KR102318295B1 - Robot cleaning apparatus and method for controlling the same - Google Patents

Abstract

According to the present invention, a first wet mop is mounted on the bottom surface of the main body in parallel with each other, one surface of which is rotatably mounted on the main body about a first and second rotary shaft, respectively, and a wet mop is attached to and detached from the rear surface, respectively. A method of controlling a robot cleaner having a plate and a second wet-mop mounting plate, and first and second motors for rotationally driving the first and second wet-mop mounting plates, respectively, the first motor and the second 2 comprising the step of controlling the rotational direction or rotational speed of the first wet-mop mounting plate and the second wet-mop mounting plate according to the change in the change value of the load applied to the motor, and when the spiral driving mode is selected, the first wet-mop By controlling the rotation of the mounting plate in the first rotational direction at the first rotational speed, and controlling the second wet mop mounting plate to rotate in the first rotational direction at the second rotational speed, the robot cleaner performs rotational movement around the reference point. and accelerating the rotational speeds of the first wet-mop mounting plate and the second wet-mop mounting plate, respectively, while maintaining the difference in rotational speed between the first and second wet-mop mounting plates at a constant ratio. characterized in that

Description

ROBOT CLEANING APPARATUS AND METHOD FOR CONTROLLING THE SAME

The present invention relates to a robot cleaner that moves in a cleaning area and automatically performs a cleaning operation, and a control method of the robot cleaner, and more particularly, a robot cleaner capable of performing wet-mop cleaning in the cleaning area by mounting a wet-mop plate on the main body and a method for controlling the same.

A robot vacuum cleaner is a device that performs a cleaning operation while driving in a cleaning area on its own without external artificial manipulation. In general, robot vacuum cleaners mainly perform the function of sucking dirt by sucking dirt on the surface to be cleaned while driving on their own, but recently, by wiping the surface to be cleaned with water, foreign substances adhering to the surface to be cleaned or stains are removed. A robot vacuum cleaner that can be removed is introduced.

For example, Patent Document 1 discloses a robot cleaner capable of wiping in an autonomous driving process by attaching and detaching a wet mop plate to which a wet mop is attached to the lower surface of the robot cleaner body.

However, in the case of a robot cleaner of a cleaning method such as Patent Document 1, a cleaning cloth for a wet mop is simply attached to the main body of the existing robot cleaner, and friction between the cleaning cloth for a wet mop and the floor is used when the robot cleaner is running. There was a limit to removing the dirt adhered to the cleaning area.

In addition, due to the frictional force between the cleaning cloth for a wet mop and the floor surface, the driving of the robot by a separate driving force is hindered, and there is a problem in that the consumption of the driving force by the battery is severe.

Patent Document 1: Republic of Korea Registered Utility Model No. 407243

The present invention has been devised in view of the above problems, and an object of the present invention is to effectively remove dirt adhered to the floor surface to be cleaned through wet mop cleaning as well as to suppress battery consumption and a robot cleaner and the same An object of the present invention is to provide a control method.

The control method of the robot cleaner according to the present invention for achieving the above object is arranged in parallel with each other on the bottom surface of the main body, and one surface thereof is mounted on the main body to be rotatably rotatable about the first and second axis of rotation, respectively. A first and second wet mop mounting plate and a second wet mop mounting plate to which the wet mop is attached and detached, respectively, on the rear surface thereof, and a first motor and a second motor for rotationally driving the first wet mop mounting plate and the second wet mop mounting plate, respectively. A control method of a robot cleaner, comprising: rotating at least one of a first wet-mop mounting plate and a second wet-mop mounting plate according to a driving mode to control the robot cleaner to run in a specific moving direction; measuring a change in load applied to the first motor and the second motor due to friction between the wet mop mounted on the first and second wet mop mounting plates and a floor surface while the robot cleaner is running; Controlling the rotation direction or rotation speed of the first wet mop mounting plate and the second wet mop mounting plate according to the change in the load value, and the step of controlling the robot cleaner to run in a specific moving direction includes selecting a spiral driving mode to do; setting a reference point for performing spiral driving; When the reference point is set, the first wet-mop mounting plate is controlled to rotate in the first rotational direction at the first rotational speed, and the second wet-mop mounting plate is controlled to rotate in the first rotational direction at the second rotational speed. controlling the rotational movement about the reference point to be performed; and accelerating the rotational speeds of the first wet-mop mounting plate and the second wet-mop mounting plate, respectively, while maintaining a difference in rotational speed between the first wet-mop mounting plate and the second wet-mop mounting plate at a constant ratio.

