KR20160090571A - Robot cleaning apparatus and method for controlling the same - Google Patents

Abstract

The present invention relates to a robot cleaner. The robot cleaner includes: a cleaner body; first and second wet mop mount plates which are arranged in parallel to each other on the floor surface of the cleaner body, respectively have one surface rotatably mounted onto the cleaner body around first and second rotary shafts, and have wet mops respectively attached to or detached from the opposite surfaces thereof; and first and second motors which are installed in the cleaner body and are used as driving sources for rotating the first and second wet mop mount plates, respectively, at a predetermined rotation speed and in a predetermined direction. The robot cleaner rotates at least one of the first and second wet mop mount plates in order to run on a floor surface by using a friction force generated between the wet mops mounted onto the wet mop mount plates and the floor surface of a cleaning area. The robot cleaner also includes: a motor load measuring means which measures a change in a load value applied to the first and second motors due to the friction between the floor surface and the wet mops mounted onto the first and second wet mop mount plates during an operation of the robot cleaner; and a control unit for controlling the rotation direction or the rotation speed of the first and second wet mop mount plates in accordance with a change in the load value. First and second rotary shafts are tilted from a center shaft, which corresponds to a vertical direction shaft of the robot cleaner, at a predetermined angle.

Description

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

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot cleaner and a method of controlling the robot cleaner that perform a cleaning operation by moving in a cleaning area. More particularly, the present invention relates to a robot cleaner, And a control method thereof.

The robot cleaner is a device that carries out a cleaning operation while traveling in a cleaning area by itself without an external artificial operation. Generally, the robot cleaner mainly performs a dirt suction function of sucking dirt such as dust on the surface to be cleaned while traveling on its own. Recently, however, cleaning of the surface to be cleaned has been carried out by wiping the surface of the surface to be cleaned, A robot cleaner that can be removed is introduced.

For example, Patent Document 1 discloses a robot cleaner that removes a wet-cloth plate to which a wet-cloth is attached on the lower surface of the robot cleaner main body, thereby wiping the water in an autonomous running process.

However, in the case of the cleaning type robot cleaner as in Patent Document 1, merely attaching a cleaning cloth for wet-cloth to the main body of the existing robot cleaner, and using friction between the cleaning cloth for wet-cloth and the bottom surface during traveling of the robot cleaner, There is a limit in removing the dirt adhering to the inside of the cleaning area.

Further, due to the frictional force between the cleaning cloth for wet-wipe and the bottom surface, the driving of the robot due to the separate driving force is interrupted, and the consumption of the driving force by the battery becomes extreme.

Patent Document 1: Korean Utility Model Registration No. 407243

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot cleaner capable of effectively removing dirt adhered to a floor to be cleaned by cleaning a wet cloth, And to provide a control method.

According to an aspect of the present invention, there is provided a robot cleaner including: a main body; A first wet-laid mounting plate and a second wet-laid mounting plate which are arranged on the bottom surface of the main body and are mounted on the main body so as to be rotatable about the first rotation axis and the second rotation axis, respectively, Wet blanket mounting plate; And a first motor and a second motor which are installed inside the main body and cause the first and second wet-cloth-attached plates to rotate at predetermined rotation directions and rotational speeds, respectively, 2 wobble mounting plate to rotate on at least one of the wet-cloth mounting plate and the cleaning area, wherein the robot cleaner travels on a floor surface by using a friction force generated between a wet- Motor load measuring means for measuring a change in load applied to the first motor and the second motor due to friction between the wet cloth and the bottom surface mounted on the first and second wet-cloth mounting plates, 1 and the second woolen mounting plate, wherein the first rotary shaft and the second rotary shaft are rotatable about the vertical direction of the robot cleaner Characterized in that the tilted so as to have a predetermined angle with respect to the center axis corresponding to the axis direction.

According to another aspect of the present invention, there is provided a method of controlling a robot cleaner, the robot cleaner including a main body and a main body rotatably mounted on the main body so as to be rotatable about a first rotation axis and a second rotation axis, And a first motor and a second motor for rotationally driving the first wet-cloth mounting plate and the second wet-cloth mounting plate, and a first motor and a second motor for rotationally driving the first wet-cloth mounting plate and the second wet- A method of controlling a robot cleaner, comprising: rotating at least one of a first wet-cloth mounting plate and a second wet-cloth mounting plate so as to travel in a specific traveling direction according to a traveling mode; Measuring a change in load applied to the first motor and the second motor due to friction between the wet cloth and the bottom surface mounted on the first and second wet-cloth mounting plates during travel of the robot cleaner; And controlling the rotation direction or rotation speed of the first and second wet-cloth mounting plates in accordance with the change of the load value. The method of controlling the robot cleaner according to claim 1, And adjusting an angle at which the rotation axis of at least one of the first rotation axis and the second rotation axis is inclined.

