KR20180022205A - Robot cleaner - Google Patents

Abstract

The present invention relates to a robot cleaner including: a main body; a traveling portion for moving the main body in accordance with a predetermined traveling route; a steam generating unit for generating steam; a noise detection sensor for detecting noises or vibrations around the main body; and a controller for controlling the traveling portion and the steam generating unit, wherein the controller is configured to determine whether or not kitchen appliances are operating around the main body based on information of the noises or the vibrations input from the noise detection sensor, and in response to the detection that the kitchen appliances are operating, control the traveling portion such that a robot cleaner moves along the traveling route that is set in accordance with a traveling mode, and to control the steam generating unit to perform steam cleaning.

Description

Robot cleaner {Robot cleaner}

The present invention relates to a robot cleaner.

The robot cleaner is a device that automatically removes foreign substances such as dust from the floor while traveling the area to be cleaned by itself.

Generally, such a robot cleaner senses distances to obstacles such as furniture, office supplies, and walls installed in the cleaning area, maps the cleaning area accordingly, or controls the driving of the left and right wheels to perform an obstacle avoidance operation.

The robot cleaner is provided with a rechargeable battery, is free to move, can be moved by itself using the operating power of the battery, and is configured to return to the charge when necessary and charge the battery.

A kitchen robot cleaner for cleaning a top surface of an iris of a kitchen among such robot cleaners has been developed.

In the case of a conventional kitchen robot cleaner, there is a problem that the robot cleaner is cleaned without recognizing the temperature, height difference, and noise of the countertop, causing noise to the user or damaging the robot cleaner due to cleaning in a high temperature region.

An object of the present invention is to provide a robot cleaner that avoids a high temperature area on the upper surface of a cooking zone and reduces damage to the cleaner.

Another object of the present invention is to provide a robot cleaner for cleaning the steam when an appliance such as a dishwasher installed on a countertop is operated to reduce noise generated.

The present invention relates to a steam generator comprising a main body, a traveling part for moving the main body in accordance with a set travel route, a steam generating unit for generating steam, a noise sensor for detecting noise or vibration around the main body, The control unit determines whether the kitchen equipment is operating in the vicinity of the main body based on the noise or vibration information input from the noise sensing sensor. When the operation of the kitchen equipment is detected, And controls the traveling unit to move according to the traveling path set in accordance with the traveling direction of the vehicle, and controls the steam generating unit to perform steam cleaning.

The present invention has one or more of the following effects.

First, the present invention has the effect of avoiding the breakage of the cleaner by avoiding the high temperature region of the upper surface of the countertop.

Second, the present invention has an effect of reducing noise generated during cleaning by performing steam cleaning when an appliance such as a dishwasher installed on a countertop is operated.

Third, the present invention is advantageous in that it does not include a separate device for sucking the articles to be cleaned by dropping the articles to be cleaned by sink balls using a push rod.

Fourth, the present invention has an advantage in that steam can be used to automatically sterilize the top surface of the countertop, which is susceptible to propagation of germs.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a perspective view of a robot cleaner according to an embodiment of the present invention, which is operated on the top surface of a countertop.
Fig. 2 is a view showing the use of the countertop shown in Fig. 1. Fig.
3 is a perspective view illustrating a robot cleaner according to an embodiment of the present invention.
4 is a perspective view showing the internal structure of a robot cleaner according to an embodiment of the present invention.
5 is a bottom perspective view of a robot cleaner according to an embodiment of the present invention.
6 is a sectional view for explaining a steam generating unit constituting a robot cleaner according to an embodiment of the present invention.
7 is a block diagram illustrating a control system of a robot cleaner according to an embodiment of the present invention.
FIG. 8 is a flowchart illustrating a traveling method of a robot cleaner according to an embodiment of the present invention.
9 is a bottom perspective view of a robot cleaner according to another embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view of a robot cleaner according to an embodiment of the present invention, which is operated on an upper surface of a countertop, and FIG. 2 is an example of using the countertop shown in FIG.

Referring to FIGS. 1 and 2, the robot cleaner of the embodiment of the present invention can clean the upper surface 108 of the cooking stove 1000 while traveling on the upper surface 108 of the cooking stove 1000. The upper surface 108 of the cooking stove 1000 serves as a running surface that is a reference surface on which the robot cleaner runs.