A robot cleaner according to the present invention for achieving the above object, the main body; The first wet mop mounting plate and the second wet mop are arranged in parallel with each other on the bottom surface of the main body, one surface of which is rotatably mounted on the main body about the first and second rotating shafts, respectively, and the wet mop is detachably attached to the back surface, respectively. mounting plate; It is installed inside the main body and includes a first motor and a second motor which are driving sources for rotating the first wet-mop mounting plate and the second wet-mop mounting plate in a predetermined rotation direction and rotation speed, respectively, the first wet-mop mounting plate and the first 2 A robot cleaner that runs on the floor using friction generated between the wet mop mounted on the wet mop mounting plate and the floor surface of the cleaning area by rotating at least one of the 2 wet mop mounting plates, wherein the robot cleaner runs on the floor while the robot cleaner is running , a motor load measuring means for measuring a change in load applied to the first and second motors due to friction between the wet mop mounted on the first and second wet mop mounting plates and the floor surface, and a change in load value It is a robot cleaner including a control unit for controlling the rotational direction or rotational speed of the first and second wet mop mounting plates according to each other, provided on the outer surface of the main body, and one or more obstacle sensors provided to detect obstacles around the robot cleaner Further comprising, the control unit, when the selection of the spiral traveling mode is detected, sets a reference point in response to the selection of the spiral traveling mode, and when the reference point is set, rotates the first wet mop mounting plate in the first rotational speed and in the first rotational direction and controlling the rotation of the second wet-mop mounting plate in the second rotational speed and the first rotational direction to control the robot cleaner to perform rotational movement about the reference point, and mounting the first wet-mop mounting plate and the second wet-mop It is characterized in that the rotational speed of the first wet-mop mounting plate and the second wet-mop mounting plate are respectively accelerated while maintaining the rotational speed difference between the plates at a constant ratio.

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

In the present invention, at least one of a pair of wet mop attachment plates to which a wet mop is attached, respectively, rotates, unlike a conventional robot cleaner that moves to a cleaning area as a wheel attached to the body rotates by a driving source. Since the frictional force with the floor is used as a driving source, battery efficiency can be improved compared to a conventional robot cleaner equipped with a wet mop.

In addition, in the case of the robot cleaner according to the present invention, since only the rotation direction and rotation speed of the wet mop attachment plate to which the wet mop is attached are controlled for direction control of the robot cleaner, a separate driving wheel and driving the same as in the conventional robot cleaner Since a control device is not required, the configuration of the device can be simplified.

In addition, in the case of the robot cleaner according to the present invention, the robot cleaner is moved by the rotation of the wet mop mounting plate and foreign substances attached to the bottom surface of the cleaning area are removed. In contrast, it is possible to increase the foreign material removal efficiency.

In addition, in the case of the robot cleaner according to the present invention, by monitoring the load applied to the motor due to friction between the wet mop attached to the wet mop mounting plate and the floor surface and appropriately controlling the rotation of the wet mop mounting plate, the robot cleaner by the user When the robot is lifted or the robot vacuum cleaner falls, the motor is stopped to prevent unnecessary battery consumption.

In addition, in the case of the robot cleaner according to the present invention, by monitoring the load applied to the motor due to friction between the wet mop attached to the wet mop mounting plate and the floor and appropriately controlling the rotation of the wet mop mounting plate, If a robot cleaner is located in an adjacent position, it should be able to quickly escape from that position.

In addition, in the case of the robot cleaner according to the present invention, for a space requiring intensive cleaning, the robot cleaner performs a spiral movement or a rotational movement in the space to more reliably clean the corresponding area.

1 is a view schematically showing a robot cleaner according to a preferred embodiment of the present invention.
2 is a bottom view of a robot cleaner according to a preferred embodiment of the present invention.
3 is a side view of a robot cleaner according to a preferred embodiment of the present invention.
4 is a block diagram illustrating a system configuration of a robot cleaner according to an embodiment of the present invention.
5 is a flowchart illustrating a control method of a robot cleaner according to a preferred embodiment of the present invention.
6 is a flowchart related to a spiral driving mode according to a preferred embodiment of the present invention.
7 is another flowchart for explaining a spiral driving mode according to a preferred embodiment of the present invention.
8 is a view showing the driving of the robot cleaner in the first rotation mode according to the preferred embodiment of the present invention.
9 is a view showing the driving of the robot cleaner in the second rotation mode according to another preferred embodiment of the present invention.
10 is a view for explaining a spiral driving mode according to another preferred embodiment of the present invention.

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

1 is an exploded perspective view showing the structure of a robot cleaner according to the present invention, FIG. 2 is a bottom view of the robot cleaner according to the present invention, FIG. 3 is a side view of the robot cleaner according to the present invention, and FIG. 4 is a robot of the present invention It is a block diagram for showing the system of a vacuum cleaner.

1 to 4, the robot cleaner according to a preferred embodiment of the present invention includes a main body 10, a first wet mop mounting plate 110 and a second wet mop mounting plate 120, a first wet mop mounting plate and a second 2 The first motor 150a and the second motor 150b for respectively driving the wet mop mounting plate 120 for rotationally driving, the obstacle detection sensors 130a and 130b mounted on the main body 10, the main body 10 It includes an input unit 180 and a communication unit 140 provided in the .

The first wet mop mounting plate 110 and the second wet mop mounting plate 120 are respectively mounted on one surface of the main body 10 rotatably around the first rotating shaft 151 and the second rotating shaft 152, and the A first wet mop 210 and a second wet mop 220 are detachably mounted on the back surface, respectively.

In the case of the first rotating shaft 151 and the second rotating shaft 152, although shown to be perpendicular to the longitudinal direction of the main body 10 according to the content shown in FIG. 2, preferably perpendicular to the longitudinal direction of the main body 10 It may extend in a direction inclined with the virtual vertical axis.