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

In the present invention, unlike a conventional robot cleaner that moves in a cleaning area as a wheel attached to a main body is rotated by a driving source, at least one of a pair of wet-cloth attaching plates to which a wet-cloth is attached rotates, Since the frictional force with the bottom surface is used as the driving source, the battery efficiency can be improved as compared with a conventional robot cleaner equipped with a wet cloth.

Further, in the case of the robot cleaner according to the present invention, since only the rotational direction and rotational speed of the wet-cloth attaching plate to which the wet cloth is attached are controlled to control the direction of the robot cleaner, It is possible to simplify the configuration of the apparatus.

In addition, in the case of the robot cleaner according to the present invention, since the robot cleaner is moved by the rotation of the wet-cloth mounting plate, foreign substances adhered to the bottom surface of the cleaning area are removed. In the conventional robot cleaner, It is possible to increase the removal efficiency of the foreign matter.

Further, in the case of the robot cleaner according to the present invention, the load applied to the motor due to the friction between the wet cloth attached to the wet cloth mounting plate and the bottom surface is monitored to appropriately control the rotation of the wet cloth mounting plate, It is possible to stop unnecessary battery consumption by stopping the motor when the robot cleaner is lifted or the robot cleaner is crashed.

Further, in the case of the robot cleaner according to the present invention, by monitoring the load applied to the motor due to the friction between the wet cloth attached to the wet cloth mounting plate and the bottom surface and appropriately controlling the rotation of the wet cloth mounting plate, If the robot cleaner is located at an adjacent position, the robot cleaner can quickly disengage the robot cleaner.

According to various embodiments of the present invention, the rotary shafts of the pair of wet-laid mounting plates of the robot cleaner are inclined so as to have a predetermined angle with respect to the central axis of the robot cleaner, The moving speed of the robot cleaner can be increased and even when an obstacle of a predetermined height such as a threshold is located on the traveling path of the robot cleaner, the obstacle can be climbed and travel while performing the wet cleaning. Particularly, by keeping the predetermined angle in the range of 1 degree to 3 degrees, it is possible to optimally maintain the obstacle climbing ability and the wet cleaning ability of the robot cleaner.

1 is a schematic view of 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 cross-sectional view of a robot cleaner according to a preferred embodiment of the present invention.
5 is a perspective view illustrating the inside of a main body of a robot cleaner according to a preferred embodiment of the present invention.
6 is a flowchart illustrating a robot cleaner according to a preferred embodiment of the present invention.

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

2 is a bottom view of the robot cleaner according to the present invention. FIG. 3 is a side view of the robot cleaner of the present invention, and FIG. 4 is a cross- FIG. 5 is a perspective view illustrating the inside of a main body of the robot cleaner according to the preferred embodiment of the present invention. Referring to FIG.

1 to 5, a robot cleaner according to a preferred embodiment of the present invention includes a main body 10, a first wet-cloth mounting plate 110, a second wet-cloth mounting plate 120, a first wet- A first motor 150a and a second motor 150b for driving the second woolen mounting plate 120 to rotate and drive the woolen mounting plate 120, obstacle detecting sensors 130a and 130b mounted on the main body 10, And an input unit 180 and a communication unit 140. [

The first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120 are mounted on the main body 10 such that one surface of the first wet-cloth mounting plate 110 is rotatable about the first rotation axis 310 and the second rotation axis 320, And a first wet-cloth 210 and a second wet-cloth 220 are detachably mounted on the back surface thereof.

The first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120 are connected to the first motor 150a and the second motor 150b through the first transmitting member 111 and the second transmitting member 121, The first motor 150a and the second motor 150a are connected, The driving force of the motor 150b is transmitted to the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120.

The first wet cloth 210 and the second wet cloth 220 are brought into contact with the bottom surface of the cleaning area in accordance with the rotation of the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 220, And is configured to clean the wet cloth against the foreign matter attached to the surface. The first and second wet-cloths 210 and 220 may be formed of a fiber material such as a microfiber cloth, a cloth, a nonwoven fabric, a brush, or the like.

