KR20130091840A - A robot cleaner comprising dust compressing fucuntion and a control method thereof - Google Patents

Abstract

PURPOSE: A robot cleaner including a dust compression function and a method for controlling thereof are provided to compress a dust more efficiently by controlling a dust compression action according to a progress of a cleaning time during a cleaning. CONSTITUTION: A robot cleaner including a dust compression function comprises a main body (10), a dust collector container (100), a compression member (120), a driver, and a control unit. The dust collector container is prepared inside the main body. The compression member is prepared inside the dust collector container, and collects and compresses a foreign substance of the dust collector container The driver drives the compression member. The control unit is connected to the driver, and controls an operation of the compression member according to a cleaning time or a state change of a foreign substance inside the dust collector container.

Description

Robot cleaner comprising dust compressing fucuntion and a control method

The present invention relates to a robot cleaner, and more particularly, to a robot cleaner having a dust compression function and a control method thereof.

In general, robots have been developed for industrial use and have been a part of factory automation. In recent years, medical robots, aerospace robots, and the like have been developed, and household robots that can be used in ordinary households are also being developed.

A representative example of the household robot is a robot cleaner, which performs a function of cleaning while inhaling dust or foreign matter while driving around a certain area by itself.

Such a robot cleaner generally includes a rechargeable battery, and includes an obstacle detecting sensor that can avoid obstacles while driving, so that the robot cleaner can run and clean itself.

Such a robot cleaner is provided with a casing which forms an appearance and has a suction port through which dust or foreign matter is sucked, a wheel provided on the casing, a driving motor for driving the wheels, a dust collecting container for collecting dust and foreign substances, A suction motor and the like are provided.

When dust is collected in a conventional robot cleaner, dust is collected in a dust collecting container, but when the dust is removed in the dust collecting container after the cleaning is completed, the dust collecting form has a problem of dust scattering.

An object of the present invention is to provide a robot cleaner capable of compressing the dust inside the dust collecting container to prevent the scattering of dust during dust removal.

In addition, an object of the present invention is to provide a robot cleaner capable of minimizing power consumption required for dust compression by elastically compressing dust according to a cleaning time or dust concentration in compressing dust.

The present invention for achieving this object and the body; A dust collecting container provided inside the main body; a compressing member provided inside the dust collecting container to collect and compress foreign substances in the dust collecting container; A driving unit for driving the compression member; Is connected to the drive unit, and provides a robot cleaner comprising a control unit for controlling the operation of the compression member in accordance with the state change or cleaning time of the foreign matter inside the dust collector.

In addition, the present invention includes a first compression mode step of compressing the dust inside the dust collecting container during cleaning using a predetermined compression member; Determining whether the cleaning is completed; A second compression mode step of performing compression when the cleaning is completed; If the cleaning is not completed, it provides a control method of the robot cleaner comprising the step of adjusting the dust compression timing in the first compression mode in consideration of the dust state or cleaning time inside the dust collecting container.

According to the present invention, the dust is compressed inside the dust collecting container during the cleaning or after the cleaning by the robot cleaner, and the compressing operation may be made elastically according to the dust collecting state or the compressed state.

Specifically, by adjusting the dust compression operation according to the passage of the cleaning time during the cleaning, the dust compression can be more efficiently produced. That is, since the amount of dust is not large at the beginning of the cleaning time, the application of the voltage required for compressing the dust can be made to a minimum, thereby reducing power consumption.

In addition, the power saving can be performed by controlling the compression operation according to the concentration or density of the dust during cleaning or by adjusting the time when the power is consumed according to the change trend or the change timing of the current load.

Alternatively, unnecessary waste of electricity can be reduced by estimating the amount of dust in accordance with the change of the rotation angle of the compression member and controlling the operation of the compression member.

In particular, since the robot cleaner is driven by a rechargeable battery, implementing such a flexible power usage has an advantage of increasing the effective usable power usage time of the battery.

On the other hand, by performing the compression operation even after the cleaning is completed, it can help to compress the dust during the later cleaning. In addition, by performing a compression operation after the completion of the cleaning in consideration of the cleaning time, etc., there is an advantage that the dust compression can be made more suited to the situation even in the compression operation after the completion of cleaning.

This dust compression also has the advantage that the user can minimize the scattering of dust when the dust collector is removed from the main body to remove the dust.