As the first wet mop 210 and the second wet mop 220 rotate, the first wet mop mounting plate 110 and the second wet mop mounting plate 220 come into contact with the bottom surface of the cleaning area and rotate relative to the floor. It is configured to clean with a wet cloth for foreign substances attached to the surface. Preferably, the first wet mop 210 and the second wet mop 220 may be made of a fibrous material such as a washable microfiber, cloth, non-woven fabric, brush, or the like.

In addition, the first wet mop 210 and the second wet mop 220 may be mounted on the first wet mop mounting plate 110 and the second wet mop mounting plate 220 using a fixing means such as Velcro tape, preferably Alternatively, it may be fixed by covering the first wet mop mounting plate 110 and the second wet mop mounting plate 220 .

As described above, a predetermined frictional force is generated between the first wet mop 210 and the second wet mop 220 and the bottom surface of the cleaning area, respectively, and this frictional force may be used as a driving source for driving of the robot cleaner. . In particular, if the resultant force of the frictional force acting on the first wet mop 210 and the second wet mop 220 is appropriately controlled, the traveling direction and speed of the robot cleaner can be specifically controlled.

As described above, in the case of the robot cleaner according to the present invention, by utilizing the frictional force that was conventionally used only for cleaning the floor with a wet mop as a driving source of the robot cleaner, battery consumption for driving the robot cleaner is reduced and the driving control of the robot cleaner is performed. It is possible to enable driving control of the robot cleaner in a simple way by removing a separate wheel for this purpose or a device for controlling the same.

The obstacle detection sensor 130 is for detecting obstacles present in the traveling direction of the robot cleaner, and may be disposed in front or rear of the main body 10 based on the moving direction of the robot cleaner, and also the first wet mop It may be disposed adjacent to the mounting plate 110 and the second wet mop mounting plate 120 . The obstacle detection sensors 130 disposed in the front and rear of the main body 10 detect obstacles located in the corresponding direction when the robot cleaner travels in the corresponding direction and transmit the information to the control unit 17. . In this way, by appropriately adjusting the position of the obstacle detection sensor 130, it is possible to accurately detect obstacles that prevent the robot cleaner from traveling through a small number of sensors, thereby reducing the manufacturing cost of the robot cleaner. will do

4 is a block diagram illustrating a system of a robot cleaner according to a preferred embodiment of the present invention. Referring to Figure 4, the robot cleaner system according to the present invention, the sensor unit 130, the communication unit 140, the first wet mop mounting plate 110 and the second wet mop mounting plate 120 as a driving source for driving It includes a first motor 150a and a second motor 150b, a storage unit 160, a control unit 170, an input unit 180, an output unit 185, a motor load measuring means 200 and a power supply unit 190. .

The sensor unit 130 includes the obstacle detection sensors 130a, 130b, etc. mounted on the main body 10 described above, and generates infrared or ultrasonic signals to the outside to detect obstacles around the robot cleaner, and also removes the obstacles from the obstacles. It receives the signal reflected by the corresponding signal, detects the presence of an obstacle, and transmits the obstacle detection result to the control unit 17 . The sensor unit 130 may include a sensor device, such as a camera sensor, for detecting obstacles by photographing the outside of the robot cleaner.

The communication unit 140 performs a wireless communication function between the robot cleaner and an external terminal using a short-range communication module or a wireless Internet module. The robot cleaner may receive a command from an external terminal through the communication unit 140 and adjust the driving direction or driving mode based on the received command. Through this, the user can control the driving of the robot cleaner by using a smartphone, tablet, PC, remote control, or the like.

The first motor 150a and the second motor 150b serve as a driving source for rotationally moving the first wet mop mounting plate 110 and the second wet mop mounting plate 120, respectively. First motor 150a and the second motor 150b receives a control signal from the control unit 170, and receives the first wet mop mounting plate 110 and the second wet mop mounting plate through the first rotating shaft 151 and the second rotating shaft 152, respectively. 120) is rotationally driven in a predetermined rotational direction at a predetermined rotational speed.

The storage unit 160 stores a program related to the operation of the robot cleaner, particularly a driving mode, and temporarily stores data input/output from the input unit 180 and the output unit 185 . The storage unit 160 is preferably a flash memory, a hard disk, a card type memory such as an SD card or an XD card, RAM, (Random Access Memory, RAM), SRAM (Static Random Access Memory), RAM (Read-Only) Memory), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk may be at least one type of storage medium. Preferably, the storage unit 160 may transmit the already stored information on the driving mode to the controller 170 to drive the robot cleaner according to the programmed driving mode.

The input unit 180 directly receives a command related to the operation of the robot cleaner from a user through a cap pad, a switch, etc. provided in the main body 10 of the robot cleaner and transmits it to the controller 170 .

The output unit 185 performs a function of externally displaying information related to an operation or function being performed by the robot cleaner. Preferably, a display panel for visually displaying related information or a sound output unit for audibly outputting the relevant information is included.

The motor load measuring means 200 measures a change in load acting on the first motor 150a and the second motor 150b while the robot cleaner is running, and transmits related information to the controller 170 . . The magnitude of the frictional force generated between the first wet mop 210 and the second wet mop 220 and the floor surface of the cleaning area may vary depending on the state of the floor surface, and as a result, the first motor 150a and the second motor Although the magnitude of the load acting on 150b may also vary, the motor load measuring means 200 measures the change in the load and transmits it to the control unit 170, so that the control unit 170 determines the state of the floor surface of the cleaning area. It serves to properly control the operation of the robot cleaner.