The first wet-cloth 210 and the second wet-cloth 220 are connected to the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate (not shown) through the first fixing member 112 and the second fixing member 122, respectively 220, and the fixing method may be a fixing method such as a Velcro tape. Preferably, the fixing method may be fixed to the first and second wet-cloth mounting plates 110 and 220 by a method of covering the first and second water- .

As described above, a predetermined frictional force is generated between the first and second water-curtains 210 and 220 and the bottom surface of the cleaning zone, and such frictional force can be used as a driving source for driving the robot cleaner . Particularly, by appropriately controlling the resultant force of the frictional force acting on the first wet-cloth 210 and the second wet-cloth 220, the running direction and the 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 using the frictional force, which has been used only for cleaning the wet cloth on the floor, as a driving source of the robot cleaner, battery consumption for driving the robot cleaner is reduced, It is possible to control the robot cleaner in a simple manner by removing a separate wheel or a device for controlling the wheel.

4, the first rotary shaft 310 and the second rotary shaft 320, which are rotation centers of the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120, With respect to the central axis 300 perpendicular to the center axis 300. [ Since the first rotation axis 310 and the second rotation axis 320 are inclined at a predetermined angle, the first wet-cloth 210 mounted on the first wet-cloth mounting plate 110 and the second wet- The second wet cloth 220 is also inclined downward toward the outside of the robot cleaner 100.

The central axis 300 of the robot cleaner 100 is extended in a direction perpendicular to the bottom surface of the cleaning area to be cleaned by the robot cleaner 100. The first and second waterbubbles 210 and 220, The robot cleaner 100 comes into contact with the floor surface more toward the outside than the center of the robot cleaner 100, and a larger frictional force is generated.

The angle of the first rotation axis 310 of the first wet-cloth mounting plate 110 of the robot cleaner 100 with respect to the central axis 300 is set to be a first angle, When the angle at which the first rotary shaft 320 is tilted with respect to the central axis 300 is referred to as a second angle, the first angle and the first angle may be the same or different from each other.

Also, preferably, the first angle and the second angle may be angles within a range of 1 degree to 3 degrees, but are not limited to a specific range. As can be seen in Table 1 below, depending on the degree of tilting of the first angle and the second angle, the obstacle climbing ability, the cleaning ability, the traveling speed, and the like can be changed.

Tilted angle 4.7mm height obstacle climbing ability (based on 3 points) Cleaning ability (based on 3 points) Driving speed (based on 3 points) Less than 1 degree Can not climb all kinds of wet-cloth (0) Can be cleaned by using front of wet-cloth (3) Very slow (0) 1 degree Some of the wet-cloth
Climbing possible (1) Can be cleaned by using front of wet-cloth (3) Slow (1) 1.35 degrees Some wet-cloth
Climbing possible (2) Can be cleaned using a part of wet-cloth (2) Usually (2) 3 degrees All kinds of wet-cloth
Climbing possible (3) Can be cleaned using a part of wet-cloth (1) Fast (3) Greater than 3 degrees All kinds of wet-cloth
Climbing possible (3) Using a very small part of the wet-cloth
Cleanable (1) Fast (3)

As can be seen from Table 1, when the first and second angles increase, the moving speed of the robot cleaner 100 increases, and when an obstacle such as a threshold exists in the traveling direction, And the ability to do so increases. However, as the angle increases, the contact area between the first and second wet-cloths 210 and 220 is reduced, and the cleaning efficiency is reduced. Therefore, it is necessary to adjust the sizes of the first angle and the second angle by appropriately considering the running ability, the climbing ability, and the cleaning ability of the robot cleaner.

The obstacle detection sensor 130 is for detecting an obstacle existing in the direction of travel of the robot cleaner and may be disposed on the front or rear of the main body 10 on the basis of the traveling direction of the robot cleaner, And may be disposed at a position adjacent to the mounting plate 110 and the second wet-cloth mounting plate 120. The obstacle detection sensor 130 disposed at the front and rear of the main body 10 detects an obstacle located in the direction when the robot cleaner travels in the corresponding direction and transmits the information to the controller 17 . By appropriately adjusting the position of the obstacle detection sensor 130, it is possible to accurately detect obstacles that obstruct the travel of the robot cleaner through a small number of sensors, thereby reducing the manufacturing cost of the robot cleaner .

6 is a block diagram showing a system of a robot cleaner according to a preferred embodiment of the present invention. 6, the system of the robot cleaner according to the present invention includes a sensor unit 130, a communication unit 140, a first wet-cloth mounting plate 110, 1 motor 150a and second motor 150b, a storage unit 160, a control unit 170, an input unit 180, an output unit 185, a motor load measurement unit 200, a tilt adjustment unit 175, And a supply unit 190.