1 is a plan sectional view of a robot cleaner according to the present invention.
2 is a control block diagram of a robot cleaner according to the present invention.
3 is a control flowchart according to the first embodiment of the robot cleaner according to the present invention.
4 is a plan sectional view showing an operating state of the robot cleaner according to the present invention.
5 is a control flowchart according to a second embodiment of the robot cleaner according to the present invention.
6 is a control flowchart according to a third embodiment of the robot cleaner according to the present invention.
7 is a graph showing a change state of the applied voltage and the current load of the robot cleaner according to the present invention.
8 is a control flowchart according to a fourth embodiment of the robot cleaner according to the present invention.
9 is a plan view showing a change in the rotation angle of the compression member according to the state of dust in the robot cleaner according to the present invention.

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

The sizes and shapes of the components shown in the drawings may be exaggerated for clarity and convenience.

In addition, terms defined in consideration of the configuration and operation of the present invention may be changed according to the intention or custom of the user, the operator. Definitions of these terms should be made based on the contents throughout this specification.

As shown in Figure 1, the robot cleaner according to the present invention is provided with a main body 10 forming its appearance, and a dust collecting container 100 provided inside the main body 10, the obstacle on the outer wall of the main body The sensor 20 is provided.

Although not shown in FIG. 1, the robot cleaner is provided with a driving wheel, a driving motor for driving the driving wheel, a vacuum motor for generating a vacuum pressure, a power source in the form of a battery for providing electricity, and the like.

The dust collecting container 100 has a dust collecting space formed therein, one side of the dust collecting container 100 is provided with an inlet 101 for guiding the inflow of dust.

The dust sensor unit 110 for measuring the density or density of dust is provided on the wall of the dust collecting container 100, and the dust sensor unit 110 is preferably composed of an optical sensor.

The light emitting unit 111 is provided on one side wall of the dust collecting container 100, and the light receiving unit 112 is provided on the opposite wall of the dust collecting container 100, and the dust collecting container 100 depends on how much light emitted from the light emitting unit reaches the light receiving unit. The concentration or density of dust collected inside is determined.

The dust collecting container 100 is provided with a compression member 120 for compressing dust. The compression member 120 has one end thereof rotatably provided inside the dust collecting container 100 and reciprocates from side to side. While compressing the dust inside the dust collecting container 100 in the left and right direction.

The compression member 120 may move like a wiper of a vehicle while reciprocating left and right by a driving motor (not shown) provided inside the main body 20.

A reduction unit configured as a gear may be provided between the compression member 120 and the driving motor (not shown).

The locking jaw 102 is provided on the left and right sides of the rotating part of the compression member 120 to prevent excessive left and right rotation of the compression member 120.

As shown in Figure 2, the robot cleaner according to the present invention is provided with a controller 160, the controller 160 is a motor driving unit 150 and a power supply unit 180 that can drive the drive motor 140. Connected with

Accordingly, the voltage applied to the drive motor 140 is determined by the control of the controller 160, whereby the torque of the drive motor 140 may be increased or decreased.

The speed reduction unit 130 is connected to the drive motor 140, and the compression member 120 is connected to the speed reduction unit 130.

The deceleration unit 130 serves to transfer the power of the drive motor shaft rotating at a high speed to the compression member 120, but the movement speed of the compression member 120 is slower than the rotation speed of the drive motor shaft. To make it possible.

By such a deceleration operation, the rotational force of the compression member 120 may be increased.

Meanwhile, the current sensor unit 200 is connected to the motor driving unit 150, and the current sensor unit 200 is connected to the control unit 160.

When the compression member 120 is rotated by the drive motor 140, the load on the drive motor 140 by the weight of the compression member 120 itself and the dust or lumps in contact with the compression member 120. Can take

This load is represented by a current value. As the element limiting the rotation of the compression member 120, that is, the weight of the compression member 120 or the degree of contact with the dust mass increases, the current value increases.

The motor driving unit 150 is provided with a current sensor unit 200 capable of measuring a current load value, the current sensor unit 200 is connected to the control unit 160, how much to the drive motor 140 It can tell you how much load is working.

