KR20210030296A - 3 mob robot cleaner - Google Patents

3 mob robot cleaner Download PDF

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Publication number
KR20210030296A
KR20210030296A KR1020210025261A KR20210025261A KR20210030296A KR 20210030296 A KR20210030296 A KR 20210030296A KR 1020210025261 A KR1020210025261 A KR 1020210025261A KR 20210025261 A KR20210025261 A KR 20210025261A KR 20210030296 A KR20210030296 A KR 20210030296A
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South Korea
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cleaning
mop
cleaning body
water
unit
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KR1020210025261A
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Korean (ko)
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배혜경
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(주)쓰리엠탑
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/405—Machines using UV-lamps, IR-lamps, ultrasound or plasma cleaning
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4075—Handles; levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4077—Skirts or splash guards
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L9/00—Disinfection, sterilisation or deodorisation of air
    • A61L9/16—Disinfection, sterilisation or deodorisation of air using physical phenomena
    • A61L9/22—Ionisation
    • C—CHEMISTRY; METALLURGY
    • C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F1/00—Treatment of water, waste water, or sewage
    • C02F1/46—Treatment of water, waste water, or sewage by electrochemical methods
    • C02F1/461—Treatment of water, waste water, or sewage by electrochemical methods by electrolysis
    • C02F1/467—Treatment of water, waste water, or sewage by electrochemical methods by electrolysis by electrochemical disinfection; by electrooxydation or by electroreduction
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

The present invention relates to a 3-mop robot mop cleaner, wherein the control unit rotates the running cleaning mop according to the operation of the user′s operation unit so that the cleaning body can clean the cleaning surface in a straight, rotated and stopped state, and the protrusion and cliff of the cleaning surface It is intended to detect and evade maneuvers and enable clear cleaning. That is, the robot mop cleaner according to the present invention comprises a running cleaning mop part that can move forward and backward and swiveling by mutual rotation deviation at the lower part of both sides of the front side, which is the side side in the forward running direction among the triangular plate-shaped cleaning bodies, a central cleaning mop part provided to rotate to induce an auxiliary rotational force in a tilting rotation or a swiveling movement of the cleaning body for cleaning the central part in the lower part of the other one of the three edges of the cleaning body, a proximity sensor unit that detects obstacles close to the front side of the cleaning body, a ground inclination sensor unit that detects the distance between the center of the front side of the cleaning body and the ground spaced a certain distance from the cleaning body at both corners, a wall detection sensor unit that detects the distance from a wall close to one or more corners of both sides of the front side of the cleaning body, a control unit for controlling the inside of the cleaning body to be cleaned with a wet mop according to a user′s operation, an operation unit for inputting a control signal to the control unit, and a power supply unit for supplying power for cleaning by the running cleaning mop unit and the central cleaning mop unit. Accordingly, the present invention provides an effect that the control unit can clean the cleaning surface in a state where the cleaning body moves straight, rotates and stops through the rotation control of the running cleaning mop according to the user′s manipulation of the operation unit, and the protrusion of the cleaning surface and the cliff are detected to avoid maneuvering This has the effect of clear cleaning.

Description

3 몹 로봇 걸레청소기{3 MOB ROBOT CLEANER} 3 MOB ROBOT CLEANER {3 MOB ROBOT CLEANER}

본 발명은 3 몹 로봇 걸레청소기에 관한 것으로서, 더욱 상세하게는 로봇 걸레청소기에 있어서, 삼각 판형상의 청소몸체 중 전진 주행 방향 측 변인 전면변의 양측 모서리 하부에 상호 회전 편차에 의하여 전후진 및 선회이동할 수 있게 구비되는 주행청소걸레부와 청소몸체의 세 모서리 중 나머지 하나의 모서리 하부에 중앙부의 청소를 위하여 틸팅회전 또는 청소몸체의 선회이동에 보조회전력을 유발할 수 있도록 회동되게 구비 중앙청소걸레부, 청소몸체의 전면 변에 근접한 장애물을 감지할 수 있게 구비되는 근접감지센서부, 청소몸체의 전면 변 중앙부와 양측모서리에 청소몸체로부터 일정거리 이격된 지면과의 거리를 감지할 수 있게 구비되는 지면경사감지센서부, 청소몸체의 전면 변의 양측 모서리 중 일측 이상의 모서리에 근접한 벽면과의 거리를 감지할 수 있게 구비되는 벽면감지센서부, 상기 청소몸체의 내부에 사용자의 조작에 따라 물걸레 청소가 이루어질 수 있도록 제어할 수 있게 구비되는 제어부, 상기 제어부에 제어신호를 입력할 수 있게 구비하는 조작부 및 주행청소걸레부와 중앙청소걸레부에 의한 청소를 위한 전원을 공급할 수 있게 구비되는 전원부로 구성하여서, 사용자의 조작부 조작에 따라 제어부가 주행청소걸레부의 회전 제어를 통하여 청소몸체가 직진 또는 회전 및 정지 상태에서 청소면을 청소할 수 있도록 함과 더불어 청소면의 돌출 및 절벽을 감지하여 회피기동하며 명확한 청소를 할 수 있도록 함을 목적으로 한 것이다.The present invention relates to a three-mob robotic mop cleaner, and more particularly, in a robotic mop cleaner, it is possible to move backwards and forwards and turns by mutual rotation deviation at the lower corners of both sides of the front side, which is the side of the forward travel direction, among the triangular plate-shaped cleaning body. The cleaning mop unit is provided with a driving cleaning mop unit and the other one of the three corners of the cleaning body is provided to be rotated so as to induce auxiliary rotational power in the tilting rotation or rotational movement of the cleaning body for cleaning the central part. A proximity detection sensor unit provided to detect obstacles close to the front side of the cleaning body, and a ground slope detection sensor provided at the center of the front side of the cleaning body and at both corners to detect the distance to the ground spaced a certain distance from the cleaning body. Part, a wall surface detection sensor unit provided to detect the distance to a wall surface that is close to one or more corners of both corners of the front side of the cleaning body, and control to perform mop cleaning in the interior of the cleaning body according to the user's operation. Consisting of a control unit provided to be capable of, an operation unit provided to input a control signal to the control unit, and a power supply unit provided to supply power for cleaning by a driving cleaning mop unit and a central cleaning mop unit, the user's operation unit is manipulated. The purpose is to enable the control unit to clean the cleaning surface while the cleaning body is moving straight or rotated and stopped through the rotation control of the cleaning mop unit, and to detect the protrusion and cliff of the cleaning surface to perform evasive operation and clear cleaning. I did it.