The tilt adjusting unit 175 adjusts the tilt of the first rotating shaft 310 and the second rotating shaft 310 as rotation centers of the first and second wet-cloth mounting plates 110 and 120 according to a control signal of the controller 170, 2 is a device for adjusting the inclination angle of the second rotary shaft 330 relative to the central axis 300 of the robot cleaner 100. For example, the tilt adjusting unit 175 tilts at least one of the first motor 150a and the second motor 150b with respect to the horizontal plane of the main body 10 of the robot cleaner 100, 310 and the second rotation axis 320 can be controlled.

The sensor unit 130 includes obstacle detection sensors 130a and 130b mounted on the main body 10. The sensor unit 130 generates infrared rays or ultrasonic signals to detect obstacles around the robot cleaner, 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 for detecting an obstacle or the like by photographing the outside of the robot cleaner, such as a camera sensor.

The communication unit 140 performs a wireless communication function between the robot cleaner and the external terminal using a local communication module or a wireless Internet module. The robot cleaner receives an instruction from an external terminal through the communication unit 140, and can adjust a traveling direction, a traveling mode, and the like based on the received command. Accordingly, the user can control the running of the robot cleaner by utilizing a smart phone, a tablet, a PC, and a remote controller.

The first motor 150a and the second motor 150b serve as a driving source for rotating the first and second wet-cloth-attaching plates 110 and 120. The first motor 150a, And the second motor 150b receive the control signal from the controller 170 and are connected to the first and second wet-cloth mounting plates 110 and 210 through the first and second rotation shafts 310 and 320, 120) at a predetermined rotation speed in a predetermined rotation direction.

The storage unit 160 stores the operation of the robot cleaner, in particular, a program related to the traveling mode, and plays the role of temporarily storing data input and output from the input unit 180 and the output 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, a random access memory (RAM), a static random access memory (SRAM) Memory, an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, or an optical disk. Preferably, the storage unit 160 may transmit the stored information about the traveling mode to the controller 170 to drive the robot cleaner according to the programmed traveling mode.

The input unit 180 directly receives a command related to the traveling of the robot cleaner from the user through a car pad, a switch, or the like provided in the main body 10 of the robot cleaner, and transfers the command to the controller 170.

The output unit 185 performs a function of externally displaying information related to an operation or function performed by the robot cleaner. Preferably, the display panel includes a display panel for visually displaying related information, an acoustic output section for audibly outputting the information, and the like.

The motor load measuring means 200 measures changes in load acting on the first motor 150a and the second motor 150b while traveling the robot cleaner and transmits the related information to the controller 170 . The magnitude of the frictional force generated between the first wet-cloth 210 and the second wet-cloth 220 and the bottom surface of the cleaning area may vary depending on the condition of the bottom surface, The motor load measuring means 200 measures the change of the load and transmits the measured load to the controller 170 so that the controller 170 can determine the state of the bottom surface of the cleaning zone So that it can control the operation of the robot cleaner appropriately.

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 to determine the load acting on the first motor 150a and the second motor 150b Is a means for measuring the change in the temperature.

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

The control unit 170 receives necessary information from the sensor unit 130, the motor load measurement unit 200, the storage unit 160, the input unit 180, and the like to collectively control the operation and the function of the robot cleaner As a configuration, it controls a process such as a traveling mode, a traveling route, a cleaning time, and the like of the robot cleaner.

More 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 and second wet-cloth mounting plates 110 and 120 By controlling the speed and the direction of rotation, the robot cleaner can be controlled to travel in a predetermined traveling mode in a predetermined direction. That is, by appropriately controlling the resultant force of the frictional force between the first wet-cloth 210 mounted on the first wet-cloth mounting plate 110 and the second wet-cloth 220 mounted on the second wet-cloth mounting plate 120, It is possible to control so that the robot cleaner can move forward or backward.

In particular, the traveling mode of the robot cleaner may be selected by the user as a first forward mode for allowing the user to move forward or backward in a predetermined direction according to a program stored in the storage unit 160. In the first forward mode, the controller 170 rotates the first wet-cloth mounting plate 110 in the first rotation direction at the first rotation speed, and rotates the second wet-cloth mounting plate 120 in the opposite direction to the first rotation direction To the first rotation speed in the second rotation direction, which is the direction of rotation. In this case, the robot cleaner can move linearly in a specific direction on the floor surface by the resultant force of the frictional force acting on the first wet-cloth 210 and the second wet-cloth 220, respectively.

