KR102387439B1 - Clean-up robot including floating device and claen-up method using the same - Google Patents

Abstract

A cleaning robot including a floating body and a cleaning method using the same are disclosed. Disclosed in the present specification are a cleaning robot that removes sludge by moving a clean body away from the floor using a floating body and then moving the clean body to the floor when reaching a target position, and a cleaning method using the same. In addition, the present invention is convenient because it can be installed while moving including a fixed moving body.

Description

Cleaning robot including floating body and cleaning method using the same

The present invention relates to a cleaning robot capable of cleaning the floors of rivers, lakes, reservoirs, septic tanks, tanks, and the like, and a cleaning method using the same.

In particular, it relates to a cleaning robot capable of cleaning by changing a location without being affected by the condition of the floor using a floating body, and a cleaning method using the same.

Sludge is a pollutant that makes water turbid with sediment that can float, generated from sewage treatment plants, water purification plants, factory wastewater treatment, and stagnant water. Sludge can float in water, but over time it settles to the bottom and becomes a solid mass of sediment. The sludge deposited on the bottom reduces the volume of the space where water is stored, so it is necessary to remove the sludge.

The method of removing sludge is largely divided into a method using manpower or a method using fixed equipment.

The method using manpower is a method of draining water from a water tank or water tank and cleaning the floor. This method consumes manpower and incurs costs, that there is a possibility of an accident because a person has to enter a water tank or tank, that the plant must be drained for work, so that the plant cannot be operated and the plant work is stopped, and water supply after work It has various disadvantages, such as the fact that it has to be used and that it cannot be used when drainage is not possible.

The method of using fixed equipment can solve the disadvantages of the method of using manpower, but in that it is necessary to purchase and install complex fixed equipment to clean the space where water is stored, and prepare a separate space to install the fixed equipment Waste of money is a big problem.

In order to solve the problems of the above methods, a method of cleaning the floor by putting in a cleaning robot is sometimes used. It happened frequently.

Domestic Patent Registration No. 1416657 (2014.07.14)

An object of the present invention is to provide a cleaning robot including a floating body and a cleaning method using the same, which solves all the disadvantages of a method using manpower, a method using fixed equipment, and a method of inserting a cleaning robot.

Another object of the present invention is to provide a cleaning robot including a floating body capable of cleaning the floor by changing the cleaning position regardless of the state of the floor, and a cleaning method using the same.

In addition, an object of the present invention is to provide a cleaning robot including a floating body that can be easily installed and removed as needed, and thus maximized efficiency, and a cleaning method using the same.

The cleaning robot including a floating body according to an embodiment may be located on the water surface including a buoyancy unit, and may be connected to a cable to move the water surface according to the movement of the cable, and a floating body capable of operating a winch unit according to a control signal and a clean body including a suction unit connected to the winch unit and moved according to the operation of the winch unit, and configured to suck and remove sludge in contact by applying a suction force to suction in one direction according to a control signal.

In addition, it is disposed at a symmetrical position and can come into contact with the cable from one side and the other side, and includes a moving fixture capable of moving the cable in one direction or the other according to power supply.

The moving fixture includes a motor unit rotated according to power supply and a reel unit connected to the motor unit from one side and rotated according to the operation of the motor unit to rotate a cable positioned in contact with the periphery.

The moving fixture is rotated according to the application of a force, characterized in that it comprises a wheel portion capable of moving the moving fixture.

The floating body is characterized in that the position holding body having a set weight is located at the lower side.

The floating body has a space of a set size, and descends according to the supply of power, characterized in that it includes a ballast unit for supplying water to the space of the set size.

It is characterized in that a photographing unit and a depth measuring sensor are disposed below the floating body.

The clean body includes a housing and a suction part positioned in the housing, and the suction part is fixedly connected to the housing.

The clean body is characterized in that it includes a sweep unit capable of moving the sludge in contact while moving a set position according to the power supply.

In addition, the cleaning method using a cleaning robot including a floating body according to an embodiment includes a moving fixture arrangement step of arranging a moving fixture at a symmetrical position, a cable arrangement step of connecting a cable to the symmetrically positioned moving fixture, A floating body arrangement step of arranging a floating body connected to the cable on the water surface, a floating body aligning step of moving the floating body by moving the cable, a clean body connected to the winch unit by moving a winch unit disposed on the floating body and a cleaning step of positioning the sieve downward and a cleaning step of suctioning and removing sludge by operating the clean body.