일반적으로 로봇 걸레 청소기는 청소면과 마찰 접촉을 통하여 자가주행을 하며 청소면을 걸레로 자동으로 청소를 하는 것이다.In general, a robotic mop cleaner performs self-driving through frictional contact with a cleaning surface and automatically cleans the cleaning surface with a mop.

이상과 같은 로봇 걸레 청소기는 청소몸체와 청소면과 마찰접촉에 의하여 청소와 이동 추진력을 유발하는 2개의 몹, 상기 몹을 회전시키는 몹구동모터, 청소몸체의 외부에 구비되어 장애물을 감지하는 센서부, 상기 센서부의 감지에 따라 몹구동모터의 회전을 제어하는 제어부, 상기 제어부의 사용자의 조작신호를 입력하는 조작부 및 동작전원을 공급할 수 있게 구비되는 전원부로 구성되는 것이다.The robot mop cleaner as described above includes two mobs that cause cleaning and moving propulsion by frictional contact with the cleaning body and the cleaning surface, a mob driving motor that rotates the mob, and a sensor unit provided outside the cleaning body to detect obstacles, It consists of a control unit for controlling the rotation of the mob driving motor according to the detection of the sensor unit, an operation unit for inputting an operation signal of a user of the control unit, and a power supply unit provided to supply operation power.

이와 같은 로봇 걸레 청소기는 2개의 몹이 제어부의 제어에 따라 회전되면서 청소면을 청소하는 것이다.This robotic mop cleaner cleans the cleaning surface by rotating two mobs under the control of the controller.

한편, 상기한 바와 같은 로봇 걸레 청소기는 몹에 물탱크를 구비하고 상기 몹에서 공급되는 물을 걸레가 흡수하여 청소면을 물걸레 청소하는 것이다.On the other hand, the robot mop cleaner as described above has a water tank in the mob, and the mop absorbs water supplied from the mob to mop the cleaning surface.

그러나, 상기한 바와 같은 종래의 2몹 로봇청소기는 2 개의 몹에 의하여 청소가 이루어져 청소가 명확하지 않고 몹이 몸체보다 돌출되어 있어 절벽의 감지가 명확하지 않아 청소과정에 추락이 발생하는 문제점이 있었다.However, the conventional two-mob robot cleaner as described above has a problem that the cleaning is not clear because the cleaning is performed by two mobs, and the detection of the cliff is not clear because the mob is protruding from the body, so there is a problem that a fall occurs during the cleaning process. .

대한민국 특허 출원 제10-2007-0041890호Korean Patent Application No. 10-2007-0041890

이에, 본 발명은 상기한 바와 같은 종래의 2몹 로봇청소기가 2 개의 몹에 의하여 청소가 이루어져 청소가 명확하지 않고 몹이 몸체보다 돌출되어 있어 절벽의 감지가 명확하지 않아 청소과정에 추락이 발생하는 문제점을 해결하고자 하는 것이다.Accordingly, in the present invention, the conventional two-mob robot cleaner as described above is cleaned by two mobs so that the cleaning is not clear and the mob protrudes from the body, so that the detection of the cliff is not clear, so that a fall occurs during the cleaning process. It is trying to solve the problem.

즉, 본 발명은 로봇 걸레청소기에 있어서, 삼각 판형상의 청소몸체 중 전진 주행 방향 측 변인 전면변의 양측 모서리 하부에 상호 회전 편차에 의하여 전후진 및 선회이동할 수 있게 구비되는 주행청소걸레부와 청소몸체의 세 모서리 중 나머지 하나의 모서리 하부에 중앙부의 청소를 위하여 틸팅회전 또는 청소몸체의 선회이동에 보조회전력을 유발할 수 있도록 회동되게 구비 중앙청소걸레부, 청소몸체의 전면 변에 근접한 장애물을 감지할 수 있게 구비되는 근접감지센서부, 청소몸체의 전면 변 중앙부와 양측모서리에 청소몸체로부터 일정거리 이격된 지면과의 거리를 감지할 수 있게 구비되는 지면경사감지센서부, 청소몸체의 전면 변의 양측 모서리 중 일측 이상의 모서리에 근접한 벽면과의 거리를 감지할 수 있게 구비되는 벽면감지센서부, 상기 청소몸체의 내부에 사용자의 조작에 따라 물걸레 청소가 이루어질 수 있도록 제어할 수 있게 구비되는 제어부, 상기 제어부에 제어신호를 입력할 수 있게 구비하는 조작부 및 주행청소걸레부와 중앙청소걸레부에 의한 청소를 위한 전원을 공급할 수 있게 구비되는 전원부로 구성한 것을 특징으로 하는 것이다.That is, in the present invention, in the robot mop cleaner, the cleaning body of the cleaning body and the running cleaning mop part provided to be able to move backwards and forwards and turns by mutual rotational deviation at the bottom of both corners of the front side, which is the side of the forward running direction of the cleaning body in the shape of a triangular plate. The remaining one of the three corners is provided to be rotated to induce auxiliary rotational power in the tilting rotation or rotational movement of the cleaning body for cleaning of the central part. The central cleaning mop part and obstacles close to the front side of the cleaning body can be detected. Proximity detection sensor unit provided, a ground slope detection sensor unit provided to detect the distance to the ground spaced a certain distance from the cleaning body at the center of the front side of the cleaning body and at both corners, one of the corners of both sides of the front side of the cleaning body A wall surface detection sensor unit provided to detect the distance from the wall surface adjacent to the above corner, a control unit provided to control the cleaning body to perform mop cleaning according to a user's manipulation, and a control signal to the control unit It is characterized in that it is composed of a power supply unit provided to supply power for cleaning by the operation unit and the driving cleaning mop unit and the central cleaning mop unit provided to input.