Meanwhile, the traveling mode of the robot cleaner may be selected by a user or a second forward mode in which the user moves 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, the first wet-cloth mounting plate 110 is rotated for a predetermined time in the first rotation direction at the first rotation speed, and the second wet-cloth mounting plate 120 is rotated in the first rotation direction And then rotates the first wet-cloth mounting plate 110 at a second rotation speed in a second rotation direction opposite to the first rotation direction for a predetermined time, It is possible to control the wet-cloth mounting plate 120 to rotate in the second rotation direction at the first rotation speed, and to repeat it for a predetermined time in order to control to travel in the S-shape in a specific direction. In this case, the running speed of the robot cleaner is slower than in the first forward mode, but there is an effect that more intensive cleaning can be performed.

According to a preferred embodiment of the present invention, the controller 170 controls the first motor 150a and the second motor 150b according to a change in load applied from the motor load measuring means 200 to the first motor 150a and the second motor 150b, And the rotation of the second motor 150b. The amount of load applied to the motor due to the friction between the first and second wet-cloths 210 and 220 attached to the first and second wet-cloth mounting plates 110 and 120 and the bottom surface, The controller 170 controls the rotation of the wet-cloth mounting plate so that the position of the robot cleaner can be quickly disengaged when the robot cleaner is located at a position adjacent to an obstacle such as a carpet or a cliff. It is possible to prevent the battery from consuming by preventing the idle idling from being heard.

According to a preferred embodiment of the present invention, the controller 170 receives the information about the obstacle detection from the sensor unit 130 and controls the first motor 150a and the second motor 150b, The rotational direction and rotational speed of the wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120 are controlled to enable the avoidance start of the obstacle.

In addition, according to a preferred embodiment of the present invention, even when an obstacle is not detected for a predetermined time, the controller 170 changes the rotation direction and speed of the first and second wet-cloth mounting plates 110 and 120 Thus, when the robot cleaner can not move due to an obstacle not detected by the sensor unit 130, the robot cleaner can be moved away from the robot cleaner. For example, when the robot cleaner is in a state where the robot cleaner can not move due to a carpet not being sensed by the sensor unit 130, the rotation of the wet-cloth mounting plate can be controlled after a predetermined time so that the robot cleaner can be easily detached from the position.

According to a preferred embodiment of the present invention, the controller 170 controls the first and second wet-cloth-attaching plates 110 and 110 according to the presence or absence of obstacles during running of the robot cleaner 100, the running state of the robot cleaner 100, The first rotating shaft 310 and the second rotating shaft 320 serving as rotation centers of the two woolen mounting plates 120 are inclined relative to the central axis 300 of the robot cleaner 100 at an angle Angle and a second angle) of the tilt control unit 175. [0054]

More specifically, the controller 170 receives information such as the traveling distance and the traveling speed of the robot cleaner 100, the traveling state such as the traveling acceleration, and the presence or absence of an obstacle from the sensor unit 130, It is possible to determine the running state of the robot cleaner 100 and to control the first angle and the second angle.

For example, when the robot cleaner 100 is unable to travel through an obstacle such as a threshold, the control unit 170 can recognize from the sensor unit 130 that the travel distance and the traveling speed have decreased, May instruct the tilt adjuster 175 to increase the first angle and the second angle. As described above, by increasing the first angle and the second angle, the climbing ability of the robot cleaner 100 is increased, and the traveling can be continued by climbing the threshold.

If the controller 170 determines that the obstacle such as the threshold is climbed and the travel speed and the travel distance have recovered to some extent, the controller 170 instructs the tilt controller 175 to decrease the first angle and the second angle again The cleaning ability of the robot cleaner 100 can be restored.

In the above-described example, the first angle and the second angle are adjusted in accordance with the change of the running distance or the traveling speed. However, the control unit 170 may detect the obstacle by the obstacle detecting sensors 130a, 130b, 130c and 130d Based on the result, the tilt adjuster 175 can be instructed to adjust the first angle and the second angle.

When the predetermined time has elapsed after the first angle and the second angle are increased by the tilt adjusting unit 175, the controller 170 controls the first angle and the second angle to decrease the cleaning ability To instruct the tilt adjuster 175 to decrease the magnification.

According to the above-described example, the control unit 170 controls the first angle and the second angle by the detection result by the sensor unit 130 or the like or by the program previously stored in the storage unit 160, It is possible to instruct the tilt adjusting unit 175 to adjust the first angle and the second angle by direct input. At this time, the input of the user may be inputted directly through the input unit 180 or through the communication unit 140 using a remote controller, a smart phone, or a tablet.