A memory 170 is connected to the controller 160, and the memory 170 is a compression cycle of the compression member 120, that is, an amount of voltage to be applied for data or dust compression for a left and right reciprocating period and Data on the timing of application of the voltage or the amount of voltage to be applied for dust collection in the left and right directions or the timing of application of the voltage is stored.

Therefore, the controller 160 controls the movement of the compression member 120 by controlling the motor driver 150 based on the data stored in the memory 170, and the dust collecting mode of the compression member 120. Allows operation and compressed mode operations to be performed selectively.

On the other hand, the compression member 120 is provided with a rotation degree or rotation angle sensor unit 210 of the compression member 120, which is how the compression member 120 is rotated, or how the rotation range is changed. This is to detect the trend of.

It may be composed of a gyroscope or a rotation angle measuring sensor.

That is, since there is little dust accumulated in the dust collecting container 100 at the initial stage of cleaning, the presence of dust particles is insignificant, and thus the compression member 120 may perform the reciprocating motion as much as possible in the left and right directions without being limited by the dust.

However, as the cleaning time increases, the amount of dust accumulated inside increases, and accordingly, the amount of dust collected in the left and right directions by the compression member 120 may be increased, and accordingly, the dust collecting container 100 may be increased. ) Left and right inside the dust can collect in a compressed state.

When the amount of dust increases, the compression member 120 and the dust lumps collide with each other when the compression member 120 is moved left and right, whereby the left and right rotation radius of the compression member 120 is gradually reduced.

The rotation angle sensor unit 210 may be provided to measure a change in the rotation range of the compression member 120 according to the degree of dust collection inside the dust collecting container 100.

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

In the robot cleaner of the present invention, the operation of the compression member 120 is divided into a first compression mode S31 performed during cleaning and a second compression mode S32 performed after cleaning is completed.

In the first compression mode S31, the timing of switching from the dust collecting mode of the compression member 120 to the compression mode is changed according to the dust concentration or cleaning time inside the dust collecting container or the degree of change of the current load.

On the other hand, in the second compression mode S32, the dust inside the dust collecting container is compressed after the completion of cleaning in preparation for the next cleaning, and in the second compression mode S32, the cleaning time is long and short. According to i), the number of compressions or the number of round trips of the compression member 120 may be changed.

3 shows that the compression timing is changed according to the degree of cleaning time in the first compression mode S31.

The robot cleaner moves along the surface to be cleaned to perform cleaning, and dust is introduced into the dust collecting chamber by the vacuum suction pressure by the vacuum motor inside the main body.

At this time, the compression member 120 is moved in the left and right directions for dust compression, the compression member 120 operates in the initial starting mode to perform the rotation operation in the stopped state (S311), which is necessary for the initial starting mode Voltage is applied to the motor.

At this time, the applied voltage becomes a voltage capable of overcoming the compression member 120 self-weight and providing the rotational force necessary to rotate the compression member 120.

On the other hand, it is determined whether the initial starting time has elapsed (S312), and if so, the compression member 120 operates in a dust collecting mode that can collect dust by moving in the left and right direction of the dust collecting container (100) (S313). .

Here, in the dust collecting mode (S313), the compression member 120 moves the dust but does not perform the function of compressing, and because the movement can be smoothly due to the aid of rotational inertia, it is smaller than the voltage applied at the initial start-up The voltage is applied.

Since the static frictional force is greater than the motional frictional force, moving the stationary object is the same principle that the force enters more than moving the moving object.

When the compression member moves in the dust collecting mode and determines that the compression time for compressing the dust has been reached (S314), the driving motor has a voltage higher than that applied during the initial starting mode or the dust collecting mode to provide a rotational force necessary for the compression. Compression mode operation is performed by applying a high voltage (S315)

The compression period may be stored in the memory in advance, or may be provided based on the concentration or density of the dust measured by the dust sensor unit, or may be provided based on the cleaning time or the variation degree or variation timing of the current load. .

Subsequently, when the compression is performed by the compression member, when the movement of the compression member is no longer limited and it is determined that the compression member cannot move (S316), it is determined that the compression in one direction is completed.

At this time, in the temporary stop state (S317) when the polarity of the voltage supplied to the motor is converted (S318), the rotation direction of the compression member driven by the motor moves in the opposite direction.

Then, the above-described process is repeated to perform the initial starting mode (S311), the dust collecting mode (S313), and the compression mode (S315) in the opposite direction.