Preferably, the motor load measuring means 200 measures the change in the amount of current flowing through the first motor 150a and the second motor 150b, and the load acting on the first motor 150a and the second motor 150b. It is a means of measuring changes in

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

The control unit 170 receives necessary information from the sensor unit 130 , the motor load measuring means 200 , the storage unit 160 , the input unit 180 , and the like, to integrally control the operation or function of the robot cleaner. As a configuration, it serves to control processes such as a driving mode, a driving route, and a cleaning time of the robot cleaner.

Specifically, the control unit 170 of the robot cleaner according to the present invention controls the first motor 150a and the second motor 150b to rotate the first wet mop mounting plate 110 and the second wet mop mounting plate 120 . By controlling the speed and the rotation direction, it is possible to control the robot cleaner to travel in a predetermined driving mode in a predetermined direction. That is, by appropriately controlling the resultant force of friction between the first wet mop 210 mounted on the first wet mop mounting plate 110 and the second mop 220 mounted on the second wet mop mounting plate 120 and the floor surface, It is possible to control the robot cleaner to move forward or backward.

In particular, the driving mode of the robot cleaner may be input by the user or may be selected as the first forward mode for moving forward or backward in a predetermined direction according to a program stored in the storage unit 160 . In the first forward mode, the control unit 170 rotates the first wet-mop mounting plate 110 in the first rotational direction at the first rotational speed and also rotates the second wet-mop mounting plate 120 in the first rotational direction opposite to the first rotational direction. In a second rotational direction, which is a direction, it may be controlled to rotate at a first rotational speed. In this case, by the resultant force of the frictional force acting on the first wet mop 210 and the second wet mop 220, respectively, the robot cleaner may move straight forward in a specific direction on the floor surface.

Meanwhile, the driving mode of the robot cleaner may be input by a user or may be selected as the second forward mode for moving forward or backward in an S-shape in a predetermined direction according to a program stored in the storage unit 160 . In the second forward mode, in addition to rotating the first wet-mop mounting plate 110 in the first rotational direction at the first rotational speed for a predetermined time, the second wet-mop mounting plate 120 is rotated in the first rotational direction. After controlling to rotate at a second rotational speed greater than the speed, the first wet mop mounting plate 110 is rotated at a second rotational speed in a second rotational direction opposite to the first rotational direction for a predetermined time at a second rotational speed. By controlling the wet mop mounting plate 120 to rotate at the first rotational speed in the second rotational direction, and repeating this sequentially for a predetermined time, it can be controlled to travel in an S-shape in a specific direction. In this case, the traveling speed of the robot cleaner becomes slower than in the first forward mode, but there is an effect that more intensive cleaning can be performed.

In addition, according to a preferred embodiment of the present invention, the control unit 170 according to the change of the load applied to the first motor (150a) and the second motor (150b) from the motor load measuring means (200) the first motor (150a) ) and control the rotation of the second motor (150b). Depending on the condition of the floor surface of the cleaning area, the amount of load applied to the motor due to friction between the first and second wet mops 210 and 220 attached to the first and second wet mop mounting plates 110 and 120 and the floor surface At this time, the controller 170 appropriately controls the rotation of the wet mop mounting plate, so that when the robot cleaner is located in a position adjacent to an obstacle or a cliff, such as a carpet, it can quickly escape from the corresponding position, and the robot cleaner By preventing meaningless idling in the raised state, it is possible to prevent battery consumption.

In addition, according to a preferred embodiment of the present invention, the control unit 170 receives information about obstacle detection from the sensor unit 130 and controls the first motor 150a and the second motor 150b to perform the first By controlling the rotation direction and rotation speed of the wet mop mounting plate 110 and the second wet mop mounting plate 120, it is possible to maneuver to avoid the obstacle.

In addition, according to a preferred embodiment of the present invention, the control unit 170 changes the rotation direction and speed of the first wet mop mounting plate 110 and the second wet mop mounting plate 120 even when no obstacle is detected for a predetermined time. By doing so, when the robot cleaner is caught by an obstacle not detected by the sensor unit 130 and the robot cleaner is unable to proceed, it can deviate from the corresponding position. For example, when the robot cleaner is stuck on a carpet that is not detected by the sensor unit 130 and cannot move, after a predetermined time, the rotation of the wet mop mounting plate is controlled so that it can be easily separated from the corresponding position.

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

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

While the robot cleaner 100 is running, the amount of change in the load acting on the first motor 150a and the second motor 150b due to the frictional force between the floor and the wet mop is measured using the motor load measuring means 200. (S104). Preferably, the change in the amount of load may be measured by measuring the change in the amount of current flowing through the first motor 150a and the second motor 150b.

Thereafter, it is determined whether the decrease in the amount of load measured by the motor load measuring means 200 is less than a first predetermined value (S105). If the reduced value of the load is equal to or greater than the first predetermined value, the robot cleaner 100 is lifted by the user, or the robot cleaner 100 falls and the first wet mop mounting plate 110 and the second wet mop are mounted. It is determined that the plate 120 is in the idle state, and the rotation of the first motor 150a and the second motor 150b is stopped (S110). Through this, it is possible to suppress the battery consumption by preventing meaningless idling of the first wet mop mounting plate 110 and the second wet mop mounting plate 120 .