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

7 is a flowchart illustrating a method of controlling a robot cleaner according to a preferred embodiment of the present invention. 7, when the robot cleaner 100 is powered on (S101), the control unit 170 sets the progress direction according to the program stored in the user input or storage unit 160 (S102) The robot cleaner 100 is controlled by controlling the rotational speed and the rotational direction of the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120 so that the robot cleaner can travel in the traveling direction (S103).

During running of the robot cleaner 100, the amount of change in the load acting on the first motor 150a and the second motor 150b due to the friction between the floor surface and the wet cloth is measured using the motor load measuring means 200 (S104). Preferably, the change in the amount of current flowing through the first motor 150a and the second motor 150b is measured, and the change in the amount of load can be measured.

Thereafter, it is determined whether the decrease in the load measured by the motor load measuring means 200 is less than the first predetermined value (S105). If the load reduction value 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-cloth mounting plate 110 and the second water- It is determined that the plate 120 is idling and the rotation of the first motor 150a and the second motor 150b is stopped (S110). As a result, the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120 are prevented from idling idling and battery consumption can be suppressed.

When it is determined that the amount of decrease of the load measured by the motor load measuring means 200 is less than the first predetermined value, it is determined whether the change value of the load amount is less than the second predetermined value (S106). When the change value of the load is equal to or greater than the second predetermined value, the robot cleaner 100 determines that the robot cleaner 100 is located near the bottom surface of the robot cleaner 100, such as a carpet, The rotating speed or the rotating direction of the first and second wet-cloth mounting plates 110 and 120 is controlled so that the first and second wet-cloth mounting plates 110 and 120 can be separated from the corresponding position.

As described above, there are several preferable control methods for releasing 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 fallen by a second predetermined value or more, the first wet-cloth mounting plate 110, which is currently traveling of the robot cleaner 100, And the rotation direction of the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120 may be controlled to be opposite to the rotating direction of the first wet-cloth mounting plate 120 and the second wet-cloth mounting plate 120. In this case, the robot cleaner 100 may move away from the current position because the robot cleaner 100 moves in a direction opposite to the traveling direction of the robot cleaner.

Further, preferably, the rotation of any one of the first and second wet-cloth mounting plates 110 and 120 is stopped or the rotation speed is reduced so that the robot cleaner rotates or swivels in place You can control to leave the current location.

Preferably, the robot cleaner 100 senses a difference in the amount of load between the first motor 150a and the second motor 150b, determines whether the difference between the loads is equal to or greater than a third predetermined value, It is possible to control the rotational speed or the rotational direction of the first and second wet-cloth mounting plates 110 and 120 so that the first and second wet-cloth mounting plates 110 and 120 can be separated from the corresponding position. In this case, since either the first wet-cloth mounting plate 110 or the second wet-cloth mounting plate 120 is on the bottom surface, not on the area to be cleaned, or on the obstacle or near the cliff, It is possible to perform control so as to move out of the position.

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

If it is determined that there is an obstacle around the robot cleaner 100 as a result of detection, control is performed to control the first and second wet-cloth-attaching plates 110 and 120 so as to avoid the obstacle (S112).

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

For example, when the obstacle located in the traveling direction of the robot cleaner 100 is sensed by an obstacle detection sensor located near both the first wet-cloth mounting plate 110 and the second wet-cloth mounting plate 120, It is determined that an obstacle exists in the entire traveling direction of the vehicle 100. Therefore, the rotation directions of the first and second wet-cloth-attaching plates 110 and 120 can be reversed so that the robot cleaner 100 can move backward.

When the obstacle located in the traveling direction of the robot cleaner 100 is detected by any of the obstacle detection sensors located near both the first and second wet-cloth mounting plates 110 and 120 , It is determined that an obstacle exists in the vicinity of the position. Therefore, it is possible to stop the rotation of the wet-cloth mounting plate at the position, to allow the robot cleaner 100 to rotate in place, or to reduce the rotational speed and to perform swirling motion to avoid the obstacle.

Alternatively, by resetting the traveling direction of the robot cleaner 100, the robot cleaner 100 may proceed in the third traveling direction other than the current traveling direction, thereby controlling the obstacle to be avoided.

After the evasive maneuver is performed in accordance with the detection results of the motor load measuring means 200 and the obstacle detecting sensors 130a, 130b, 130c, and 130d, the robot cleaner 100 again resets the traveling direction, Let's proceed.

