [

In addition, the controller 170 may generate a control signal for controlling the tilt adjuster 175. Specifically, the controller 170 may generate a control signal for controlling the angle of inclination of at least one of the first and second rotation shafts 310 and 320 with respect to the central axis 300, and may transmit the control signal to the tilt adjustment unit 175 .

For example, the control unit 170 receives a sensing signal from the sensor unit 130 for sensing the traveling state of the robot cleaner 100, such as the traveling distance, the traveling speed, and the traveling acceleration, The traveling state of the cleaner 100 can be determined. For example, when the robot cleaner 100 can not travel due to a first obstacle at a predetermined height such as a threshold, the travel distance, the traveling speed, the traveling acceleration, etc. may be lower than a preset value, It can be judged that it is not smooth.

In this case, the control unit 170 may generate a control signal for increasing the angle at which the rotation axis of at least one of the first and second rotation axes 310 and 320 is inclined with respect to the central axis 300 and transmit the control signal to the tilt adjustment unit 175 have. Accordingly, the obstacle climbing ability of the robot cleaner 100 can be improved, and the traveling speed can also be increased.

However, if it is determined that the running state is smooth, the controller 170 may generate a control signal for maintaining or lowering the current tilted angle and transmit the control signal to the tilter controller 175. Accordingly, the cleaning ability of the robot cleaner 100 can be improved.

Alternatively, the controller 170 may be located on the front and / or rear bottom of the main body 10 to receive a sensing signal from the sensor unit 130 that the robot cleaner 100 then travels to and faces the surface to be cleaned, It is possible to determine whether a first obstacle of a predetermined height, such as a threshold, is located on a traveling route of the robot cleaner 100 based on the sensing signal. If it is determined that the first obstacle is located, the controller 170 generates a control signal for increasing the angle of rotation of at least one of the first and second rotation shafts 310 and 320 with respect to the center axis 300, (175). Accordingly, the obstacle climbing ability of the robot cleaner 100 can be improved, and the traveling speed can also be increased.

However, if it is determined that the first obstacle is not located, the controller 170 may generate a control signal to maintain or lower the current tilt angle and transmit the control signal to the tilt controller 175. Accordingly, the cleaning ability of the robot cleaner 100 can be improved.

Meanwhile, according to the above-described example, when a predetermined time has elapsed since the tilted angle is increased, the controller 170 may generate a control signal for lowering the tilted angle and transmit the control signal to the tilter controller 175. Accordingly, the cleaning ability of the robot cleaner 100 that has completed climbing of the first obstacle can be improved.

Accordingly, the cleaning ability of the robot cleaner 100 can be improved.

On the other hand, when receiving a user input for adjusting the inclined angle from the input unit 180, the controller 170 controls the first and second rotation axes 180 and 180 with respect to the central axis 300 at an angle corresponding to the received user input, A control signal may be generated to control the tilt angle of at least one of the rotation axes 310 and 320 and transmitted to the tilt adjustment unit 175.

Meanwhile, the power supply unit 190 receives external power and internal power under the control of the controller 170 and supplies power necessary for operation of the respective components.

8 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention. Referring to FIG. 8, at least one of the first and second rotary members 110 and 120, which rotate about the first rotation axis 310 and the second rotation axis 320, is rotated to move the robot cleaner 100, (S801).

During the traveling of the robot cleaner 100, the free particles collected from the surface to be cleaned can be sucked in accordance with the rotational movement of the first and second rotary members 110 and 120 (S802).

FIG. 9 is a flowchart specifically illustrating a method of controlling a robot cleaner according to an embodiment of the present invention. 9, the first rotary member 110 rotates clockwise so that the free particles located on the surface to be cleaned are collected near the suction port 131 while the robot cleaner 100 travels, The robot cleaner 120 can be rotated in the counterclockwise direction to move the robot cleaner forward (S901)

Then, the free particles collected in accordance with the friction between the cleaners 210 and 220 and the surface to be cleaned during forward travel can be removed from the cleaners 210 and 220 (S902)

Then, the free particles can be guided so as to be collected near the suction port 131 (S903).