Countertop 1000 collectively refers to the space where the user cooks in the kitchen. For example, a sink ball (101) formed concavely downward is formed in the cooking pole (1000). The sink ball 101 is formed by sinking the upper surface 108 of the countertop 1000 downward.

The sink ball 101 is formed with a drain port 109 connected to a drain pipe (not shown) in which water is drained. The drain hole 109 is formed to be open on the bottom surface of the sink ball 101 in the form of a hole.

The water receptacle (102) is disposed on the countertop (1000). The water faucet (102) supplies water to the sink ball (101). The water faucet (102) is connected to an external water source to supply water to the sink ball (101).

The countertop 1000 may be installed with built-in home appliances necessary for the kitchen. For example, the dishwasher 1000, the dishwasher, the dryer, and the cooktop 600 may be installed. The upper surface of the dishwasher, the dryer, and the cooktop 600 may be disposed on the same plane to constitute the upper surface 108 of the countertop 1000.

The dishwasher 1 includes a cabinet assembly 10 built in the cooking chamber 1000, a drawer 10 disposed in the cabinet assembly 10 and drawn out to the front of the cabinet assembly 10, (Not shown) disposed in the cabinet assembly 10 and disposed in the cabinet assembly 10 and for dispensing wash water to the rack.

The drawer (10) can be drawn out to the front of the countertop (1000). The cabinet assembly 10 forms the contour of the dishwasher. The cabinet assembly 10 is opened to the front and upward and a top door 15 for opening and closing the upper opening of the cabinet assembly 10 is installed in the cabinet assembly 10.

The front opening of the cabinet assembly 10 can be opened and closed by the drawer 10.

The upper opening surface 13 is disposed on the upper surface of the cabinet 12. [ The top door (15) opens and closes the upper opening surface (13). The upper opening surface 13 is disposed so as to be exposed on the upper surface 108 of the countertop 1000.

The cooktop 600 is a device for heating cookware located on the top surface 108 of the cooking pad 1000 through electrical or chemical energy. For example, the cooktop 600 may be formed by burying the induction heater on the upper surface 108 of the cooking pad 1000.

The robot cleaner 100 of the present invention moves the upper surface 108 of the built-in counter 1000 to clean and / or disinfect the upper surface 108 of the countertop 1000.

Hereinafter, the configuration of the robot cleaner will be described.

FIG. 3 is a perspective view illustrating a robot cleaner according to an embodiment of the present invention. FIG. 4 is a perspective view illustrating an internal structure of the robot cleaner according to an embodiment of the present invention. 6 is a cross-sectional view for explaining a steam generating unit 400 constituting a robot cleaner according to an embodiment of the present invention.

3 to 6, the cleaner main body 110 forms an outer appearance of the robot cleaner 100, and is formed in a cylindrical shape having a relatively small height, that is, a flat cylindrical shape, in comparison with a diameter.

A suction unit 120, a suction nozzle 130 and a dust collecting unit 140 communicating with the suction nozzle 130 are provided in the cleaner main body 110. The suction unit 120, the suction nozzle 130, and the dust collecting unit 140 are collectively referred to as a cleaning unit 270.

A sensor unit 220 for sensing the distance to an interior wall or an obstacle and a bumper (not shown) for buffering an impact upon collision are provided on the outer circumferential surface of the cleaner main body 110, Left and right driving wheels 150 and 160 for moving the robot cleaner 100, respectively.

The left and right driving wheels 150 and 160 are configured to rotate by the left and right motor 151 and the right and left wheel motors 161 and 161 controlled by the cleaner control unit 210, The robot cleaner 100 performs the cleaning of the room while switching the direction of the robot cleaner 100 itself. The left wheel motor 151 and the right wheel motor 161 are collectively referred to as a traveling unit 280 and the traveling unit 280 moves the main body 110 along a predetermined traveling path.

At least one auxiliary wheel 170 is provided at the bottom of the cleaner main body 110 to minimize the friction between the robot cleaner 100 and the floor and guide the movement of the robot cleaner 100.

The vacuum cleaner 100 includes a vacuum cleaner control unit 210 having various electric components for controlling the operation of the robot cleaner 100 disposed in a front portion of the vacuum cleaner main body 110, A dust collecting unit 140 is detachably mounted on a dust collecting apparatus mounting unit 140a provided behind the apparatus 120. [

A suction nozzle 130 is provided on the lower side of the dust collecting part, and sucks the foreign substances together with the air.