On the other hand, even when no obstacle is detected in the obstacle detecting sensors 130a, 130b, 130c, and 130d, the undetected time is measured and it is determined whether or not the time has exceeded a predetermined value (S108) The robot cleaner 100 may be in a state in which the robot cleaner 100 does not move due to an obstacle that is not detected by the obstacle detection sensors 130a, 130b, 130c, and 130d. Therefore, the first and second wet- (120) is rotated in the same direction for a predetermined period of time so as to perform rotational driving in the same place (S109). Thereafter, the robot cleaner 100 is controlled so as to advance along the originally set traveling mode so as to avoid obstacles. Accordingly, even if the robot cleaner is obstructed by an obstacle that is not detected by the obstacle detection sensors 130a, 130b, 130c, and 130d of the robot cleaner 100, such as a carpet, the avoidance start can be performed.

If the obstacle non-detection time is within the predetermined time, the traveling is continued along the traveling mode and the traveling direction which were originally intended.

Further, in the control method according to the preferred embodiment of the present invention, the robot cleaner 100 may further include sensing the traveling state of the robot cleaner from the sensor unit 130 during traveling of the robot cleaner 100, Adjusting the inclination angle of at least one of the first rotation axis 310 and the second rotation axis 320 with respect to the central axis 300 of the first and second rotation shafts 100 and 100.

The control method according to the preferred embodiment of the present invention may further include detecting whether an obstacle exists from the sensor unit 130 while the robot cleaner 100 is running, Adjusting the inclined angle of at least one of the first rotation axis 310 and the second rotation axis 320 with respect to the center axis 300 of the first rotation axis 310. [

In the control method according to the preferred embodiment of the present invention, during traveling of the robot cleaner 100, the first rotary shaft 310 or the first rotary shaft 310 is rotated with respect to the central axis 300 of the robot cleaner 100, And adjusting the tilted angle of at least one of the first and second rotary shafts 320 and 320.

In addition, it is possible to change the direction or mode according to the schedule of the internal memory or the time without obstacle or current sensing.

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

100: Robot cleaner
10: Body
110: first wet-cloth mounting plate
120: second wet-cloth mounting plate
130:
130a, 130b, 130c, and 130d: an obstacle detection sensor
140:
150a: first motor
150b: second motor
310:
320:
160:
170:
175:
180: input
185:
190: Power supply
200: motor load measuring means
210, 220, wet cloth

Claims (14)