When it is determined that the decrease amount of the load amount measured by the motor load measuring means 200 is less than the first predetermined value, it is determined whether the change value of the corresponding load amount is less than the second predetermined value (S106). When the change value of the corresponding load is equal to or greater than the second predetermined value, it is determined that the robot cleaner 100 is located near a cliff or the robot cleaner 100 is located near a floor surface that is not a target to be cleaned, such as a carpet. (100) controls the rotation speed or direction of the first and second wet mop mounting plates (110, 120) so that it can deviate from the corresponding position, so that it can deviate from the corresponding position.

As described above, there are several preferred control methods in order to separate the robot cleaner from its current position.

For example, when it is determined that the load applied to the first motor 150a and the second motor 150b has decreased by more than a second predetermined value, the first wet mop mounting plate 110 currently running of the robot cleaner 100 . And it can be controlled to switch the rotational directions of the first wet-mop mounting plate 110 and the second wet-mop mounting plate 120 so as to be opposite to the direction of rotation of the second wet-mop mounting plate 120 . In this case, the robot cleaner 100 may deviate from the current position by moving in a direction opposite to the direction in which the previous robot cleaner is traveling.

In addition, preferably, by stopping the rotation of any one of the first and second wet mop mounting plates 110 and 120, or reducing the rotation speed, the robot cleaner rotates in place or rotates It can be controlled to leave the current position.

On the other hand, preferably, by detecting the difference value of the load amount between the first motor 150a and the second motor 150b, and determining whether the difference in the load amount is equal to or greater than a third predetermined value, the robot cleaner 100 can deviate from the corresponding position by controlling the rotation speed or direction of rotation of the first and second wet mop mounting plates 110 and 120 so that it can deviate from the corresponding position. In this case, either the first wet mop mounting plate 110 or the second wet mop mounting plate 120 is on the floor, not on the cleaning target area, or exists on an obstacle or is located near a cliff. It can be controlled so that it is out of the corresponding position by performing the control.

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

When it is determined that there is an obstacle around the robot cleaner 100 as a result of the detection, as described above, the first wet mop mounting plate 110 and the second wet mop mounting plate 120 are controlled to avoid the obstacle. do (S112).

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

For example, when the corresponding obstacle located in the moving direction of the robot cleaner 100 is mode detected by the obstacle detection sensor located near both the first wet mop mounting plate 110 and the second wet mop mounting plate 120 , the robot cleaner It is determined that an obstacle exists in the entire traveling direction of (100). Accordingly, the direction of rotation of the first wet-mop mounting plate 110 and the second wet-mop mounting plate 120 can be controlled to be opposite to that of the previous one so that the robot cleaner 100 can move backward.

In addition, if the obstacle located in the moving direction of the robot cleaner 100 is detected by any one of the obstacle detection sensors located near both the first wet mop mounting plate 110 and the second wet mop mounting plate 120 , , it is determined that an obstacle exists in the vicinity of the corresponding position. Therefore, by stopping the rotation of the wet mop mounting plate at the corresponding position, the robot cleaner 100 can be controlled to rotate in place, or to reduce the rotational speed to make a turning motion to avoid obstacles.

Alternatively, by resetting the moving direction of the robot cleaner 100 , it is possible to control the robot cleaner 100 to proceed in a third moving direction instead of the current moving direction, thereby avoiding obstacles.

In this way, after the avoidance maneuver is performed according to the detection result by the motor load measuring means 200 or the obstacle detection sensor 130a, 130b, 130c, 130d, the moving direction is reset again and the robot cleaner 100 follows the corresponding direction. let it proceed

On the other hand, even when an obstacle is not detected by the obstacle detection sensors 130a, 130b, 130c, and 130d, the non-detection time is measured and it is determined whether the time has elapsed by more than a predetermined value (S108), and a predetermined time has elapsed. In this case, since the robot cleaner 100 may be stuck on an obstacle not detected by the obstacle detection sensors 130a, 130b, 130c, 130d and not move, the first wet mop mounting plate 110 and the second wet mop mounting plate (120) is rotated in the same direction for a certain period of time, so as to perform rotational driving in place (S109). Thereafter, the robot cleaner 100 is controlled to move forward according to the originally set driving mode to avoid obstacles. Through this, it is possible to avoid maneuvering even when the robot cleaner is prevented from traveling by obstacles that are not detected by the obstacle detection sensors 130a, 130b, 130c, and 130d of the robot cleaner 100, such as a carpet.

If the obstacle non-detection time is within a predetermined time, the driving continues according to the driving mode and driving direction that were originally intended.

Hereinafter, a spiral driving mode among driving modes according to a preferred embodiment of the present invention will be described with reference to FIGS. 6 to 11 .

When the robot vacuum cleaner cleans the cleaning area, in order to intensively perform the relatively narrow cleaning area, it is possible to increase the mopping effect by running through a spiral-shaped driving path based on a specific reference point rather than the forward mode described above. have. A preferred embodiment according to the present invention provides a spiral driving mode that can be intensively cleaned for such a predetermined cleaning area.