Here, the suction device 120 is installed between the battery 190 and the dust collecting part 140 so as to be inclined. The suction device 120 is connected to a motor (not shown) electrically connected to the battery 190 and a rotating shaft of the motor, And a fan (not shown).

Meanwhile, the suction nozzle 130 is exposed to the lower side of the cleaner main body 110 through an opening (not shown) formed in the bottom surface of the cleaner main body 110, thereby contacting the bottom surface of the cleaner main body 110.

The steam generating unit 400 generates steam by using water and injects generated steam to the outside of the robot cleaner 100. The steam generating unit 400 can inject generated steam toward the running surface.

For example, the steam generating unit 400 may include a water tank 410, an inlet 420, a heater 430, a steam passage 440, a steam outlet 450, and the like.

The water tank 410 is installed at the lower part of the rear of the cleaner main body 110, and the hot water introduced into the inflow part 420 is guided and received.

Here, the heat insulating material 412 is inserted into the outer wall surface of the water tank 410 to improve the heat insulating performance.

The inflow portion 420 may be connected to the discharge portion 330 to allow hot water to flow from the discharge portion 330. In particular, the inflow portion 420 may be provided to be adjustable in length.

The lower end of the inlet 420 communicates with the water tank 410 and the upper end of the inlet 420 may extend through one side of the upper surface of the cleaner body 110.

Here, it is desirable that the inflow portion 420 is not exposed to the outside of the robot cleaner 100, so that the inflow portion 420 may have a structure capable of adjusting the length.

The inflow section 420 includes a first inflow section 422 fixedly installed to communicate with the upper surface of the water tank 410, a second inflow section 424 slidably installed inside the first inflow section 422, And a driving device 426 that slides the second inlet 424.

The heater 430 is installed inside the water tank 410 and can generate water by heating water contained in the water tank 410.

 The water tank 410 is provided with a discharge valve 414 for selectively discharging steam to the outside of the water tank 410, a temperature sensor 416 for sensing the temperature of steam, a pressure sensor for sensing the pressure of steam, and the like .

The discharge valve 414 is provided at one side of the water tank 410 and selectively communicates with a steam passage 440 to be described later to discharge the steam into the steam passage 440. In particular, the discharge valve 414 is preferably formed to be spaced apart from the inflow portion 420 by a predetermined distance to prevent steam from flowing back to the inflow portion 420, but the present invention is not limited thereto.

The temperature sensor 416 and the pressure sensor 418 are provided adjacent to the discharge valve 414 through which the steam is discharged and the temperature inside the water tank 410 measured by the temperature sensor 416 and the pressure sensor 418 And the pressure is transmitted to the control unit 210.

The control unit 210 can selectively open the discharge valve 414 by determining whether or not the steam is generated and generated based on the temperature and pressure transmitted from the temperature sensor 416 and the pressure sensor 418. [

 A steam nozzle 460 for spraying steam may be installed on the steam outlet 450. Accordingly, the steam discharged to the steam passage 440 is sprayed onto the surface to be cleaned (the running surface) by the nozzle 460, so that the robot cleaner 100 can perform the steam cleaning function.

The upper surface 108 of the cooking pad 1000 can be sterilized by the high-temperature steam generated in the steam generating unit 400.

Although not shown in the drawings, a mop (not shown) for wiping the running surface on the bottom surface of the main body 110 may be provided in the form of a cartridge.

7 is a block diagram illustrating a control system of a robot cleaner according to an embodiment of the present invention.

The robot cleaner 100 includes a sensor unit 220, a position calculating unit 240, a path setting unit 250, an input unit 295, a display unit 290, a travel unit 280, a cleaning unit 270, A climatic sensor 235, a noise sensor 235 and a control unit 210 for controlling the overall operation of the robot cleaner.

The battery supplies the operating power for the robot cleaner 100 to perform the cleaning operation. When the remaining capacity of the battery is insufficient, the charging current is supplied from the charging stand 220 to the battery. The battery is connected to a sensing means for sensing the remaining amount of the battery, and the residual capacity and the charged state of the battery are applied to the control unit 210.

The input unit 295 may include at least one input means such as at least one button, a switch, a wheel, etc., and may include a touch pad that recognizes the input by pressure or power failure, as the case may be. The input unit 295 applies the input data to the control unit 210.