The method further includes a water depth measurement step of measuring water depth using a depth measurement sensor disposed on the floating body before the clean body positioning step.

After the cleaning step, the method further includes a check step of measuring the water depth using the depth measuring sensor to confirm the degree of sludge removal.

The present invention can change the position of the floating body by using a floating body that floats on water and a clean body connected to the floating body, and move the clean body to the floor to remove sludge. Therefore, the present invention does not require drainage, so it is possible to solve the disadvantages caused by drainage during sludge removal.

In addition, the present invention does not require a separate equipment purchase and space for installation because the movable fixture for supporting the cable is movable so that it can be placed in a necessary place and can be removed when the cleaning operation is completed.

In addition, the present invention may not be affected by the condition of the floor because the clean body for cleaning the floor moves while floating in water along with the floating body, and can be taken down to a necessary place to clean the floor.

1 shows a cleaning robot including a floating body according to an embodiment of the present invention.
2 shows a cleaning robot including a floating body according to another embodiment of the present invention.
3 is an enlarged view of the floating body of the cleaning robot including the floating body of the present invention according to an embodiment.
4 is an enlarged view of the floating body of the cleaning robot including the floating body of the present invention according to another embodiment.
5 is an enlarged view of the clean body of the cleaning robot including the floating body of the present invention according to an embodiment.
6 is an enlarged view of the bottom surface of the clean body of the cleaning robot including the floating body of the present invention according to another embodiment.
7 is an enlarged view of the moving fixed body of the cleaning robot including the floating body of the present invention according to an embodiment.
8 is an enlarged view of the moving fixture of the cleaning robot including the floating body of the present invention according to another embodiment.
9 is an enlarged view of the control unit of the cleaning robot including the floating body of the present invention according to an embodiment.
10 is a block flowchart of a cleaning method using a cleaning robot including a floating body according to an embodiment of the present invention.

Since the present invention can apply various transformations and can have various embodiments, specific embodiments are illustrated and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

The terms used in the present invention are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present invention, terms such as 'comprising' or 'having' are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, and one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this case, it should be noted that in the accompanying drawings, the same components are denoted by the same reference numerals as much as possible. In addition, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, some components are exaggerated, omitted, or schematically illustrated in the accompanying drawings.

1 shows a cleaning robot including a floating body according to an embodiment of the present invention.

The present invention according to an embodiment may include a floating body 100 , a clean body 200 , and a control unit 300 .

The floating body 100 may be moved while floating in water. In the floating body 100 , cables may be connected to the left and right sides of FIG. 1 , respectively. The floating body 100 may be moved according to the movement of the cable. That is, when the cable is moved to the left or right with reference to FIG. 1 , the floating body 100 may be moved to the left and right together with the cable.

The clean body 200 may be connected to the winch unit 140 (shown in FIGS. 3 and 4 ) of the floating body 100 to be described later. The clean body 200 may be connected to the floating body 100 and move together with the floating body 100 . The clean body 200 may be moved to the floor according to the operation of the winch unit 140 (shown in FIGS. 3 and 4 ). The clean body 200 may provide suction power. Therefore, the clean body 200 can remove the sludge located on the floor by introducing the sludge located on the floor into the clean body 200 .

The control unit 300 may be connected to the floating body 100 and the clean body 200 to control the floating body 100 and the clean body 200 . That is, the control unit 300 can control the winch unit 140 (shown in Figs. 3 and 4) of the floating body 100, and transmits a control signal (power supply to the winch unit) to the winch unit 140 - Fig. 3 , 4) to operate the winch unit 140 - it is possible to move the clean body 200 connected to the 3, 4) to the water surface side or the floor side. In addition, the control unit 300 may operate the clean body 200 to control the clean body 200 to apply a suction force or not. The control unit 300 may be connected to the floating body 100 and the clean body 200 by wire, and is preferably connected wirelessly.

Figure 2 shows a cleaning robot including a floating body according to the present invention according to another embodiment.

The present invention according to another embodiment may further include a moving fixture 400 in the configuration described with reference to FIG. 1 .

That is, it includes a floating body 100 , a clean body 200 , and a control unit 300 , and may further include a moving fixture 400 that can additionally support a cable. The movable fixture 400 may be configured in two pieces to support the cable. (However, it is not limited thereto, and one side of the cable is fixed to a portion not shown, and it is not a problem even if the movable fixture 400 is composed of only one.)