따라서, 본 발명은 청소몸체의 전면 변에 근접한 장애물을 감지할 수 있게 구비되는 근접감지센서부와 청소몸체의 전면 변 중앙부와 양측모서리에 청소몸체로부터 일정거리 이격된 지면과의 거리를 감지할 수 있게 구비되는 지면경사감지센서부, 청소몸체의 전면 변의 양측 모서리 중 일측 이상의 모서리에 근접한 벽면과의 거리를 감지할 수 있게 구비되는 벽면감지센서부를 구비함으로써, 사용자의 조작부 조작에 따라 제어부가 주행청소걸레부의 회전 제어를 통하여 청소몸체가 직진 또는 회전 및 정지 상태에서 청소면을 청소할 수 있는 효과와 청소면의 돌출 및 절벽을 감지하여 회피기동하며 명확한 청소가 이루어지는 효과를 갖는 것이다.Therefore, the present invention can detect the distance between the proximity detection sensor unit provided to detect an obstacle close to the front side of the cleaning body and the ground spaced a predetermined distance from the cleaning body at the center and both sides of the front side of the cleaning body. By providing a ground slope detection sensor unit provided so as to detect the distance to a wall surface that is close to at least one of the corners of the front side of the cleaning body, the control unit cleans the driving according to the user's manipulation of the operation unit. Through the rotation control of the mop part, the cleaning body can clean the cleaning surface in a straight or rotating and stopped state, and it has the effect of evasive operation by detecting the protrusion and cliff of the cleaning surface, and clear cleaning.

도 1 은 본 발명의 일 실시 예를 보인 사시 예시도.
도 2 는 본 발명의 일 실시 예를 보인 염소수통의 분리 사시 예시도.
도 3 은 본 발명의 일 실시 예를 보인 상부몸체 분리 사시 예시도.
도 4 는 본 발명의 일 실시 예로 살균수노즐 부분의 상세 단면 예시도.
도 5과 도 6은 본 발명의 실시에 있어서 주행청소걸레부의 걸레회전판의 단면 예시도.
도 7은 본 발명의 다른 실시 예로 걸레회전판의 사시 예시도.
도 8은 본 발명의 또 다른 실시 예로 걸레회전판의 사시 예시도.
도 9는 본 발명의 일 실시 예에 따른 블럭도.
도 10은 본 발명의 일 실시 예를 보인 낙하방지센서를 보인 예시도..1 is a perspective illustration showing an embodiment of the present invention.
Figure 2 is a schematic perspective view of a chlorine canister showing an embodiment of the present invention.
Figure 3 is a perspective view showing an upper body separation showing an embodiment of the present invention.
Figure 4 is a detailed cross-sectional view of the sterilizing water nozzle as an embodiment of the present invention.
5 and 6 are cross-sectional views of the mop rotating plate of the driving cleaning mop in the implementation of the present invention.
7 is a perspective illustration of a mop rotating plate as another embodiment of the present invention.
Figure 8 is a perspective illustration of a mop rotating plate as another embodiment of the present invention.
9 is a block diagram according to an embodiment of the present invention.
Figure 10 is an exemplary view showing a fall prevention sensor showing an embodiment of the present invention..

이하, 첨부된 도면에 의하여 상세히 설명하면 다음과 같다.Hereinafter, it will be described in detail with reference to the accompanying drawings.

본 발명은 청소면의 돌출 및 절벽을 감지하여 회피기동하며 명확한 청소가 이루어지도록 한 것으로서, 본 명세서 및 청구범위에 사용된 용어나 단어는 통상적이거나 사전적인 의미로 한정해서 해석되어서는 아니 되며, 발명자는 그 자신의 발명을 가장 최선의 방법으로 설명하기 위해 용어의 개념을 적절하게 정의할 수 있다는 원칙에 입각하여 본 발명의 기술적 사상에 부합하는 의미와 개념으로 해석되어야만 한다.The present invention detects protrusions and cliffs of the cleaning surface and makes clear cleaning, and the terms or words used in the specification and claims should not be construed as being limited to a conventional or dictionary meaning, and the inventor In order to describe its own invention in the best way, it should be interpreted as a meaning and concept consistent with the technical idea of the present invention based on the principle that the concept of terms can be appropriately defined.