As a result, the reciprocating rotational movement of the compression member 120 is made, and dust may be collected and compressed in the dust collecting container.

In this state, it is determined whether the cleaning of the robot cleaner is completed (S321), and when the cleaning is completed, the robot cleaner enters the second compression mode (S32) and the compression member 120 may reciprocate a plurality of times to compress dust. have.

Preferably, the robot cleaner is docked with the charging station, and the second compression mode S32 may be performed. As described above, the second compression mode S32 may also adjust the number of compression times according to a cleaning time. Can be.

On the other hand, in the state that the cleaning is not completed, it recognizes the cleaning time that has passed so far (S331), and determines whether the cleaning time is more than a predetermined standard (S332).

As a result of the determination, if the cleaning time is equal to or greater than a predetermined criterion, the compression time of the compression member is changed to a time earlier than the previous compression time (S333).

Herein, the compression timing means a time when the compression mode is switched from the dust collecting mode of the compression member.

As the cleaning time increases, dust accumulates inside the dust collecting container, and the timing of applying a large rotational force to the compression member should be advanced earlier than before.

In particular, the application of the voltage for compression should be made before the compression member comes in contact with the dust mass, since it is more efficient to compress the dust by using the inertia while moving at a high speed with a strong rotational force.

This changed compression time is stored in the memory, and then becomes basic data of the compression operation of the compression member (S334).

4 illustrates a position of each of the compression members 120 according to each mode.

That is, the trajectory moving from the initial position A to B or B 'means the initial starting mode region. This means moving the compression member 120 for the first time as described above.

In this state, when it is determined that the time required for the compression member 120 to pass through B or B ', that is, the initial starting time has elapsed, the applied voltage is lowered, and the dust dispersed in the dust collecting container 100 is leftward. Alternatively, the dust collecting mode for moving in the right direction is performed.

The area of the dust collection mode is an area between B-C or B'-C '. Then, before the contact between the dust mass (S) and the compression member 120 by increasing the applied voltage of the drive motor as much as possible to increase the rotational force and rotational speed of the compression member 120, the compression member 120 is moved in the compression mode. To help.

Here, the region operating in the compression mode may be C-D or C'-D '.

If the compression member 120 no longer moves at the point D or more, it is recognized that the compression of the dust can no longer be performed.

The compression member 120 stops, temporarily waits, and moves in the opposite direction. Therefore, when the voltage corresponding to the initial starting mode is applied to operate in the initial starting mode, when the initial starting time elapses, it moves to the dust collecting mode. Can be.

5 shows a control flow in which the compression timing of the compression member 120 is changed according to the dust concentration or density.

Since the first compression mode and the second compression mode are the same as those shown in FIG. 3, detailed descriptions thereof will be omitted.

Also in this embodiment, the control unit 160 determines whether the cleaning is completed (S521), and if it is determined that the cleaning is not yet completed, the control unit 160 is the concentration or density of the dust measured by the dust sensor unit 110 It recognizes (S531).

In addition, when the concentration or density of the dust is more than a predetermined reference, it is necessary to advance the compression time of the compression member 120 earlier than before.

In this case, the compression period is the same as the embodiment shown in FIG.

The concentration or density of the dust is above a certain standard means that a lot of dust accumulated in the dust collecting container 100, which means that a lot of dust accumulated in the left and right portions of the dust collecting container (100).

Therefore, since the amount of dust increases and grows from the side wall portion of the dust collecting container 100 toward the central portion of the dust collecting container, the timing to give a large rotational force to the compression member 120 should be advanced earlier than before.

The application of the voltage for compression should be made before the compression member 120 comes into contact with the dust mass, since it is more efficient to compress the dust by using the inertia while moving at a high speed with a strong rotational force.

The changed compression time is stored in the memory 170, and then becomes the basic data of the compression operation of the compression member 120.

Since the initial starting mode, the dust collecting mode, and the compression mode by the control method shown in FIG. 5 are implemented in the actual robot cleaner, the detailed description thereof will be omitted.

6 shows a control flow in which the compression timing of the compression member 120 is changed according to the degree of change of the current load generated by the load applied to the compression member 120.

Since the first compression mode and the second compression mode are the same as those shown in FIG. 3, detailed descriptions thereof will be omitted.