Then, the collected free particles can be sucked (S904)

10 is a flowchart specifically illustrating a control method of the robot cleaner according to an embodiment of the present invention. First, at least one of the first and second rotary members 110 and 120, which rotate about the first rotation axis 310 and the second rotation axis 320, respectively, is rotated to allow the robot cleaner 100 to travel in a predetermined direction (S1001).

When the robot cleaner 100 is running, the angle of rotation of at least one of the first and second rotation shafts 310 and 320 with respect to the central axis 300 corresponding to the vertical axis of the robot cleaner 100 is (S1002).

11 is a flowchart specifically illustrating a control method of the robot cleaner according to an embodiment of the present invention. First, at least one of the first and second rotary members 110 and 120, which rotate about the first rotation axis 310 and the second rotation axis 320, respectively, is rotated to allow the robot cleaner 100 to travel in a predetermined direction (S1101).

Then, the robot cleaner 100 can detect a running state or a first obstacle of a predetermined height or higher (S1102).

During the travel of the robot cleaner 100, the inclination angle of at least one of the first and second rotation shafts 310 and 320 with respect to the central axis 300 can be adjusted based on the detection result (S1103).

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

A non-transitory readable medium is a medium that stores data for a short period of time, such as a register, cache, memory, etc., but semi-permanently stores data and is readable by the apparatus. In particular, the various applications or programs described above may be stored on non-volatile readable media such as CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM,

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present invention.

100: robot cleaner 10: main body
110: first rotating member 120: second rotating member
130: dry cleaner 140: communication unit
150: driving unit 160:
170: control unit 175: tilt adjustment unit
180: input unit 185: output unit
190: power supply unit 195: sensor unit
210, 220: Cleaner 230:
240: guide member 251, 252: auxiliary wheel

Claims (18)