따라서, 본 명세서에 기재된 실시예와 도면에 도시된 구성은 본 발명의 가장 바람직한 일 실시예에 불과할 뿐이고, 본 발명의 기술적 사상을 모두 대변하는 것은 아니므로, 본 출원시점에 있어서 이들을 대체할 수 있는 다양한 균등물과 변형 예들이 있을 수 있음을 이해하여야 한다.Accordingly, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and do not represent all the technical ideas of the present invention, so that they can be replaced at the time of application. It should be understood that there may be various equivalents and variations.

즉, 본 발명은 로봇 걸레청소기에 있어서, 청소몸체(10)와 주행청소걸레부(40a), 중앙청소걸레부(40b), 근접감지센서부(51), 지면경사감지센서부(52), 벽면감지센서부(53), 낙하감지센서부(54), 제어부(50), 조작부(60) 및 전원부(70)으로 구성한 것이다.That is, in the present invention, in the robot mop cleaner, the cleaning body 10 and the driving cleaning mop part 40a, the central cleaning mop part 40b, the proximity detection sensor part 51, the ground slope detection sensor part 52, It consists of a wall surface detection sensor part 53, a fall detection sensor part 54, a control part 50, an operation part 60, and a power supply part 70.

여기서, 상기 청소몸체(10)는 삼각 판형상으로 형성된 것이다.Here, the cleaning body 10 is formed in a triangular plate shape.

상기 청소몸체(10)는 주행청소걸레부와 중앙청소걸레부가 장착되는 하부몸체(12)와 상기 하부몸체(12)의 상부에 결합되어 염소수통(20)과 조작부(60)가 구비되는 상부몸체(11)로 구성되는 것이다.The cleaning body 10 is a lower body 12 on which a driving cleaning mop and a central cleaning mop are mounted, and an upper body that is coupled to an upper portion of the lower body 12 and provided with a chlorine canister 20 and an operation part 60 It consists of (11).

상기 상부몸체(11)에는 세개의 변 중 일측변에 손잡이(13)가 상면과 동일면을 이루게 안착되는 손잡이안착부를 형성하고, 상기 손잡이안착부에 안착된 손잡이는 양측이 상부몸체(11)의 다른 두 변에 힌지결합되는 것이다.The upper body 11 has a handle seating portion on one side of the three sides so that the handle 13 is seated on the same surface as the upper surface, and both sides of the handle seated in the handle seating portion are different from the upper body 11. It is hinged on both sides.

그리고, 상기 주행청소걸레부(40a)는 청소몸체(10) 중 전진 주행 방향 측 변인 전면변의 양측 모서리 하부에 상호 회전 편차에 의하여 전후진 및 선회이동할 수 있게 구비되는 것이다.In addition, the driving cleaning mop 40a is provided so as to move backwards and forwards and turns by mutual rotational deviation at the lower corners of both sides of the front side of the cleaning body 10, which is the side of the forward driving direction.

또한, 상기 중앙청소걸레부(40b)는 청소몸체(10)의 세 모서리 중 나머지 하나의 모서리 하부에 중앙부의 청소를 위하여 틸팅회전 또는 청소몸체의 선회이동에 보조회전력을 유발할 수 있도록 회동되게 구비되는 것이다.In addition, the central cleaning mop (40b) is provided to be rotated so as to induce auxiliary rotation power in the tilting rotation or the turning movement of the cleaning body for cleaning the central portion under the remaining one of the three corners of the cleaning body 10. will be.

상기 주행 및 중앙청소걸레부(40a,40b)는 청소몸체(10)의 각 모서리측 하부에 청소면과 마찰접촉에 의하여 청소와 추진력을 형성하는 것이다.The driving and central cleaning mop portions 40a and 40b form cleaning and propulsion force by frictional contact with the cleaning surface at the bottom of each corner side of the cleaning body 10.

상기 주행 및 중앙청소걸레부(40a,40b)는 청소구동모터(41)와 청소구동축(42), 상기 걸레회전판(43) 및 걸레(44)로 구성되는 것이다.The driving and central cleaning mop portions 40a and 40b are composed of a cleaning drive motor 41, a cleaning drive shaft 42, the mop rotating plate 43, and a mop 44.

상기 청소구동모터(41)는 청소몸체(10)의 하부몸체(12) 내부에 장착되어 제어부(50)의 제어에 따라 회전동작되는 것이다.The cleaning drive motor 41 is mounted inside the lower body 12 of the cleaning body 10 and rotates under the control of the control unit 50.

상기 청소구동축(42)은 하부몸체(12)에 축지되어서 청소몸체(10)의 하부로 돌출되는 것이다.The cleaning drive shaft 42 is axially supported by the lower body 12 and protrudes to the lower portion of the cleaning body 10.

상기 걸레회전판(43)은 회전과정에 추진력을 유발할 수 있게 청소면과 경사를 이루게 청소구동축(42)에 결속되며 하면에 걸레결속수단에 의하여 걸레를 결속하는 것이다.The mop rotation plate 43 is bound to the cleaning drive shaft 42 so as to be inclined with the cleaning surface so as to induce a propulsive force during the rotation process, and binds the mop by a mop fastening means on the lower surface thereof.

상기 걸레회전판(43)은 살균수노즐(30)로부터 공급된 살균수가 하부에 결속되는 걸레(44)로 공급될 수 있게 다수의 살균수공(31)을 형성한 것이다.The mop rotating plate 43 is formed with a plurality of sterilizing hand holes 31 so that the sterilizing water supplied from the sterilizing water nozzle 30 can be supplied to the mop 44 that is bound to the lower part.