Also in the present embodiment, the controller 160 determines whether the cleaning is completed (S621), and when it is determined that the cleaning is not yet completed, the controller recognizes the current load measured by the current sensor unit (S631).

In addition, when the current load is more than a predetermined reference, it is determined whether the time when the current load exceeds a predetermined criterion is earlier than before (S633).

When the time when the current load becomes more than a predetermined reference is advanced earlier than before, the voltage application time is changed to advance the compression time of the compression member earlier than before according to the corresponding time (S634).

In this case, as in the embodiment shown in FIG. 3, the compression time means a time when the dust collecting mode of the compression member is switched to the compression mode.

The fact that the current load is greater than or equal to a predetermined reference means that a reaction force acts toward the compression member 120 from the dust mass formed by the dust being pressed by the compression member 120, and the load is applied to the driving motor. It means that it becomes more than standard.

That is, when the current load is greater than or equal to a predetermined criterion, a dust mass having a strength sufficient to provide a reaction force to the compression member 120 is formed in the dust collecting container 100.

In addition, the time when the current load becomes more than a predetermined standard is faster than before, which means that the dust mass having such strength grows and comes in contact with the compression member earlier than before.

Therefore, in response to the growth of the dust mass, there is a need to change the mode switching of the compression member 120, that is, the switching timing of the dust collecting mode to the compression mode, that is, the compression timing.

In other words, since the amount of dust increases and grows from the side wall portion of the dust collecting container 100 toward the central portion of the dust collecting container, the timing to give a large rotational force to the compression member 120 should be advanced earlier than before.

The application of the voltage for compression should be made before the compression member 120 comes into contact with the dust mass, since it is more efficient to compress the dust by using the inertia while moving at a high speed with a strong rotational force.

This changed compression time is stored in the memory, and then becomes basic data of the compression operation of the compression member (S635).

7 shows the magnitude of the voltage and the magnitude of the current load applied to the drive motor according to the change of time.

In the case of the voltage, the voltage for operating in the initial starting mode, the voltage for operating the compression member in the dust collecting mode after the initial starting mode is different, and the voltage for operating the compression member in the compression mode, respectively.

Here, the voltage for the dust collecting mode is the lowest, next, the voltage for the initial start-up mode is larger than the voltage applied for the dust collecting mode, and the voltage for the compressing mode is the highest.

In the voltage graph, one operation has a positive value and the next operation has a negative value such that the applied voltage becomes a positive voltage and a negative voltage so that the motor can perform reverse rotation. It reflects that.

On the other hand, in the case of the current load, the current in the initial start mode, the current in the case of operating the compression member in the dust collecting mode after the initial start mode is different from the current in the case of operating the compression member in the compression mode, respectively.

In other words, since the load resistance in the dust collecting mode is the smallest, the current load in the dust collecting mode is the smallest, the current load in the initial startup is the next largest, and the current load in the dust compression is the largest.

Therefore, when the compression member 120 performs the rotational movement, while the initial start is performed, when a predetermined time elapses, the compression member 120 operates in a dust collecting mode in which dust is collected to one side while the load is lowered.

Thereafter, the dust collecting mode also operates for a predetermined time, and when the compression member 120 meets the dust mass and starts compressing the dust mass, a large load is applied to the compression member 120, thereby resulting in a large current load.

In order to cope with such a change in current load, the applied voltage is maintained at a voltage amount corresponding to the initial starting mode for a time during which the current load in the initial starting mode is maintained.

When the current load is lowered and it is determined to have a current value corresponding to the current load in the dust collecting mode, the applied voltage of the driving motor is lowered.

Thus, even if the applied voltage of the driving motor is lowered, the load on the compression member 120 itself is reduced, so that the dust collecting or dust collecting function of the compression member 120 is not impaired.

On the other hand, when the dust mass and the compression member 120 meets while operating in the dust collecting mode, the compression applied to the compression member 120 due to the reaction force of the dust mass rapidly increases, accordingly the current of the drive motor The load also increases.

However, the voltage applied to the motor for compressing the compression member 120 should be increased slightly before the time when the current load of the driving motor becomes a predetermined reference (here, the current load in the dust collecting mode).

This is because it is preferable to maximize the compression while compressing the dust while maintaining the speed and rotational force of a predetermined level or more immediately before the compression member 120 meets the dust mass.