For example, the input unit 295 includes a button or a switch for inputting a setting in accordance with the mode setting of the robot cleaner 100, the cleaning area setting, and the storage of the charging unit position, and inputs the setting information to the control unit 210.

The display unit 290 includes a display device for displaying visual information and outputs information according to the operation state and the cleaning setting of the robot cleaner 100. [ The display unit 290 displays the current setting or the cleaning setting and mode and battery remaining amount information in operation. Also, the display unit 290 can easily display whether the power is input or not by operating the lamp, and can output a warning lamp or a warning message when an error occurs.

The control unit 210 may further include an input / output control unit (not shown) for relaying and processing data between the input unit 295 and the display unit 290 and the control unit 210. The input unit 295 and the display unit 290 may include a plurality of interfaces corresponding to a program stored in the data unit 260 or a command for performing the above-mentioned functions.

The data unit 260 stores data related to operation control and operation setting of the robot cleaner 100 and control data on functions performed by the robot cleaner. In addition, the sensor unit 220 may temporarily store a signal sensed by the sensor unit 220, and may store data calculated by the position calculating unit 240 and the path setting unit 250.

The traveling unit 280 rotates the wheels, that is, the left and right wheels, as described above, so that the robot cleaner 100 is moved. At this time, the traveling unit 280 further includes a predetermined motor connected to the wheels for rotating the robot, so that the robot cleaner 100 moves the predetermined region by driving the motor according to the control command of the controller 210. [

The cleaning unit 270 sucks dirt and foreign matter generated on the floor or around the robot cleaner while traveling by the traveling unit 280. [

The sensor unit 220 emits a predetermined light and detects the position or distance of the obstacle with respect to the periphery and moving direction of the robot cleaner 100. The sensor unit 220 is rotated by a sensor driving unit (not shown) to detect an obstacle around the robot cleaner 100, and inputs the detected obstacle to the controller 210.

At this time, the sensor unit 220 can recognize the obstacle within the range of 1 to 5 m from the robot cleaner 100. The sensor unit 220 is an LSD (Long Distance Sensor) or a complex sensor that recognizes distant obstacles by emitting a laser.

The cliff detection sensor 237 detects a cliff around the robot cleaner main body 110 and inputs the detected cliff to the controller 210. Here, the cliff around the main body 110 means that the main body 110 has a surface relatively lower than the running surface of the main body 110 at a radius of 10 cm to 1 m.

The cliff detection sensor 237 may be installed on the bottom surface and / or the side surface of the main body 110. The cliff detection sensor 237 emits a predetermined light to emit a laser sensor or a predetermined ultrasonic wave to detect the position or distance of the cliff in relation to the periphery and the moving direction of the robot cleaner 100, And at least one of an ultrasonic sensor and a distance measuring sensor for detecting the position or distance of the cliff with respect to the moving direction.

For example, the cliff detection sensor 237 may include an ultrasonic sensor that outputs ultrasonic waves between the front and the bottom of the main body 110 and senses a cliff through the reflected ultrasonic waves.

The high temperature zone sensor 233 detects a high temperature zone around the robot cleaner main body 110 and inputs the detected high temperature zone to the controller 210. Here, the high-temperature region around the main body 110 means a region having a temperature higher than a predetermined temperature on the running surface of the main body 110 in the vicinity of a radius of 10 cm to 1 m from the main body 110.

The hot zone detection sensor 233 may include an infrared temperature sensor capable of long distance measurement. Specifically, the high-temperature zone sensor 233 may include a laser temperature sensor that emits infrared light between the front and the bottom of the main body 110.

The embodiment may further include a countertop usage detection sensor 239. The countertop usage detection sensor 239 senses the use of the countertop 1000 and inputs it to the control unit 210. [

The countertop usage detection sensor 239 may include an infrared sensor for sensing a human body in the vicinity or an image acquisition unit for acquiring an image around the countertop 1000.

The image acquiring unit is an apparatus for acquiring an image. The image acquisition unit may include a camera as an example. The image acquisition unit may include an image sensor and an image processing module. The image acquisition unit may process still images or moving images obtained by an image sensor (e.g., CMOS or CCD). The image processing module processes the still image or moving image obtained through the image sensor, extracts necessary information, and transmits the extracted information to the control unit 210.

The noise detection sensor 235 senses noise or vibration around the main body 110 and inputs the noise or vibration to the control unit 210.