상기 걸레회전판(43)의 외주면에 상부로 돌출되어 살균수노즐(30)에 의하여 공급된 살균수가 외부로 원심이탈되지 않게 지지하는 원심차수벽(32)을 형성한 것이다.A centrifugal order wall 32 is formed on the outer circumferential surface of the mop rotating plate 43 to support the sterilizing water supplied by the sterilizing water nozzle 30 so as not to be centrifugally departed from the outside.

상기 걸레회전판(43)의 원심차수벽(32)은 등간격으로 형성하고 2 열로 구성하여 실시할 수 있는 것이다.The centrifugal order walls 32 of the mop rotating plate 43 are formed at equal intervals and configured in two rows.

상기 원심차수벽(32)의 걸레회전판(43) 중심 측에는 살균수공(31)이 형성되는 것이다.The sterilization hand hole 31 is formed at the center side of the mop rotation plate 43 of the centrifugal order wall 32.

또한, 상기 제어부(50)는 청소몸체(10)의 내부에 사용자의 조작에 따라 물걸레 청소가 이루어질 수 있도록 제어할 수 있게 구비되는 것이다.In addition, the control unit 50 is provided in the cleaning body 10 so as to be able to control the mop cleaning according to the user's manipulation.

또한, 상기 근접감지센서부(51)는 청소몸체(10)의 전면 변에 근접한 장애물을 감지할 수 있게 구비되는 것이다.In addition, the proximity detection sensor unit 51 is provided to detect an obstacle close to the front side of the cleaning body 10.

또한, 상기 지면경사감지센서부(52)는 청소몸체(10)의 전면 변 중앙부와 양측모서리에 청소몸체로부터 일정거리 이격된 지면과의 거리를 감지할 수 있게 구비되는 것이다.In addition, the ground slope detection sensor unit 52 is provided at the center of the front side of the cleaning body 10 and at both corners to detect a distance from the cleaning body to the ground spaced a predetermined distance from the cleaning body.

또한 상기 벽면감지센서부(53)는 청소몸체(10)의 전면 변의 양측 모서리 중 일측 이상의 모서리에 근접한 벽면과의 거리를 감지할 수 있게 구비되는 것이다.In addition, the wall surface detection sensor unit 53 is provided to detect a distance from a wall surface adjacent to one or more corners of both corners of the front side of the cleaning body 10.

또한, 상기 낙하방지센서부(54)는 청소몸체(10)의 전면 변의 일측에 대각선으로 하향하게 구비되어 낙하지역을 미리감지하여 제품의 미끄러짐이나 신호의 지연에 의한 의도치 않은 낙하를 미리방지할 수 있게 구비되는 것이다.In addition, the fall prevention sensor unit 54 is provided diagonally downward on one side of the front side of the cleaning body 10 to detect the fall zone in advance to prevent accidental fall due to product slipping or signal delay. It will be provided to be able to.

상기 낙하방지센서부(54)는 예컨대 PSD(Position Sensitive Device) 센서 또는 직선거리 검출 능력이 있는 센서를 구비한다.The fall prevention sensor unit 54 includes, for example, a PSD (Position Sensitive Device) sensor or a sensor capable of detecting a linear distance.

또한, 상기 조작부(60)는 청소몸체(10)의 일측 외면에 구비되어 제어부(50)에 제어신호를 입력할 수 있게 구비되는 것이다.In addition, the manipulation unit 60 is provided on an outer surface of one side of the cleaning body 10 so as to input a control signal to the control unit 50.

또한, 상기 전원부(70)는 주행청소걸레부(40a)와 중앙청소걸레부(40b)에 의한 청소를 위한 전원을 공급할 수 있게 구비되는 것이다.In addition, the power supply unit 70 is provided to supply power for cleaning by the driving cleaning mop unit 40a and the central cleaning mop unit 40b.

한편, 본 발명의 실시에 있어서, 염소수통결합부(14)와 염소수통(20), 살균수모듈(24), 살균수펌프(23) 및 살균수노즐(30)를 구비하여 실시할 수 있는 것이다. On the other hand, in the practice of the present invention, it can be carried out by providing a chlorine bottle coupling unit 14 and a chlorine bottle 20, a sterilizing water module 24, a sterilizing water pump 23 and a sterilizing water nozzle 30. will be.

또한, 상기 염소수통결합부(14)는 청소몸체의 상부몸체(11)의 상면에 요입형성 구비되는 것이다.In addition, the chlorine canister coupling portion 14 is provided with a concave formation on the upper surface of the upper body 11 of the cleaning body.

상기 염소수통결합부(14)는 염소수가 저수되는 염소수저수부(22)가 형성되는 것이다.The chlorine water container coupling part 14 is formed with a chlorine water storage part 22 in which chlorine water is stored.

상기 염소수저수부(22)의 하부 일측에서 저수된 염소수가 살균수펌프(23)로 공급될 수 있게 구비한 살균수배출관(22a)을 형성하는 것이다.To form a sterilized water discharge pipe (22a) provided so that the chlorine water stored in the lower one side of the chlorine water storage unit (22) to be supplied to the sterilization water pump (23).

상기 염소수저수부(22)의 하부 다른 일측에는 염소수통(20)을 분리할 때 염소수저수부(22)에서 부압이 형성되지 않게 외부의 공기가 유입될 수 있게 만 형성한 통분리체크밸브(22b)를 구비한 것이다.On the other side of the lower portion of the chlorine water storage unit 22, when separating the chlorine water tank 20, a barrel separation check valve 22b formed only to allow external air to be introduced so that negative pressure is not formed in the chlorine water storage unit 22 ).