In the spiral driving mode according to the present invention, in addition to the rotation of the wet mop mounted on the robot cleaner 100, the rotation mode in which the robot cleaner 100 itself rotates in place according to the rotational motion of the wet mop is sequentially changed or rotated By gradually increasing or decreasing the radius, it is designed to travel on a spiral-shaped path.

Through this, in the present invention, it is possible to effectively remove foreign substances adhering to the area by intensively cleaning the wet mop based on a specific area set by a predetermined distance or a predetermined time based on a preset reference point.

FIG. 6 is a flowchart illustrating a method for controlling a robot cleaner related to a preferred embodiment of such a spiral driving mode.

Referring to FIG. 6 , first, a spiral driving mode is selected ( S401 ). Whether the spiral driving mode is determined by the user's input through the input unit 180 of the robot cleaner 100 , a program input from an external terminal through the communication unit 140 , or a driving mode program stored in advance in the storage unit 160 , etc. is chosen

When the selection of the spiral traveling mode is completed, a reference point for executing the spiral traveling mode is set ( S402 ). The reference point may be the position of the robot cleaner 100 at the point in time when the spiral driving mode is selected, or may be a specific position on the cleaning area input by the user. If the reference point is a specific location on the cleaning area input by the user and is a location spaced apart from the robot cleaner 100, the robot cleaner 100 is moved to the reference point by using another driving mode such as a forward mode.

When the robot cleaner 100 is disposed on the reference point, preferably, the robot cleaner 100 performs the first rotation mode around the reference point (S403). In FIG. 8 , the movement trajectory of the robot cleaner 100 in the first rotation mode is specifically illustrated.

In the first rotation mode (S403), the first wet mop mounting plate 110 and the second wet mop mounting plate 120 rotate in the same direction and at the same speed, respectively. As a result, by the resultant force of the frictional force acting between the first wet mop 210 and the second wet mop 220 and the bottom surface of the cleaning area, the robot cleaner 100 moves around the reference point that is the center of the robot cleaner 100 . This results in rotational motion in place. As a result, it is possible to perform intensive mop cleaning on the cleaning area 510 having a diameter approximately equal to the length of the robot cleaner 100 .

The first rotation mode ( S403 ) may be continued for a predetermined time or a predetermined number of rotations, and after the first rotation mode ( S403 ) is implemented, the second rotation mode is entered ( S404 ).

9 is a diagram illustrating rotational driving of the robot cleaner 100 according to the second mode. In the second rotation mode, the rotation of any one of the first wet mop mounting plate 110 or the second wet mop mounting plate 120 is stopped and only the other wet mop mounting plate is controlled to rotate. In this case, the wet mop mounting plate on the side where the rotation is stopped (the second wet mop mounting plate 120 in FIG. 9 ) becomes the center, and the robot cleaner 100 rotates only with the rotational movement of the wet mop mounting plate on the other side.

As shown in FIG. 9 , the cleaning area 520 at this time becomes a circular space with a diameter approximately twice the length of the robot cleaner 100 , and the cleaning area is enlarged compared to the first mode. Therefore, cleaning can be performed on a wider area than in the first mode, but since cleaning is performed only by the rotating wet mop mounting plate, the effect of removing foreign substances on the cleaning area is lower than that in the first mode.

Therefore, when performing the first mode and then performing the second mode, if the area with the most foreign substances is set as the reference point, the area around the reference point is intensively cleaned through the first mode. There is an advantage that cleaning can be performed through the second mode around the reference point having relatively few foreign substances.

Preferably, after the second mode ends, the spiral driving mode is performed. Specifically, while maintaining the same rotational direction, the rotation speed of any one of the first wet mop mounting plate 110 or the second wet mop mounting plate 120 is controlled to be faster than the rotation speed of the other wet mop mounting plate (S405) In addition, while maintaining the rotational speed difference between the two wet mop mounting plates, the acceleration is performed continuously or intermittently at a constant rate (S406).

In this case, as the robot cleaner rotates in the upper rotational direction, the rotation radius gradually increases according to the gradual acceleration of the rotational speed, and as shown in FIG. 10, the robot cleaner ( 100), a spiral run is performed centered on the position. Through this, it is possible to intensively perform wet mop cleaning in the center where a large number of foreign substances are present, while controlling to quickly perform cleaning in a relatively less important surrounding cleaning area. In this case, the predetermined ratio may be a speed ratio of preferably 30:70 to 20:80, but may be made in an appropriate ratio according to the size of the cleaning area or the contamination state.

On the other hand, when the position of the robot cleaner 100 is spaced apart by a predetermined distance from the original reference point or a predetermined time has elapsed after performing such a spiral driving mode, acceleration is stopped, and the first wet-mop mounting plate 110 and the second wet-mop While maintaining the difference in the rotational speed of the mounting plate 120, the deceleration is carried out gradually.

The control unit 170 may measure the relative distance between the robot cleaner 100 and the reference area based on the information received from the sensor unit 130 . To this end, the sensor unit 130 may further include at least one of a position sensor, an acceleration sensor, and a speed sensor in addition to the plurality of sensors 130a, 130b, 130c, and 130d described above. Accordingly, the control unit 170 may use the position of the robot cleaner 100 as a reference area, and track the change of the movement path and the distance to the reference area according to the data measured by the sensor unit 130 , and as a result, It is possible to determine the time of deceleration based on

According to the deceleration of the rotational speed, the robot cleaner 100 returns to the original reference point. Therefore, it is determined whether the robot cleaner 100 returns to the reference point again (S415), and when the robot cleaner 100 returns to the reference point, the second mode and the first mode are reversed again (S409, S410). The driving mode is terminated (S411). Meanwhile, even when the robot cleaner does not return to the original reference point, after a predetermined time has elapsed, the second mode and the first mode are reversed again (S409 and S410), and then the spiral driving mode is terminated (S411).