The noise detection sensor 235 can measure noise and vibration around the main body 110. The noise detection sensor 235 may be disposed in the main body 110. For example, the noise detection sensor 235 may include a microphone Mike. The noise detection sensor 235 senses noise or vibration generated when the home appliance is in use and inputs the detected noise or vibration to the controller 210.

The position calculating unit 240 calculates the position of the robot cleaner 100 based on data input from the sensor unit 220. In addition, the position calculating unit 240 calculates the distance to the obstacle detected by the sensor unit 220 and the position of the obstacle. The position calculating unit 240 calculates the distance to the high temperature region sensed by the high temperature region sensor 233 and the position of the high temperature region. In addition, the position calculating unit 240 calculates the distance to the cliff and the position of the cliff, which are detected from the cliff detecting sensor 235.

The position calculating unit 240 analyzes the data sensed by the sensor unit 220 and generates a map of the cleaning area based on the calculated position. The position calculating unit 240 calculates a current position of the robot cleaner 100, an obstacle, Mapping the area.

The position calculation unit 240 applies the generated map and the calculated position information to the control unit 210 and stores the generated map in the data unit 260, and the position information is stored in the coordinates.

The position calculating unit 240 calculates the moving distance and the moving direction based on the data of the sensor unit 220, and calculates the position of the robot cleaner 1 accordingly.

The route setting unit 250 sets the route to the target point based on the position of the robot cleaner 100, the position of the obstacle, the position of the cliff, the location of the hot zone, and the cleaning zone calculated by the position calculating unit 240 Set the movement path.

When the obstacle is located on the movement route, the route setting unit 250 reestablishes the route that can avoid the obstacle, and sets the route so as to move the shortest distance. When the obstacle is detected, the obstacle is avoided and the shortest path is set before approaching the obstacle. However, in case of cleaning, the path is set so that the traveling direction changes after approaching the obstacle a certain distance.

The route setting unit 250 first determines whether or not the obstacle can be avoided in setting the movement route, and sets the route accordingly. The set route information is stored in the data unit 260.

The path setting unit 250 applies the error information to the control unit 210 when the obstacle can not be avoided or the moving to the target point is impossible, that is, the traveling path to the target point can not be set.

When the cliff is located on the movement route, the route setting unit 250 reestablishes the route that can avoid the cliff, and sets the route so as to move the shortest distance. At this time, the shortest path that avoids the obstacle before approaching the cliff at the time when the cliff is detected is set. However, in case of cleaning, the route is set so that the traveling direction changes after approaching the cliff a certain distance.

The route setting unit 250 first determines whether or not the cliff can be avoided in setting the movement route, and sets the route accordingly. The set route information is stored in the data unit 260.

When the high temperature region is located on the movement path, the path setting unit 250 resets the path that can avoid the high temperature region, and sets the path so as to move to the shortest distance. Then, the path setting unit 250 can reset the path so that the main body 110 passes the high temperature area located on the movement path after a predetermined time. Therefore, when the upper surface 108 of the cooker 1000 is partially heated by cooking or the like in the cooktop 600, the robot cleaner avoids the high temperature region and travels. After a certain time has elapsed, . ≪ / RTI >

At this time, the shortest path is set to avoid the high temperature region before approaching the high temperature region when the high temperature region is sensed. However, when the vehicle is being cleaned, the route is set so that the traveling direction changes after approaching the high temperature region a certain distance.

The control unit 210 recognizes an obstacle around the obstacle in response to the signal input by the sensor unit 220 and controls the driving unit 280 so that the traveling direction is changed according to the set route, 270 so as to perform cleaning. The control unit 210 controls data input / output to the input unit 295 and the display unit 290, and stores the sensed or generated data in the data unit 260.

In addition, the controller 210 recognizes the high-temperature region of the surrounding area corresponding to the signal input by the high-temperature zone sensor 233, controls the traveling unit 280 so that the traveling direction changes according to the set route, And controls the cleaning unit 270 according to the setting to perform cleaning.

The control unit 210 recognizes the surrounding cliff in response to the signal input by the cliff detection sensor 235 and controls the traveling unit 280 so that the traveling direction is changed according to the set route, (270) to perform cleaning. Specifically, the control unit 210 can control the traveling unit 280 to change the traveling direction when the robot cleaner approaches the cliff by a predetermined distance.