상기 염소수저수부(22)에는 장착된 염소수통(20)을 분리시 손으로 잡을 수 있게 염소수저수부(22)의 벽체 중 일측 이상에 요입된 통파지홈(22b)을 형성한 것이다.The chlorine water reservoir 22 is formed with a trough gripping groove 22b recessed in at least one of the walls of the chlorine water reservoir 22 so that the mounted chlorine water reservoir 20 can be held by hand when separating.

또한, 상기 염소수통(20)은 염소수통결합부(14)에 결합되게 구비되는 것이다.In addition, the chlorine canister 20 is provided to be coupled to the chlorine canister coupling portion 14.

상기 염소수통(20)의 하부에는 염소수저수부(22)로 물을 보내게 통배출구(20a)가 형성되며, 상부 일측에는 하부로 염소수가 자연스럽게 배출되도록 공기가 유입되는 물배출공기밸브부(21)가 형성된다.A container outlet 20a is formed in the lower part of the chlorine water container 20 to send water to the chlorine water storage part 22, and a water discharge air valve part 21 through which air is introduced so that the chlorine water is naturally discharged to the lower part of the upper part. ) Is formed.

상기 통배출구(20a)에는 밸브스프링에 탄성지지되어 염소수저수부(22)에서 돌출형성된 통배수유도돌기(22a)에 의하여 개방되 통배출밸브(22b)가 구비되는 것이다.The canister outlet 20a is provided with a canister discharge valve 22b that is elastically supported by the valve spring and is opened by a tubular drainage guide protrusion 22a protruding from the chlorine water reservoir 22.

또한, 상기 살균수모듈(24)은 염소수통결합부(14)의 저면에 형성한 염소수저수부(22)에 구비되어 염소수가 살균력을 갖는 차아염화수소수가 함유된 살균수로 변환되게 구비되는 것이다.In addition, the sterilizing water module 24 is provided in the chlorine water storage unit 22 formed on the bottom of the chlorine canister coupling unit 14 to be provided to convert the chlorine water into sterilized water containing hypochlorite water having sterilizing power.

상기 살균수모듈(24)은 염소수를 전기분해하여 살균력을 갖는 차아염화수소가 함유된 살균수로 변환되게 하는 한 쌍의 도넛망판전극(24a)과 상기 도넛망판전극(24a) 사이에 구비되는 전극스페이서(24b)로 이루어지는 것이다.The sterilizing water module 24 is an electrode provided between a pair of donut mesh plate electrodes 24a and the donut mesh plate electrodes 24a for converting chlorine water into sterilized water containing hypochlorite having sterilizing power by electrolyzing It is made of spacers 24b.

또한, 상기 살균수펌프(23)는 청소몸체(10)의 상부몸체(11)의 내부에서 구비되어 염소수저수부(22)의 살균수배출관(22a)과 연결되게 구성되는 것이다.In addition, the sterilization water pump 23 is provided inside the upper body 11 of the cleaning body 10 and is configured to be connected to the sterilization water discharge pipe 22a of the chlorine water storage unit 22.

상기 살균수펌프(23)에 의하여 펌핑된 살균수은 3 개의 살균수노즐(30)로 분배 공급할 수 있게 살균수분배구(23a)가 구비되는 것이다. The sterilizing water distribution port 23a is provided to distribute and supply the sterilizing water pumped by the sterilizing water pump 23 to the three sterilizing water nozzles 30.

상기 염소수통(20)에 수용되는 염소수는 수인성 전염병균이 소멸하는 0.01~0.03ppm의 염소농도를 갖는 것이다.The chlorine water accommodated in the chlorine canister 20 has a chlorine concentration of 0.01 to 0.03 ppm at which waterborne infectious pathogens are extinguished.

또한, 상기 살균수노즐(30)은 청소몸체(10)의 상부몸체(11)에 구비되어 살균수펌프(23)에 의하여 펌핑된 살균수을 주행 및 중앙청소걸레부(40a,40b)로 공급할 수 있게 구비되는 것이다.In addition, the sterilization water nozzle 30 is provided on the upper body 11 of the cleaning body 10 and can drive and supply the sterilization water pumped by the sterilization water pump 23 to the central cleaning mops 40a and 40b. It will be provided.

상기 살균수노즐(30)에 대응되는 청소몸체(10)의 하부몸체(12)에는 살균수노즐(30)에서 배출되는 살균수를 주행 및 중앙청소걸레부(40a,40b)로의 공급을 유도할 수 있게 상부로 돌출된 살균수유도관(30a)이 구비되는 것이다.In the lower body 12 of the cleaning body 10 corresponding to the sterilization water nozzle 30, the sterilization water discharged from the sterilization water nozzle 30 can be driven and supplied to the central cleaning mop parts 40a, 40b. It will be provided with a sterilization water induction pipe (30a) protruding upward to be able to.

이하, 본 발명의 적용실시에 따른 작용효과에 대하여 설명하면 다음과 같다.Hereinafter, a description will be given of the effects of the application of the present invention.