That is, if the applied voltage increases when the compression member 120 meets or immediately after meeting the dust mass, dust compression may not be performed smoothly, and may cause only a problem of consuming electricity.

When the dust is compressed by the compression member 120 and the compression member 120 is no longer operated, the operation of the compression member 120 is stopped, the air is temporarily waited, and the polarity of the applied voltage is reversed. Control the compression member to operate in the direction.

The change in the current load and the change in applied voltage for the drive motor for driving the compression member 120 operating in the opposite direction are the same as described above.

Since the data on the change of the current load is stored in the memory, the change in the applied voltage is made in consideration of the change in the immediately preceding load current.

On the other hand, as the cleaning time increases, the amount of dust inside the dust collecting container increases, and accordingly, the amount of dust lump compressed by the operation of the compression member 120 also increases.

Therefore, when the amount of the lump of dust increases, it means that the area that can operate in the dust collecting mode is reduced by the compression member 120.

This means that the overall operation time of the compression member 120 is reduced, and as shown in the graph, after a predetermined time has elapsed, as compared to the one-time operation time t1 of the compression member 120 at the beginning of cleaning. It is characterized in that the one-time operation time (t2) of the compression member can only be reduced.

Since the initial start mode, the dust collecting mode, and the compression mode by the control method shown in FIG. 6 are actually implemented in the robot cleaner as described in FIG. 4, a detailed description thereof will be omitted.

Figure 8 illustrates another embodiment of the present invention.

8 illustrates changing the compression timing of the compression member 120 according to the change of the rotation angle of the compression member 120.

Since the first compression mode and the second compression mode are the same as those shown in FIG. 3, detailed descriptions thereof will be omitted.

In the present embodiment, the controller determines whether the cleaning is completed, and if it is determined that the cleaning is not yet completed, the controller recognizes the current load measured by the rotation angle sensor unit 210.

In addition, when the rotation angle of the compression member 120 is determined to be equal to or less than a predetermined standard, the dust increases in the dust collecting container 100 by that amount, and therefore, the dust member is filled on both sides, so that the compression member 120 operates. Recognizing that the operation space can be reduced, it is necessary to advance the compression time of the compression member 120 earlier than before to reflect the increased amount of dust.

Here, as in the embodiment shown in FIG. 3, the compression period means a time when the dust collecting mode of the compression member 120 is switched to the compression mode.

When the rotation angle is less than a predetermined criterion, the amount of dust and the size of the dust mass mean that the contact time between the compression member 120 and the dust mass is earlier than before.

Therefore, in response to the growth of the dust mass, there is a need to change the mode switching of the compression member 120, that is, the switching timing of the dust collecting mode to the compression mode, that is, the compression timing.

In other words, since the amount of dust increases and grows from the side wall portion of the dust collecting container 100 toward the central portion of the dust collecting container 100, the timing to give a large rotational force to the compression member 120 should be advanced earlier than before. .

The application of the voltage for compression should be made before the compression member 120 comes into contact with the dust mass, since it is more efficient to compress the dust by using the inertia while moving at a high speed with a strong rotational force.

The changed compression time is stored in the memory 170, and then becomes basic data of the compression operation of the compression member.

That is, as shown in Fig. 9 (a), since the amount of dust does not accumulate in the dust collecting container at the initial stage of cleaning and the size of the compressed dust mass S is small, the compression member 120 rotates. The maximum possible area is.

However, as the cleaning time elapses, as shown in FIG. 9B, the amount of dust increases, and the size of the lump of dust compressed by the compression member 120 also increases.

Therefore, the compressed dust accumulates on both sides of the inside of the dust collecting container 100 and, as it grows, encroaches on the rotation region of the compression member 120.

As a result, the compression member 120 is in contact with the dust mass S earlier than before, and the rotational movement is limited by a portion of the dust mass S.

Therefore, the rotation angle of the compression member 120 is smaller than before, which is because the amount of dust eventually increases.

Reflecting this, it is necessary to advance the compression time of the compression member 120 earlier than before, and thus it is necessary to advance the time when the voltage required for the compression mode is applied.

In this way, the advanced compression time is stored in the memory 170 and used as the base material for controlling the dust compression operation during cleaning.