The movable fixture 400 may be connected to a cable from one side and the other side. The moving fixture 400 may move the cable in a clockwise or counterclockwise direction with reference to FIG. 2 . Accordingly, the floating body 100 may move along the water surface according to the movement of the cable of the movable fixing body 400 . The moving fixture 400 may be connected to the controller 300 , and the moving fixture 400 may move the cable according to the operation of the controller 300 .

Here, the control unit 300 may be connected to the moving fixed body 400 by wire to control the moving fixed body 400 , but it is preferable to be connected wirelessly to transmit a control signal to control the moving fixed body 400 . Do.

3 is an enlarged view of the floating body of the cleaning robot including the floating body of the present invention according to an embodiment.

The present invention is characterized in that the floor can be cleaned after moving to a target position on the water surface so as not to be affected by the floor during movement. That is, conventional robots are characterized by moving and cleaning, but the present invention is characterized in that they only move when moving and do not move when cleaning.

The floating body 100 is a configuration responsible for movement and must be able to move on the water surface so as not to be affected by the floor, and when it arrives at a target position, the center of the body is maintained and the position must be maintained.

To this end, the floating body 100 according to an embodiment of the present invention includes a cable connection unit 110 , a position maintaining body 120 , a buoyancy unit 130 , a winch unit 140 , and a power application unit 145 . In addition, the floating body 100 may further include a photographing unit 150 and a depth measuring sensor 160 .

The cable connection unit 110 may be connected to a cable. The cable connection unit 110 may be positioned at two symmetrical positions for stable movement and center maintenance of the floating body 100 . However, the cable connection unit 110 is not a problem even if it is configured as one. The cable connection unit 110 is firmly connected to the cable and can be moved according to the movement of the cable. The cable connection part 110 and the cable connection may be connected in such a way that a loop is formed on the cable, and the cable connection part 110 is formed in a circular shape with an open center, so that the loop of the cable is fastened to the cable connection part 110 .

However, the connection between the cable connection unit 110 and the cable is not limited thereto, and may be in the form of a connection in the form of a clip, a bolt is formed in the cable, and the cable connection unit 110 is formed in the form of a nut, so that the bolt and nut are combined can be connected in the form of

That is, in the connection between the cable connection unit 110 and the cable, if the power of the cable is transmitted to the cable connection unit 110 , the connection type does not matter.

The floating body 100 includes a positioning body 120 . The positioning body 120 has a set weight and is formed. The position maintaining body 120 may be located biased to the lower side of the floating body 100 . Therefore, when the center of gravity of the entire floating body 100 is positioned below, it can be restored to its original position when it is rotated or overturned.

The position maintaining body 120 may be utilized to maintain the position after the floating body 100 is positioned at a target position. Therefore, the floating body 100 always maintains the state in which the position maintaining body 120 is located at the lower side, so that the clean body 200 as shown in FIGS. 1 and 2 can assist in removing the sludge.

The buoyancy unit 130 serves to allow the floating body 100 to float on the water surface without sinking. The buoyancy unit 130 may be configured with a low density.

In addition, the winch unit 140 and the power application unit 145 may be disposed on the upper surface of the floating body 100 . The reason why the winch unit 140 and the power applying unit 145 are positioned on the upper surface of the floating body 100 is to prevent them from coming into contact with water. The winch unit 140 and the power applying unit 145 are not shown, but may be disposed while being wrapped in a separate waterproof case. The power applying unit 145 may apply rotational power, and the winch unit 140 may have an end (part located on the floor) moved to the floor or upwards according to the rotational power of the power applying unit 145 . there is. Therefore, the clean body 200 described with reference to FIGS. 1 and 2 connected to the winch unit 140 may be moved to the floor or moved to the water surface.

In addition, the floating body 100 according to the present invention may include a photographing unit 150 and a depth measuring sensor 160 . The photographing unit 150 and the depth measuring sensor 160 are preferably located below the floating body 100 . The photographing unit 150 may photograph the floor. The photographing unit 150 creates photographing data by photographing the floor. Although the photographing unit 150 will be described in detail later, the photographing unit 150 may transmit photographing data to the controller 300 , and the control unit 300 may display the received photographing data on the display.

The depth measuring sensor 160 may be, for example, a sonar sensor, and may measure the distance between the floor and the floating body 100 . Therefore, by using the depth measuring sensor 160 to measure the distance between the floor and the floating body 100 after the clean body 200, which will be described in detail later, operates, check whether the clean body 200 properly removes the sludge. can do.