The control unit 210 may include a microcontroller unit (MCU) for processing electrical signals input from the image sensor of the sensor unit 220. The control unit 210 analyzes the signal input from the sensor unit 220 and applies the data to the position calculating unit 240 when the robot cleaner 100 is moved and outputs the path information set by the path setting unit 250 And controls the driving unit 280. [ The control unit 210 analyzes signals input from the high temperature zone sensor 233 or the cliff detection sensor 235 and applies data to the position calculation unit 240 when the robot cleaner 100 is moved, 250) on the basis of the route information set by the driver.

At this time, the control unit 210 is not necessarily configured as one control unit. In general, the robot cleaner 1 may include a plurality of control units for controlling each part. In this case, the control unit 210 may be defined as part or all of a plurality of control units, And the transmission and reception of signals may be all connected to each other, and the spatial arrangement among the control units is irrelevant in defining the control unit 210. In some cases, the position calculating unit and the path setting unit 250 may be included in the control unit 210.

The control unit 210 controls the steam generating unit 400 to generate steam at the time of steam cleaning and to control the amount of steam to be sprayed by controlling the discharge valve 414. [

The control unit 210 determines whether the kitchen appliance is operating in the vicinity of the main body 110 based on the noise or vibration information input from the noise detection sensor 235. When the operation of the kitchen appliance is detected, The steam generating unit 400 may be controlled so as to perform the steam cleaning by controlling the traveling unit 280 so as to move along the traveling path set in accordance with the traveling path. That is, when noises are generated due to the operation of the surrounding kitchen equipment, the robot cleaner is operated to reduce noise. At this time, the control unit 210 can activate or stop the cleaning unit 270. [ The controller 210 may analyze the wavelength and the waveform input from the noise sensor 235 to determine whether the kitchen appliance (particularly, dishwasher) is operating.

The control unit 210 may control the discharge valve 414 to increase the amount of steam generated by the steam generating unit 400 when the use of the cooking pad 1000 is detected before the operation of the robot cleaner. The control unit 210 determines whether or not the countertop 1000 is used based on the data input from the countertop usage detection sensor 239 (human body accessibility and image analysis data).

The control unit 210 can control the operation of the steam generating unit 400 and the driving unit 280 to be interrupted within a predetermined time when the operation of the kitchen equipment is stopped. When the operation of the kitchen device is stopped, the operation of the robot cleaner is stopped to prevent noise. The control unit 210 determines that the operation of the kitchen appliance is stopped when noise of a predetermined intensity or less is inputted from the noise detection sensor 235. When the noise exceeding the predetermined intensity is input, It can be judged as being operated.

 The control unit 210 may control the driving unit 280 to return the main body 110 to the start position within a predetermined time when the operation of the kitchen equipment is stopped.

When the high temperature region is sensed by the high temperature region sensor 233, the control unit 210 travels by avoiding the high temperature region on the basis of the information input from the position calculation unit, The control unit 280 can be controlled.

FIG. 8 is a flowchart illustrating a traveling method of a robot cleaner according to an embodiment of the present invention.

Referring to FIG. 8, the control unit 210 determines whether the kitchen equipment is operating in the vicinity of the main body 110 based on the noise or vibration information input from the noise detection sensor 235 (S302).

When the kitchen appliance is operated in the vicinity of the main body 110, the robot cleaner travels according to the set mode and performs cleaning (S310). When the control unit 210 is set to start cleaning from a specific area or a specific position, the control unit 210 sets the corresponding position as a target point and controls the driving unit 280 to move to the target point.

The control unit 210 controls the cleaning unit 270 during traveling according to the cleaning setting to remove foreign objects on the floor during traveling. The control unit 210 can control the steam generating unit 400 while driving to spray steam at the bottom during traveling according to the cleaning setting.

The controller 210 analyzes and converts signals input from the sensor unit 220, the hot zone sensor 233, and the cliff sensor 235 during traveling to apply the data to the position calculator 140.

The position calculation unit 140 analyzes the data of the sensor unit 220 input from the control unit 210 and analyzes the structures of surrounding obstacles, cliffs, and high temperature regions based on the current position of the robot cleaner, (S320). At this time, the position calculation unit 140 stores the position of the obstacle, the position of the cliff, and the position of the high temperature region as coordinates.

The position calculating unit 140 partially generates a map based on the data input from the sensor unit 220 on the basis of the current position and repeatedly generates the map based on the data input during driving, The map for the whole is completed.

The path setting unit 250 sets a moving direction for moving to the set target point (S330).