After the spiral driving mode is terminated, it is switched to a random pattern or a preset driving mode to drive in the cleaning area (S412). Here, the preset driving mode may be the first forward mode or the second forward mode described above.

7 is a flowchart illustrating a spiral driving mode according to a preferred embodiment of the present invention. Even when the spiral driving mode shown in FIG. 6 is performed (S431), the presence of an obstacle on the driving path is detected through the obstacle detection sensors 130a, 130b, 130c, and 130d during driving (S433).

At this time, when an obstacle is detected, it is determined whether or not the spiral travel pattern can be maintained as it is when the travel path is changed to avoid the obstacle ( S433 ). For example, when an obstacle is continuously detected for a predetermined period of time, it may be recognized as a long obstacle such as a wall, and it may be determined that the spiral traveling pattern cannot be maintained as it is. It may be determined that the driving pattern cannot be maintained as it is.

When it is determined that the spiral traveling pattern cannot be maintained as it is, the spiral traveling mode is released, and cleaning is performed by switching to a random pattern or another predetermined traveling mode (S434).

On the other hand, if it is determined that there is no need to change the spiral driving pattern because the size of the obstacle is not large or the driving direction and distance to be corrected to avoid the obstacle are not large, obstacle avoidance driving is performed while maintaining the existing spiral driving mode. do.

In this spiral driving mode, compared to the forward mode, cleaning can be performed intensively for a predetermined space, thereby enabling more efficient cleaning.

In addition, direction change or mode change may be possible according to time or a schedule of an internal memory without detecting an obstacle or current.

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

100: robot vacuum cleaner
10: body
110: first wet mop mounting plate
120: second wet mop mounting plate
130: sensor unit
130a, 130b, 130c, 130d: obstacle detection sensor
140: communication department
150a: first motor
150b: second motor
151: first rotation shaft
152: second rotation shaft
160: storage
170: control unit
180: input unit
185: output unit
190: power supply
200: motor load measuring means
210, 220, wet mop

Claims (17)