4 is an enlarged view of the floating body of the cleaning robot including the floating body of the present invention according to another embodiment.

When describing the floating body according to the other embodiment of FIG. 4 , the position maintaining body is omitted in FIG. 4 for convenience of explanation.

In another embodiment, the floating body 100 according to the present invention may include a ballast part 135 . The ballast part 135 may be located below the floating body 100 . That is, the ballast part 135 may be positioned while being submerged in water. The ballast unit 135 may be connected to the control unit 300 described with reference to FIGS. 1 and 2 and move downward or upward according to a control signal of the control unit 300 . When the ballast part 135 is moved to the lower side and then moved upward according to the control signal, water may be located in the space below the floating body 100 . Therefore, it is possible to further increase the weight of the floating body 100 to assist in maintaining the equilibrium.

In addition, the lower side of the floating body 100 includes a discharge pump unit 136 that enables communication with the space and the outside of the lower portion of the floating body (100). The discharge pump unit 136 may also be connected to the control unit 300 described with reference to FIGS. 1 and 2 to operate according to a control signal. The discharge pump unit 136 serves to discharge water located in the space below the floating body 100 .

5 is an enlarged view of the clean body of the cleaning robot including the floating body of the present invention according to an embodiment.

The clean body 200 may be connected to the winch unit 140 of the floating body 100 described with reference to FIGS. 3 and 4 and move toward the floor or the surface according to the operation of the winch unit 140 .

The clean body 200 may include a housing 210 , a suction unit 220 , and a discharge hose 230 .

The housing 210 constitutes a frame of the clean body 200 . A space is formed inside the housing 210 , and the suction unit 220 may be positioned therein. The suction unit 220 is fixed to the inside of the housing 210 . The suction unit 220 is disposed in contact with the lower side of the housing 210 and may be connected to the housing 210 in various directions. Accordingly, the suction unit 220 may be operated while maintaining its position within the housing 210 . For example, the connection between the suction unit 220 and the housing 210 may be in a form in which a wire or a rope is connected at a symmetrical position. However, the connection between the suction unit 220 and the housing 210 is not limited to a wire or a rope, and if the suction unit 220 maintains its position within the housing 210 by various means, anything will be possible. .

The suction unit 220 may apply a suction force to be sucked from the lower side to the upper side. Therefore, the suction unit 220 may suck the sludge located on the floor. In this way the sludge on the floor can be removed.

One side of the discharge hose 230 may be connected to the suction unit 220 and the other side may be connected to a pump (not shown). The discharge hose 230 serves as a space for discharging the sludge sucked by the suction unit 220 to the outside. The discharge hose 230 may move the sludge sucked by the suction unit 220 upward according to the operation of the pump (not shown), thereby removing the sludge from the floor.

6 is an enlarged view of the bottom surface of the clean body of the cleaning robot including the floating body of the present invention according to another embodiment.

A sweep unit 240 may be disposed on the bottom surface of the clean body 200 according to another embodiment of the present invention. The sweep unit 240 may be moved clockwise or counterclockwise from the lower side of the housing 210 as shown in FIG. 6 . The sweep unit 240 is in physical contact with the sludge and may arbitrarily remove the sludge. Therefore, the suction effect of the suction unit 220 can be maximized by making the floor flat. The sweep unit 240 may be operated according to a control signal from the control unit 300 .

On the other hand, the sweep unit storage part 245 in a straight direction may be formed on the lower side of the housing 210 of the clean body 200 as shown in FIG. 6 . The sweep unit storage unit 245 may be positioned in which the sweep unit 240 is aligned. Accordingly, when the suction unit 220 operates, the sweep unit 240 may not be affected by the suction force of the suction unit 220 .

7 is an enlarged view of the moving fixed body of the cleaning robot including the floating body of the present invention according to an embodiment.

The movable fixture 400 can be easily changed in position while fixing the cable. Accordingly, the present invention can increase convenience.

The moving fixture 400 includes a reel unit 410 , a motor unit 420 , and a wheel unit 430 . The moving fixture 400 is preferably positioned at a symmetrical position, and the cable may be installed in a form in which the cable is wound around the two symmetrical moving fixtures 400 .