상기한 바와 같이 로봇 걸레청소기에 있어서, 청소몸체(10) 중 전진 주행 방향 측 변인 전면변의 양측 모서리 하부에 상호 회전 편차에 의하여 전후진 및 선회이동할 수 있게 구비되는 주행청소걸레부(40a)와 청소몸체(10)의 세 모서리 중 나머지 하나의 모서리 하부에 중앙부의 청소를 위하여 틸팅회전 또는 청소몸체의 선회이동에 보조회전력을 유발할 수 있도록 회동되게 구비되는 중앙청소걸레부(40b), 청소몸체(10)의 내부에 사용자의 조작에 따라 물걸레 청소가 이루어질 수 있도록 제어할 수 있게 구비되는 제어부(50), 청소몸체(10)의 전면 변에 근접한 장애물을 감지할 수 있게 구비되는 근접감지센서부(51)와 청소몸체(10)의 전면 변 중앙부와 양측모서리에 청소몸체로부터 일정거리 이격된 지면과의 거리를 감지할 수 있게 구비되는 지면경사감지센서부(52) 및 청소몸체(10)의 전면 변의 양측 모서리 중 일측 이상의 모서리에 근접한 벽면과의 거리를 감지할 수 있게 구비되는 벽면감지센서부(53), 청소몸체(10)의 전면 변의 일측에 대각선으로 하향되어 바닥을 감지하여 낙하를 방지하는 낙하방지센서부(54), 청소몸체(10)의 일측 외면에 구비되어 제어부(50)에 제어신호를 입력할 수 있게 구비되는 조작부(60), 주행청소걸레부(40a)와 중앙청소걸레부(40b)에 의한 청소를 위한 전원을 공급할 수 있게 구비되는 전원부(70)로 구성한 본 발명을 적용하여 실시하게 되면, 청소과정에 있어 근접감지센서부(51) 전면 변에 근접한 장애물을 감지하여 회피 기동하게 되고, 상기 지면경사감지센서부(52)가 청소몸체(10)에서 일정거리 이격된 바닥과의 거리를 지속적으로 측정하여 그 거리가 가까와지면 돌출장애물로 판단하고, 그 거리가 급격하게 멀어지면 낭떨어지로 판단하여 청소과정의 돌출장애물과의 충돌 또는 단차가 있는 곳으로의 추락이 방지되는 것이다.As described above, in the robot mop cleaner, the cleaning mop unit 40a and cleaning body 10 are provided to move backwards and forwards and rotates by mutual rotational deviation at the bottom of both corners of the front side, which is the side in the forward driving direction, of the cleaning body 10. A central cleaning mop part 40b and a cleaning body 10 provided to be rotated so as to induce auxiliary rotational power in a tilting rotation or rotational movement of the cleaning body for cleaning of the central part at the bottom of the remaining one of the three corners of the body 10 ), a control unit 50 provided to control the mop cleaning according to a user's manipulation, and a proximity sensor unit 51 provided to detect an obstacle close to the front side of the cleaning body 10 ) And the front side of the cleaning body 10 and the ground slope detection sensor unit 52 provided to detect the distance to the ground spaced a certain distance from the cleaning body at the center and both corners of the front side of the cleaning body 10 A wall surface detection sensor part 53 provided to detect the distance to a wall that is close to one or more of the corners of both sides, and a falling diagonally downward to one side of the front side of the cleaning body 10 to detect the floor to prevent falling The prevention sensor part 54, the operation part 60 provided on the outer surface of one side of the cleaning body 10 to input a control signal to the control part 50, the driving cleaning mop part 40a and the central cleaning mop part ( When implemented by applying the present invention consisting of a power supply unit 70 provided to supply power for cleaning according to 40b), the proximity detection sensor unit 51 detects an obstacle close to the front side of the cleaning process to avoid starting. The ground slope detection sensor unit 52 continuously measures the distance from the cleaning body 10 to the floor spaced apart by a certain distance, and when the distance is close, it is determined as a protruding obstacle. By judging that it is out of place, it prevents a collision with a protruding obstacle during the cleaning process or a fall to a place with a step.

또한, 상기 벽면감지센서(53)를 통하여 벽면 근접 청소시 벽면과의 거리를 유지하며 청소를 할 수 있는 것이다.In addition, it is possible to clean while maintaining a distance from the wall when cleaning the wall close to the wall through the wall detection sensor 53.

또한, 상기 낙하방지센서부(54)를 통해서 낙하지역을 미리감지하여 제품의 미끄러짐이나 신호의 지연에 의한 의도치 않은 낙하를 미리방지할 수 있게 되는 것이다.In addition, the fall prevention sensor unit 54 detects the fall zone in advance to prevent accidental fall due to product slippage or signal delay.

한편, 본 발명의 다른 실시 예와 같이 청소몸체의 상부몸체(11)의 상면에 요입형성 구비되는 염소수통결합부(14), 염소수통결합부(14)에 결합되게 구비되는 염소수통(20), 염소수통결합부(14)의 저면에 형성한 염소수저수부(22)에 구비되어 염소수가 살균력을 갖는 차아염화수소수가 함유된 살균수로 변환되게 구비되는 살균수모듈(24), 청소몸체(10)의 상부몸체(11)의 내부에서 구비되어 염소수저수부(22)의 살균수배출관(22a)과 연결되게 구성되는 살균수펌프(23), 청소몸체(10)의 상부몸체(11)에 구비되어 살균수펌프(23)에 의하여 펌핑된 살균수을 주행 및 중앙청소걸레부(40a,40b)로 공급할 수 있게 구비되는 살균수노즐(30)을 구비하여 실시하게 되면, 청소면에 차아염화수소가 함유된 살균수의 분무에 의하여 살균 청소가 이루어지는 것이다.On the other hand, as in another embodiment of the present invention, a chlorine canister coupling part 14 provided with a concave formation on the upper surface of the upper body 11 of the cleaning body, and a chlorine canister 20 provided to be coupled to the chlorine canister coupling part 14 , A sterilization water module 24 provided in the chlorine water storage unit 22 formed on the bottom of the chlorine water container coupling unit 14 to convert the chlorine water into sterilized water containing hypochlorite water having sterilizing power, and a cleaning body 10 ) Provided in the upper body 11 of the sterilizing water pump 23 configured to be connected to the sterilizing water discharge pipe 22a of the chlorine water storage unit 22, and provided in the upper body 11 of the cleaning body 10 When the sterilization water pumped by the sterilization water pump 23 is provided with a sterilization water nozzle 30 provided to drive and supply the sterilization water pumped to the central cleaning mop units 40a and 40b, Sterilization cleaning is performed by spraying of sterilizing water.