In the robot cleaner,
A driving unit for supplying power;
First and second rotatable members each of which rotates around a first rotation axis and a second rotation axis by the power of the driving unit and fixes a cleaner for wet cleaning respectively;
A hairy member formed between the first rotating member and the second rotating member at a bottom surface of the main body;
A guide member formed on the bottom surface of the main body at the rear end of the member for guiding the free particles collected by the member to be collected near the suction port;
A controller for controlling the driving unit to rotate at least one of the first and second rotating members to move the robot cleaner in a predetermined direction; And
And a suction port for sucking the free particles collected from the surface to be cleaned while the robot cleaner is running according to the rotational motion of the first and second rotary members,
A plurality of brushes for collecting the free particles are formed on an outer periphery of the cleaner,
Wherein the first and second rotary shafts of the first and second rotary members are inclined to have a predetermined angle with respect to a central axis corresponding to a vertical axis of the robot cleaner so that the cleaner is inclined downward inward under,
The robot cleaner includes:
The front end of the first and second rotary members is moved in a predetermined direction using the frictional force between the cleaner and the surface to be cleaned generated as the front ends of the first and second rotary members are rotated from the outside to the inside, Collecting the free particles from the surface to be cleaned and collecting them near the suction port by rotation of the plurality of brushes,
Wherein the hairy member is in contact with a plurality of brushes of a first cleaner fixed to the first rotating member and a plurality of brushes of a second cleaner fixed to the second rotating member to form a plurality of brushes of the first cleaner, The free particles collected by the plurality of brushes of the cleaner are shaken toward the suction port and the guide member,
Wherein the guide member includes a first guide member and a second guide member formed on both sides of the suction port and the first and second guide members are formed to be close to the surface to be cleaned while the robot cleaner is running Features a robotic vacuum cleaner. delete delete The method according to claim 1,
Wherein,
Wherein the controller controls the driving unit to rotate the front ends of the first and second rotary members from the outside to the inside so that the free particles located on the surface to be cleaned are collected near the suction port while the robot cleaner is running. . The method according to claim 1,
The first rotary member is formed on the left side of the robot cleaner, the second rotary member is formed on the right side of the robot cleaner,
Wherein,
The first rotary member is rotated in a clockwise direction by controlling the driving unit such that free particles positioned on the surface to be cleaned are collected near the suction port while the robot cleaner is running, Wherein the robot cleaner is adapted to exercise the robot cleaner. delete delete The method according to claim 1,
And a tilt adjusting unit that adjusts an angle of inclination of at least one rotation axis of the first and second rotation shafts with respect to a central axis corresponding to a vertical axis of the robot cleaner. In the robot cleaner,
A main body forming an outer appearance of the robot cleaner;
First and second rotary members formed at the front end of the bottom surface of the main body and capable of respectively fixing cleaners for wet cleaning;
A hairy member formed between the first rotating member and the second rotating member on the bottom surface of the main body;
The free particles collected from the surface to be cleaned, which are formed on the bottom surface of the main body at the rear end of the first and second rotating members, are collected in the vicinity of the suction port in accordance with the rotational motion of the first and second rotating members, A guide member for guiding the guide member so as And
And a suction port formed in the bottom surface of the main body near the guide member and sucking the collected free particles,
A plurality of brushes for collecting the free particles are formed on an outer periphery of the cleaner,
Wherein the first and second rotary shafts of the first and second rotary members are inclined to have a predetermined angle with respect to a central axis corresponding to a vertical axis of the robot cleaner so that the cleaner is inclined downward inward under,
The robot cleaner includes:
The front end of the first and second rotary members is moved in a predetermined direction using the frictional force between the cleaner and the surface to be cleaned generated as the front ends of the first and second rotary members are rotated from the outside to the inside, Collecting the free particles from the surface to be cleaned and collecting them near the suction port by rotation of the plurality of brushes,
Wherein the hairy member is in contact with a plurality of brushes of a first cleaner fixed to the first rotating member and a plurality of brushes of a second cleaner fixed to the second rotating member to form a plurality of brushes of the first cleaner, The free particles collected by the plurality of brushes of the cleaner are shaken toward the suction port and the guide member,
Wherein the guide member includes a first guide member and a second guide member formed on both sides of the suction port and the first and second guide members are formed to be close to the surface to be cleaned while the robot cleaner is running Features a robotic vacuum cleaner. delete 10. The method of claim 9,
The suction port
Wherein the guide member is formed on the front end, the rear end, or the guide member. delete A control method for a robot cleaner,
Rotating at least one of the first and second rotary members rotating about the first rotation axis and the second rotation axis to travel the robot cleaner in a predetermined direction; And
Cleaning the free particles collected from the surface to be cleaned by the cleaner in accordance with the rotation of the first and second rotary members during running of the robot cleaner;
Guiding the whitened free particles to be collected near the suction port; And
And sucking the collected free particles,
Wherein the first and second rotary shafts of the first and second rotary members are inclined to have a predetermined angle with respect to a central axis corresponding to a vertical axis of the robot cleaner and are fixed to the first and second rotary members, The cleaner is inclined downward inward with respect to the central axis,
A plurality of brushes for collecting the free particles are formed on an outer periphery of the cleaner,
The robot cleaner includes:
The front end of the first and second rotary members is moved in a predetermined direction using the frictional force between the cleaner and the surface to be cleaned generated as the front ends of the first and second rotary members are rotated from the outside to the inside, Collecting the free particles from the surface to be cleaned by rotation of the plurality of brushes and collecting them near the suction port,
The method of claim 1,
Wherein the hairy member is in contact with a plurality of brushes of a first cleaner fixed to the first rotating member and a plurality of brushes of a second cleaner fixed to the second rotating member, The free particles collected by the plurality of brushes of the brush member are whirled toward the suction port and the guide member,
Wherein the guiding comprises:
The guide member guides free particles collected by the hair member to be collected near the suction port,
Wherein the guide member includes a first guide member and a second guide member formed on both sides of the suction port and the first and second guide members are formed to be close to the surface to be cleaned while the robot cleaner is running Wherein the control method comprises: delete delete 14. The method of claim 13,
The first rotary member is formed on the left side of the robot cleaner, the second rotary member is formed on the right side of the robot cleaner,
The driving method according to claim 1,
Wherein the first rotary member rotates clockwise and the second rotary member rotates in a counterclockwise direction so that free particles located on the surface to be cleaned are collected in the vicinity of the suction port during traveling of the robot cleaner, Is driven in a predetermined direction. delete 14. The method of claim 13,
And adjusting an inclination angle of at least one rotation axis of the first and second rotation shafts with respect to a central axis corresponding to a vertical axis of the robot cleaner.

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