The reel unit 410 is connected to the motor unit 420 so that it can be rotated in one direction or the other according to the rotation of the motor unit 420 . Therefore, when the cable is disposed to surround the reel unit 410, the position of the cable may be changed according to rotation in one direction or the other. The floating body 100 shown in FIGS. 3 and 4 may be moved according to the operation of the reel unit 410 . Here, the motor unit 420 may be connected to the control unit 300 illustrated in FIGS. 1 and 2 to rotate in one direction or the other according to a control signal of the control unit 300 .

The wheel part 430 may be disposed at a position symmetrical to the lower side of the movable fixture 400 . The wheel part 430 may move the moving fixture 400 through rotation.

8 is an enlarged view of the moving fixture of the cleaning robot including the floating body of the present invention according to another embodiment.

In addition, the moving fixture 400 may include a fixed part 440 .

The fixing part 440 is located at the lower part of the movable fixing body 400 and is connected to the cylinder so as to be in strong contact with the ground during the operation of the cylinder. Therefore, when the fixed part 440 strongly contacts the ground, the position of the movable fixture 400 may be firmly maintained. The fixing unit 440 may be moved downward or upward according to a control signal of the controller 300 .

9 is an enlarged view of the control unit of the cleaning robot including the floating body of the present invention according to an embodiment.

The control unit 300 according to an embodiment may include a display unit 310 , a motor operation unit 320 , a winch operation unit 330 , and a suction unit operation unit 340 .

The controller 300 may provide floor information by displaying the captured image captured by the capturing unit 150 described with reference to FIG. 3 through the display unit 310 .

The motor operation unit 320 may control the motor unit 420 to operate the movement of the reel unit 410 . Accordingly, the control unit 300 allows the floating body 100 to be moved.

Also, the winch operation unit 330 may operate the movement of the power applying unit 145 . Accordingly, the control unit 300 may move the clean body 200 to the floor.

In addition, it is possible to control whether or not the suction unit 220 is operated through the suction unit operation unit 340 . Therefore, the control unit 300 operates the suction unit 220 to remove the sludge.

Additionally, the control unit 300 may include a power switch, a reset switch, and the like.

Additionally, the control unit 300 may include an emergency stop button, so that the operation of all components may be stopped in case of a problem situation.

10 is a block flowchart of a cleaning method using a cleaning robot including a floating body according to an embodiment of the present invention.

The cleaning method using a cleaning robot including a floating body of the present invention according to an embodiment is a moving fixed body arrangement step (S100), a cable arrangement step (S200), a floating body arrangement step (S300), a floating body alignment step (S400) ), a clean body position step (S500), and a cleaning step (S600).

The moving fixture arrangement step (S100) is a step of arranging the moving fixture 400 on the ground. The moving fixture 400 may be easily moved by including the wheel part 430 as described above.

The cable arrangement step (S200) is a step of disposing the cable in a form surrounding the reel part 410 of the arranged movable fixture 400.

The floating body arrangement step (S300) is a step of connecting the floating body 100 to the cable arranged in a form to surround the moving fixed body 400 while positioning the floating body 100 on the water surface as shown in FIG. 2 .

The floating body alignment step ( S400 ) is a step of moving the floating body 100 to a set position by operating the motor unit 420 of the moving fixture 400 to move the reel unit 410 in the rotational direction. In the alignment step, as described with reference to FIG. 4 , the ballast unit 135 or the discharge pump unit 136 is operated to position water in the floating body 100 or to discharge the water located therein. .

In the clean body position step ( S500 ), when the floating body 100 reaches a set position, the power applying unit 145 of the floating body 100 is operated to move the winch unit 140 to clean the winch unit 140 connected to the winch unit 140 . It is a step of moving the sieve 200 to the floor.

The cleaning step ( S600 ) is a step of cleaning by suctioning sludge by operating the suction unit 220 after the clean body 200 is positioned on the floor. The sludge sucked through the suction unit 220 may be discharged to the outside through the discharge hose 230 as shown in FIG. 5 .

On the other hand, when the cleaning step (S600) is finished, the winch unit 140 is operated to move the clean body 200 in the water surface direction, and the above-described floating body arrangement step (S300), floating body alignment step (S400), clean The sieve 200 positioning step and the cleaning step (S600) may be repeatedly performed.

On the other hand, after the floating body alignment step (S400), the water depth measurement step (S710) may be performed.

The depth measurement step ( S710 ) is a step of measuring the depth of water between the floating body 100 and the floor using the depth measuring sensor 160 located on the floating body 100 .