A plurality of wet mop mounting plates arranged in parallel with each other on the bottom surface of the main body, one surface of which is rotatably mounted to the main body about a plurality of rotation axes, respectively, and a plurality of wet mops are attached to and detached from the rear surface, respectively, and the plurality of In the control method of a robot cleaner having a plurality of motors for respectively rotating a wet mop mounting plate,
controlling the robot cleaner to run in a specific moving direction by rotating at least one of the plurality of wet mop mounting plates according to the driving mode;
measuring a change in a load value applied to at least one of the plurality of motors due to friction between the wet mop mounted on the plurality of wet mop mounting plates and the floor while the robot cleaner is running;
Comprising the step of controlling the rotation direction or rotation speed of at least one of the plurality of wet mop mounting plate according to the change in the load value,
The step of controlling the robot cleaner to travel in a specific direction includes:
selecting a spiral driving mode;
setting a reference point for performing spiral driving;
When the reference point is set, a first wet mop mounting plate among the plurality of wet mop mounting plates is rotated at a first rotational speed in a first rotational direction, and a second wet mop mounting plate among the plurality of wet mop mounting plates is rotated at a second rotation speed. controlling the robot cleaner to rotate in the first rotational direction, thereby controlling the robot cleaner to perform rotational movement about the reference point; and
accelerating the rotational speeds of the first wet-mop mounting plate and the second wet-mop mounting plate, respectively, while maintaining a difference in rotational speed between the first wet-mop mounting plate and the second wet-mop mounting plate at a constant ratio;
Controlling the rotation direction or rotation speed of at least one of the plurality of wet mop mounting plate comprises:
stopping all rotations of the plurality of motors when the change in the measured load value is lowered to a first predetermined value or more; and
When the change in the measured load value is greater than or equal to a second predetermined value and is lower than the first predetermined value, controlling the rotational direction or rotational speed of at least one of the plurality of wet mop mounting plates to deviate from the current position A control method of a robot cleaner, including. The method according to claim 1,
When it is determined that the robot cleaner is separated from the reference point by a predetermined distance or more, the first wet-mop mounting plate and the second wet-mop mounting plate and the second wet-mop mounting plate are maintained while maintaining the rotational speed difference between the first wet-mop mounting plate and the second wet-mop mounting plate at the constant ratio. A control method of a robot cleaner comprising the step of respectively decelerating the rotation speed of the wet mop mounting plate. The method according to claim 1,
If more than a limit time has elapsed from the time when the spiral driving mode is selected, the second mop mounting plate and the second mop mounting plate are mounted while maintaining the rotational speed difference between the first wet mop mounting plate and the second mop mounting plate at the constant ratio A control method of a robot cleaner comprising the step of respectively decelerating the rotational speed of the plate. The method according to claim 1,
The step of accelerating
and accelerating the rotational speeds of the first wet-mop mounting plate and the second wet-mop mounting plate continuously or intermittently, respectively. 4. The method according to claim 2 or 3,
When the robot cleaner returns to the reference point according to the deceleration of the rotational speed of the first wet mop mounting plate and the second wet mop mounting plate, terminating the spiral driving mode. The method according to claim 1,
determining whether an obstacle is detected from a sensor corresponding to a moving direction of the robot cleaner while the robot cleaner continues to move in the spiral driving mode; and
The control method of the robot cleaner further comprising the step of terminating the spiral driving mode when the time at which the obstacle is detected is continuously elapsed for a predetermined time or more. 7. The method of claim 6,
The control method of a robot cleaner further comprising the step of switching to a preset driving mode in the random direction by designating a random direction when the spiral driving mode is terminated. The method according to claim 1,
The step of detecting the spiral driving mode comprises:
A control method of a robot cleaner comprising the step of detecting selection of the spiral driving mode based on a user command received through at least one of an input unit and a communication unit. The method according to claim 1,
The first rotational speed and the second rotational speed are the control method of a robot cleaner, characterized in that the same. The method according to claim 1,
The control method of a robot cleaner, characterized in that the first rotation speed is relatively greater than the second rotation speed. main body;
a plurality of wet mop mounting plates disposed in parallel with each other on the bottom surface of the main body, one surface of which is rotatably mounted on the main body about a plurality of rotation axes, respectively, and a plurality of wet mops are detachably attached to the rear surface thereof;
and a plurality of motors installed inside the main body and serving as driving sources for rotating the plurality of wet mop mounting plates in a predetermined rotation direction and rotation speed, respectively,
By rotating at least one of the plurality of wet mop mounting plates, a robot cleaner that travels on the floor using frictional force generated between the wet mop mounted on the wet mop mounting plate and the floor surface of the cleaning area,
Motor load measuring means for measuring a change in a load value applied to at least one of the plurality of motors due to friction between the wet mop mounted on the plurality of wet mop mounting plates and the floor surface while the robot cleaner is running;
In the robot cleaner comprising a control unit for controlling the rotation direction or rotation speed of at least one of the plurality of wet mop mounting plate according to the change in the load value,
The control unit is
When the selection of the spiral driving mode is detected, a reference point is set in response to the selection of the spiral driving mode, and when the reference point is set, the first wet mop mounting plate among the plurality of wet mop mounting plates is rotated at a first rotation speed and a first rotation direction and controlling the rotation of a second wet-mop mounting plate among the plurality of wet-mop mounting plates in a second rotational speed and in the first rotational direction so that the robot cleaner performs a rotational movement centered on the reference point,
while maintaining the difference in rotational speed between the first wet-mop mounting plate and the second wet-mop mounting plate at a constant ratio, accelerating the rotational speeds of the first wet-mop mounting plate and the second wet-mop mounting plate, respectively;
When the change in the measured load value is lower than or equal to a first predetermined value while performing the spiral driving mode, all rotations of the plurality of motors are stopped, and the change in the measured load value is greater than or equal to a second predetermined value. The robot cleaner, characterized in that for controlling the rotational direction or rotational speed of at least one of the plurality of wet mop mounting plate to deviate from the current position when it is lowered to less than a first predetermined value. 12. The method of claim 11,
When it is determined that the robot cleaner is separated from the reference point by a maximum distance or more, the control unit maintains a difference in rotational speed between the first wet-mop mounting plate and the second wet-mop mounting plate at the constant ratio while maintaining the second wet-mop mounting plate and A robot cleaner for reducing the rotational speed of the second wet mop mounting plate, respectively. 12. The method of claim 11,
When more than a limit time has elapsed from the time when the spiral driving mode is selected, the control unit maintains a difference in rotational speed between the first wet-mop mounting plate and the second wet-mop mounting plate at the constant ratio while maintaining the second wet-mop mounting plate and the A robot cleaner that reduces the rotation speed of the second wet mop mounting plate, respectively. The method according to claim 1, wherein the step of controlling the robot cleaner to travel in a specific direction comprises:
If the reference point is set, before performing the step of controlling the robot cleaner to perform rotational movement about the reference point,
Controlling the first wet mop mounting plate and the second wet mop mounting plate to rotate in the same direction and at the same speed so that the robot cleaner performs an in-situ rotational movement around the reference point. The method according to claim 14, wherein the step of controlling the robot cleaner to travel in a specific direction comprises:
After performing the in-place rotational movement, before performing the step of controlling the robot cleaner to perform rotational movement about the reference point,
The control method of a robot cleaner further comprising the step of stopping the rotation of any one of the first wet mop mounting plate and the second wet mop mounting plate and controlling the other to rotate. The method according to claim 11, wherein the control unit,
When the reference point is set, before performing the rotational movement about the reference point of the robot cleaner, the first wet mop mounting plate and the second wet mop so that the robot cleaner performs a rotational movement in place around the reference point A robot cleaner, characterized in that it controls the mounting plate to rotate in the same direction and at the same speed. The method according to claim 16, The control unit,
After performing the in-place rotational motion, before performing the rotational movement centered on the reference point of the robot cleaner, stop the rotation of any one of the first wet mop mounting plate and the second wet mop mounting plate and rotate only the other one Robot vacuum cleaner, characterized in that the control.

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