The sensor unit 220 is rotated by the sensor driving unit 130 to scan the periphery of the robot cleaner 1 while the high temperature zone sensor 233 and the cliff detection sensor 235 scan the periphery of the robot cleaner 1 S340).

The signals sensed by the sensor unit 220, the high temperature zone sensor 233 and the cliff sensor 235 are input to the controller 210 for analysis and conversion, and the position calculator 140 receives the signals from the controller 210 The position of the robot cleaner 1, the position of the cliff, the position of the high temperature region, and the position of the obstacle are calculated based on the data of the sensor unit 220.

The path setting unit 250 determines whether or not the vehicle can travel in the currently set travel direction based on the position of the high temperature region calculated by the position calculation unit 140, the position of the cliff and the position of the obstacle, (S350).

When there is a possible travel direction, the route setting unit 250 sets the travel direction so that the user can travel while avoiding the obstacle, and applies the information on the travel direction changed to the control unit 210 (370). The control unit 210 controls the traveling unit 280 to move the robot cleaner 1 according to the changed travel direction.

On the other hand, when there is no direction in which the vehicle can travel, the route setting unit 250 inputs an error corresponding to the inability to travel to the control unit 210.

The control unit 210 controls the position calculating unit to regenerate the map and the position calculating unit 140 regenerates the map based on the data of the sensor unit 220 and applies the changed information to the path setting unit 250 S360).

The route setting unit 250 re-determines whether there is a travelable direction based on the changed map, sets the travel direction, and causes the robot cleaner 1 to move (S330 to S370).

At this time, if there is a change in the map position, the control unit 210 may control the path setting unit 250 and the position calculating unit 140 to reset the moving direction to travel in the new moving direction (S330 to S380, S390 ).

The control unit 210 controls the travel unit 280 so that the robot cleaner 1 travels along the set travel route until reaching the target point (S400).

When the target point is reached, the running is finished and the set cleaning is started or the next command is inputted. When the target point is the charging station, the control unit 210 can charge the battery by docking the charging station.

9 is a bottom perspective view of a robot cleaner according to another embodiment of the present invention.

Referring to FIG. 9, the robot cleaner according to another embodiment of the present invention is different from the embodiment of FIG. 5 in that there is no cleaner 270, and further includes a pusher 199.

The plunger 199 of the embodiment is a device for pushing the object to be cleaned located on the traveling surface in the traveling direction of the robot cleaner while the robot cleaner is running.

For example, the plunger 199 protrudes from the bottom surface of the main body 110 and is formed so as to be in contact with the running surface. The lower surface of the plunger 199 may include a rubber material. The plunger 199 may be recessed in the rear (R) direction of the main body 110. That is, the plunger 199 may be long in the left-right direction LR of the main body 110 and have both ends bent in the front F direction of the main body 110.

In the robot cleaner without the cleaning unit 270, the traveling surface of the robot 199 and the steam generating unit 400 sterilizes the upper surface of the ground surface and pushes the object to be cleaned in one direction.

At this time, the control unit 210 calculates the space of the sink ball 101, which is a closed space at a height lower than the running surface of the main body 110, through the cliff detection sensor, and pushes the garbage located on the driving surface of the main body 110, 101) space so as to allow the traveling section 280 to drop. Specifically, the space of the sink ball 101 forms a space in which the cliff is closed through the light emitted from the cliff-detecting sensor or ultrasonic waves, and can be determined as a space of the sink ball 101 that falls within a predetermined size range.

 Specifically, when the front of the main body 110 is moved toward the space of the sink ball 101 and the front of the main body 110 is overlapped with the boundary of the space of the sink ball 101, The control unit 280 can be controlled. Therefore, the object to be cleaned is pushed by the pusher 199 arranged long in the direction intersecting the front of the main body 110, and falls into the space of the sink ball 101. Therefore, the robot cleaner does not need to include a cleaning unit 270 for separately sucking the articles to be cleaned.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

The terms spatially relative, "below", "beneath", "lower", "above", "upper" Can be used to easily describe the correlation of components with other components. Spatially relative terms should be understood as terms that include different orientations of components during use or operation in addition to those shown in the drawings. For example, when inverting an element shown in the figures, an element described as "below" or "beneath" of another element may be placed "above" another element . Thus, the exemplary term "below" can include both downward and upward directions. The components can also be oriented in different directions, so that spatially relative terms can be interpreted according to orientation.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. &Quot; comprises "and / or" comprising ", as used herein, unless the recited component, step, and / or step does not exclude the presence or addition of one or more other elements, steps and / I never do that.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

In the drawings, the thickness and the size of each component are exaggerated, omitted, or schematically shown for convenience and clarity of explanation.