In addition, a check step (S720) may be performed after the cleaning step (S600).

The check step (S720) is a step of once again measuring the water depth between the floating body 100 and the bottom by using the depth measuring sensor 160 located in the floating body 100. Through the check step (S720), it is possible to check whether the sludge is removed.

In the above, an embodiment of the present invention has been described, but those of ordinary skill in the art can add, change, delete or add components within the scope that does not depart from the spirit of the present invention described in the claims. It will be possible to variously modify and change the present invention by, etc., which will also be included within the scope of the present invention.

100: floating body
110: cable connection part
120: position holding body
130: buoyancy part
135: ballast part
136: discharge pump unit
140: winch part
145: power application
150: shooting department
160: depth measurement sensor
200: clean body
210: housing
220: suction unit
230: exhaust hose
240: sweep unit
245: sweep unit storage unit
300: control unit
310: display unit
320: motor operation unit
330: winch operation part
340: suction unit operation unit
400: mobile stationary
410: reel unit
420: motor unit
430: wheel part
440: fixed part

Claims (12)

a floating body that can be located on the water surface, including the buoyancy unit, is connected to the cable, can move the water surface according to the movement of the cable, and can operate the winch unit according to a control signal;
a clean body connected to the winch unit and moving according to the operation of the winch unit, the clean body including a suction unit for sucking and removing the contacting sludge by applying a suction force to suction in one direction according to a control signal; and
It is disposed at a symmetrical position and can be in contact with the cable from one side and the other side, and includes a moving fixture that can move the cable in one direction or the other according to power supply,
The moving fixture includes a fixed part that is connected to the cylinder and can come into contact with the ground according to the operation of the cylinder,
The clean body
It includes a sweep unit of a linear shape capable of moving the sludge in contact while moving a set position according to the power supply, and a sweep unit storage unit in which the sweep unit can be aligned is formed in the lower side to correspond to the shape of the sweep unit in a straight line form. thing
A cleaning robot including a floating body, characterized in that. delete According to claim 1,
The moving fixture is
A motor unit rotated according to power supply and a reel unit connected from one side to the motor unit and rotated according to the operation of the motor unit to rotate a cable positioned in contact with the periphery
A cleaning robot including a floating body, characterized in that. 4. The method of claim 3,
The moving fixture is rotated according to the application of force to include a wheel part capable of moving the moving fixture
A cleaning robot including a floating body, characterized in that. According to claim 1,
The floating body is a position holding body having a set weight is located on the lower side
A cleaning robot including a floating body, characterized in that. According to claim 1,
the floating body
Having a space of a set size, and descending according to power supply to include a ballast unit for supplying water to a space of the set size
A cleaning robot including a floating body, characterized in that. According to claim 1,
A photographing unit and a depth measuring sensor are disposed on the lower side of the floating body
A cleaning robot including a floating body, characterized in that. According to claim 1,
The clean body
a housing and a suction unit positioned within the housing;
The suction part is fixedly connected to the housing
A cleaning robot including a floating body, characterized in that. delete A moving fixture arrangement step of placing the moving fixture in a symmetrical position;
A cable arrangement step of connecting the cables to the symmetrically positioned moving fixture;
a floating body arrangement step of disposing a floating body connected to the cable on the water surface;
a floating body alignment step of moving the floating body by moving the cable;
a clean body positioning step of moving the winch unit disposed on the floating body to lower the clean body connected to the winch unit; and
and a cleaning step of suctioning and removing sludge by operating the clean body,
The moving fixture includes a fixed part that is connected to the cylinder and can come into contact with the ground according to the operation of the cylinder,
The clean body
It includes a sweep unit of a linear shape capable of moving the sludge in contact while moving a set position according to the power supply, and a sweep unit storage unit in which the sweep unit can be aligned is formed in the lower side to correspond to the shape of the sweep unit in a straight line form. A cleaning method using a cleaning robot including a floating body, characterized in that. 11. The method of claim 10,
Before the clean body position step
A cleaning method using a cleaning robot including a floating body further comprising a water depth measuring step of measuring the water depth using a depth measuring sensor disposed on the floating body. 11. The method of claim 10,
after the cleaning step
A cleaning method using a cleaning robot including a floating body, further comprising a check step of measuring the depth of the water using a depth measuring sensor to confirm the degree of sludge removal.

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