10: main body 100: dust collector
120: compression member 110: dust sensor
130: reduction unit 140: drive motor
150: motor driving unit 160: control unit
170: memory 180: power supply
200: current sensor unit 210: rotation angle sensor unit

Claims (15)

A body; A dust collecting passage provided inside the main body;
A compression member provided inside the dust collecting chamber to collect and compress foreign substances in the dust collecting container; A driving unit for driving the compression member;
And a control unit connected to the driving unit, the control unit controlling an operation of the compression member according to a change of state or a cleaning time of a foreign matter inside the dust collecting container. The method of claim 1,
The control unit is provided to recognize the cleaning time,
If it is determined that the cleaning time is more than a predetermined criterion, the robot cleaner characterized in that the control so that the time to switch from the dust collecting mode of the compression member to the compression mode faster than before. The method of claim 1,
Further comprising a dust sensor unit connected to the control unit for measuring the dust concentration in the dust collecting container,
The control unit, when it is determined that the dust concentration is more than a predetermined reference, the robot cleaner, characterized in that to control the time to be converted to the compression mode from the dust collecting mode of the compression member faster than before. The method of claim 1,
The control unit, if the current load variation of the compression member deviates from a certain standard,
Robot cleaners, characterized in that for controlling so that the time to change from the dust collecting mode of the compression member to the compression mode faster than before. The method of claim 1,
The control unit is a robot cleaner, characterized in that to control the compression of the foreign matter by the compression member when the cleaning is completed. The method of claim 5,
The control unit is a robot cleaner, characterized in that for controlling the number of compression operation of the compression member is changed according to the concentration of dust inside the dust collecting apparatus after cleaning is completed. The method of claim 5,
The control unit is a robot cleaner, characterized in that for controlling the number of times the compression operation of the compression member is changed according to the cleaning time before the cleaning is completed. The method of claim 1,
The control unit is a robot cleaner, characterized in that to control the rotational force of the compression member to be greater than before by increasing the voltage than the conventional applied to the drive motor before the compression member is in contact with the foreign matter mass collected in the dust collector. The method of claim 1,
The compression member is provided to be rotatable inside the dust collecting container, it is provided to be reciprocating,
The movement region of the compression member includes a dust collecting mode region for collecting dust in the dust collecting chamber by moving the dust in the side wall direction;
A compression mode region provided adjacent to the dust collection mode region and compressing dust,
And a voltage applied to the drive motor in the compression mode region is greater than a voltage applied to the drive motor in the dust collection mode region. A first compression mode step of compressing dust inside the dust collecting container during cleaning by using a predetermined compression member;
Determining whether the cleaning is completed;
A second compression mode step of performing compression when the cleaning is completed;
And when the cleaning is not completed, adjusting the dust compression timing in the first compression mode in consideration of the dust state or the cleaning time inside the dust collecting container. The method of claim 10,
The first compression mode step;
An initial starting mode step of moving the stationary compression member;
A dust collecting mode step of collecting or collecting dust after completion of the initial starting mode;
A compression mode step of compressing by pressing dust after completion of the dust collection mode;
And controlling the movement direction of the compression member after the completion of the compression mode. The method of claim 10,
Adjusting the dust compression timing;
Recognizing the cleaning time and determining whether the cleaning time is equal to or greater than a predetermined standard;
If the cleaning period is equal to or greater than a predetermined standard, changing the compression time of the dust earlier than before;
And storing the modified compression time. The method of claim 10,
Adjusting the dust compression timing;
Recognizing dust concentration or density inside the dust collecting container and determining whether the dust concentration or density is equal to or greater than a predetermined standard;
If the dust concentration or density is greater than or equal to a predetermined standard, changing the compression time of the dust earlier than before;
And storing the modified compression time. The method of claim 10,
Adjusting the dust compression timing;
Recognizing a current load applied to the driving motor for driving the compression member, and determining whether the current load is greater than or equal to a predetermined standard;
Determining whether a time period at which the current load becomes higher than a predetermined threshold is earlier than before;
If the time when the current load is more than a predetermined criterion is earlier than before, changing the compression time of the dust earlier than before;
And storing the modified compression time. The method of claim 10,
The second compression mode,
And controlling the operation time or the number of times of the compression member to change in response to the cleaning time.

Images