Further, the angles and directions mentioned in the description of the structure of the embodiment are based on those shown in the drawings. In the description of the structures constituting the embodiments in the specification, reference points and positional relationships with respect to angles are not explicitly referred to, reference is made to the relevant drawings.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the foregoing detailed description, and all changes or modifications derived from the meaning and scope of the claims and the equivalents thereof are included in the scope of the present invention Should be interpreted.

Claims (16)

main body;
A traveling section for moving the main body according to the set travel route;
A steam generating unit for generating steam;
A noise detection sensor for detecting noise or vibration around the body; And
And a control unit for controlling the steam generating unit,
Wherein,
The control unit determines whether or not the kitchen equipment is operated in the vicinity of the main body based on the noise or vibration information input from the noise sensor, and when the operation of the kitchen equipment is detected, And controls the steam generating unit to perform steam cleaning. The method according to claim 1,
Wherein,
And stops operation of the steam generating unit and the traveling section within a predetermined time when the operation of the kitchen device is stopped. The method according to claim 1,
Wherein,
And controls the traveling unit such that the main body is returned to the starting position within a predetermined time when the operation of the kitchen equipment is stopped. The method according to claim 1,
The robot cleaner according to claim 1, further comprising: a high temperature zone sensor provided in the main body for detecting a high temperature zone around the main body. The method of claim 4,
And a path setting unit for setting the traveling direction and the traveling path so as to move to the target point in the shortest distance corresponding to the position of the high temperature region sensed by the high temperature region sensor and applying the traveling direction and the traveling path to the control unit,
Wherein the path setting unit determines whether or not there is a possible travel direction when the high temperature zone is detected by the high temperature zone sensor and sets a traveling direction and a traveling route. The method according to claim 1,
The robot cleaner of claim 1, further comprising a sensor unit mounted on the main body, for detecting an obstacle by using light that is emitted from the main body while emitting light and emitted from the main body, the light being reflected or scattered from the obstacle. The method of claim 6,
And a route setting unit for setting a traveling direction and a traveling route so as to move to the target point in the shortest distance corresponding to the position of the obstacle detected by the sensor unit and applying the traveling direction and the traveling route to the control unit,
Wherein when the obstacle is detected by the sensor unit, the path setting unit determines whether or not a possible traveling direction exists and sets the traveling direction and the traveling path. The method according to claim 1,
And a cliff detection sensor installed on the main body and detecting a cliff around the main body. The method of claim 8,
Wherein the cliff detection sensor outputs ultrasonic waves between the front and the bottom of the main body, and detects the cliff through the reflected ultrasonic waves. The method of claim 8,
And a route setting unit for setting a traveling direction and a traveling route so as to move to the target point in the shortest distance corresponding to the position of the cliff detected by the cliff detection sensor and applying the traveling direction and the traveling route to the control unit,
Wherein the path setting unit determines whether or not a possible travel direction exists when a cliff is detected by the cliff detection sensor, and sets a traveling direction and a traveling path. The method of claim 8,
Wherein the control unit controls the traveling unit such that the traveling direction changes when the robot cleaner approaches the cliff by a certain distance. The method according to claim 1,
Further comprising a countertop use detection sensor for detecting the use of the countertop,
Wherein the controller controls the amount of steam generated by the steam generating unit to be increased when the use of the cooking pad is detected prior to the operation of the robot cleaner. The method of claim 9,
The control unit calculates a sinkball space, which is a closed space at a height lower than the running surface of the main body, through the cliff-
And controls the traveling unit so that the main body pushes the garbage placed on the running surface to fall into the sink ball space. 14. The method of claim 13,
Wherein the control unit controls the traveling unit such that the front of the main body runs toward the sink ball space and the traveling direction changes when the front of the main body overlaps the boundary of the sink ball space. 15. The method of claim 14,
And a plunger protruding from a bottom surface of the main body and recessed in a rear direction of the main body. The method according to claim 1,
The robot cleaner according to claim 1, further comprising: a cleaner for sucking a foreign material around the main body during traveling.

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