main body;
A first wet-laid mounting plate and a second wet-laid mounting plate which are arranged on the bottom surface of the main body and are mounted on the main body so that one surface thereof is rotatable about a first rotation axis and a second rotation axis, respectively, 2 Wet Blank Mounting Plate;
And a first motor and a second motor which are installed in the main body and cause the first wet-cloth mounting plate and the second wet-cloth mounting plate to rotate at predetermined rotational directions and rotational speed, respectively,
Wherein at least one of the first wet-cloth mounting plate and the second wet-cloth mounting plate is rotated to apply a force to the bottom surface of the cleaning area by using a friction force generated between the wet- 1. A robot cleaner for traveling, comprising:
A motor load measuring unit that measures a change in a load value applied to the first motor and the second motor due to friction between the wet cloth and the bottom surface mounted on the first and second wet- Means,
And a controller for controlling a rotating direction or a rotating speed of the first and second wet-cloth mounting plates according to a change in the load value, the robot cleaner comprising:
Wherein the first rotation axis and the second rotation axis are inclined,
Wherein the robot cleaner is inclined at a predetermined angle with respect to a central axis corresponding to a vertical axis of the robot cleaner. The method according to claim 1,
When the wet cloth for wet cleaning is fixed to the first and second wet-cloth mounting plates, each of the fixed wet-cloths is inclined downward with respect to the center axis in accordance with the inclination of the first and second rotary shafts, Wherein the robot cleaner is a robot cleaner. The method according to claim 1,
The first wet-cloth mounting plate includes:
And a first transmitting member coupled to the first motor and transmitting power by a first motor and rotating about the first rotating shaft, wherein the second wet-cloth mounting plate is coupled to the second motor And a second transmitting member that transmits power by the second motor and rotates about the second rotation axis. The method of claim 2,
The first wet-cloth mounting plate includes:
And a second fixing member which is coupled to the first transmitting member and rotates about the first rotation axis and is capable of fixing a first water-wet for cleaning by wet cleaning, and the second wet- And a second fixing member coupled to the second rotary shaft and rotating about the second rotary shaft and capable of fixing a second water-wet for wet cleaning. The method according to claim 1,
Wherein the predetermined angle is not less than 1 degree and not more than 3 degrees. main body;
A first wet-laid mounting plate and a second wet-laid mounting plate which are arranged on the bottom surface of the main body and are mounted on the main body so that one surface thereof is rotatable about a first rotation axis and a second rotation axis, respectively, 2 Wet Blank Mounting Plate;
And a first motor and a second motor which are installed in the main body and cause the first wet-cloth mounting plate and the second wet-cloth mounting plate to rotate at predetermined rotational directions and rotational speed, respectively,
Wherein at least one of the first wet-cloth mounting plate and the second wet-cloth mounting plate is rotated to apply a force to the bottom surface of the cleaning area by using a friction force generated between the wet- 1. A robot cleaner for traveling, comprising:
A motor load measuring unit that measures a change in a load value applied to the first motor and the second motor due to friction between the wet cloth and the bottom surface mounted on the first and second wet- Means,
And a controller for controlling a rotating direction or a rotating speed of the first and second wet-cloth mounting plates according to a change in the load value, the robot cleaner comprising:
And a tilt adjusting unit that adjusts an inclination angle of at least one of the first and second rotation shafts with respect to a central axis corresponding to a vertical axis of the robot cleaner. The method of claim 6,
The inclined angle may be,
A first angle corresponding to an inclined angle of the first rotation axis with respect to the central axis and a second angle corresponding to an angle with which the second rotation axis is inclined with respect to the central axis,
Wherein the tilt adjusting unit adjusts at least one of the first angle and the second angle. The method of claim 6,
Wherein the tilt adjusting unit comprises:
Wherein the inclination angle is adjusted so that the inclined angle is in a range of 1 degree to 3 degrees. The method of claim 6,
A first sensor unit for detecting the traveling state of the robot cleaner; And controlling the inclination adjusting unit to adjust an inclination angle of at least one of the first and second rotary shafts with respect to the central axis by determining the running state of the robot cleaner based on the sensing result of the first sensor unit And a controller for controlling the robot cleaner. The method of claim 6,
A second sensor unit facing the cleaning surface to be cleaned by the robot cleaner; And a controller for controlling the inclination adjusting unit to adjust an inclination angle of at least one of the first and second rotary shafts with respect to the central axis by detecting an obstacle of a predetermined height or higher based on the sensing result of the second sensor unit. The robot cleaner further comprising: The method of claim 6,
An input unit for receiving a user input for adjusting the inclined angle;
However,
Wherein,
And controls the inclination adjusting unit to adjust an inclination angle of at least one rotation axis of the first rotation axis and the second rotation axis with respect to the central axis at an angle corresponding to the received user input. A first wet-laid mounting plate and a second wet-laid mounting plate which are arranged on the bottom surface of the main body and are mounted on the main body so as to be rotatable about the first rotation axis and the second rotation axis, respectively, A method of controlling a robot cleaner having a first motor and a second motor for rotationally driving a wet-laid mounting plate and a first wet-cloth mounting plate and a second wet-
Controlling at least one of the first wet-cloth mounting plate and the second wet-cloth mounting plate so that the robot cleaner travels in a specific traveling direction according to the traveling mode;
Measuring changes in load values applied to the first motor and the second motor due to friction between the wet cloth and the bottom surface mounted on the first and second wet-cloth mounting plates during traveling of the robot cleaner;
And controlling a rotating direction or a rotating speed of the first and second wet-cloth mounting plates according to a change in the load value,
Further comprising the step of adjusting an inclination angle of at least one of the first rotary shaft and the second rotary shaft with respect to a central axis corresponding to a vertical axis of the robot cleaner during traveling of the robot cleaner A control method of the robot cleaner. The method of claim 12,
Further comprising detecting a traveling state of the robot cleaner,
Wherein the adjusting comprises:
Wherein the robot cleaner adjusts the inclination angle of at least one of the first rotation axis and the second rotation axis with respect to the central axis on the basis of the sensed traveling state during traveling of the robot cleaner . The method of claim 12,
Further comprising the step of detecting an obstacle of a predetermined height or higher located in a cleaning area to be cleaned by the robot cleaner,
Wherein the adjusting comprises:
Wherein the robot cleaner adjusts an inclination angle of at least one of the first rotation axis and the second rotation axis with respect to the central axis based on the sensed result during running of the robot cleaner.

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