10 : 청소몸체
11 : 상부몸체 12 : 하부몸체
13 : 손잡이 14 : 염소수통결합부
20 : 염소수통
20a: 통배출구 22b: 통배출밸브
21 : 물배출공기밸브부
22 : 염소수저수부
22a: 살균수배출관 22b: 통분리체크밸브
22b: 통파지홈
23 : 살균수펌프 23a: 살균수분배구
24 : 살균수모듈 24a : 도넛망판전극
24b : 감지센서
30 : 살균수노즐 30a: 살균수유도관
31 : 살균수공 32 : 원심차수벽
40a : 주행청소걸레부 40b: 중앙청소걸레부
41 : 청소구동모터
42 : 청소구동축 43 : 걸레회전판
44 : 걸레
50 : 제어부
51 : 근접감지센서부
52 : 면경사감지센서부 53 : 벽면감지센서부
54 : 낙하방지센서
60 : 조작부
70 : 전원부10: cleaning body
11: upper body 12: lower body
13: handle 14: chlorine water bottle coupling part
20: goat water bottle
20a: barrel discharge port 22b: barrel discharge valve
21: water discharge air valve part
22: chlorine water reservoir
22a: sterilized water discharge pipe 22b: bottle separation check valve
22b: whole gripping groove
23: sterilization water pump 23a: sterilization water distribution port
24: sterilizing water module 24a: donut mesh panel electrode
24b: detection sensor
30: sterilization water nozzle 30a: sterilization water induction pipe
31: sterilization hand 32: centrifugal water wall
40a: driving cleaning mop part 40b: central cleaning mop part
41: cleaning drive motor
42: cleaning drive shaft 43: mop rotating plate
44: mop
50: control unit
51: proximity detection sensor unit
52: surface slope detection sensor unit 53: wall surface detection sensor unit
54: fall prevention sensor
60: control panel
70: power supply

Claims (4)

로봇 걸레청소기에 있어서;
청소몸체 중 전진 주행 방향 측 변인 전면변의 양측 모서리 하부에 상호 회전 편차에 의하여 전후진 및 선회이동할 수 있게 구비되는 주행청소걸레부와 청소몸체의 세 모서리 중 나머지 하나의 모서리 하부에 중앙부의 청소를 위하여 틸팅회전 또는 청소몸체의 선회이동에 보조회전력을 유발할 수 있도록 회동되게 구비되는 중앙청소걸레부, 청소몸체의 내부에 사용자의 조작에 따라 물걸레 청소가 이루어질 수 있도록 제어할 수 있게 구비되는 제어부, 청소몸체의 전면 변에 근접한 장애물을 감지할 수 있게 구비되는 근접감지센서부와 청소몸체의 전면 변 중앙부와 양측모서리에 청소몸체로부터 일정거리 이격된 지면과의 거리를 감지할 수 있게 구비되는 지면경사감지센서부 및 청소몸체의 전면 변의 양측 모서리 중 일측 이상의 모서리에 근접한 벽면과의 거리를 감지할 수 있게 구비되는 벽면감지센서부, 청소몸체 전면 변의 일측에 대각선으로 하향하게 형성되어 주행중 낙하지역을 미리감지하게 구비되는 낙하방지센서부, 청소몸체의 일측 외면에 구비되어 제어부에 제어신호를 입력할 수 있게 구비되는 조작부, 주행청소걸레부와 중앙청소걸레부에 의한 청소를 위한 전원을 공급할 수 있게 구비되는 전원부로 구성한 것을 특징으로 하는 3 몹 로봇 걸레청소기.
In the robot mop cleaner;
For cleaning the central part of the cleaning body, a driving cleaning mop is provided to move backwards and forwards and turns by mutual rotation deviation at the lower corners of the front side, which is the side of the forward driving direction, and the bottom of the remaining one of the three corners of the cleaning body. A central cleaning mop unit that is rotatably provided to induce auxiliary rotational power in a tilting rotation or rotation of the cleaning body, a control unit provided to control the cleaning of the wet mop according to the user's operation inside the cleaning body, and the cleaning body A proximity detection sensor unit provided to detect obstacles close to the front side of the cleaning body and a ground slope detection sensor provided at the center of the front side of the cleaning body and at both corners to detect the distance to the ground spaced a certain distance from the cleaning body. A wall surface detection sensor unit provided to detect the distance to a wall surface that is close to one or more corners of both sides of the front side of the cleaning body and the cleaning body, and is formed diagonally downward on one side of the front side of the cleaning body to detect the fall zone during driving. A fall prevention sensor unit provided, an operation unit provided on the outer surface of one side of the cleaning body to input a control signal to the control unit, a power supply unit provided to supply power for cleaning by the driving cleaning mop unit and the central cleaning mop unit 3 mob robot mop cleaner, characterized in that consisting of.
 제 1항에 있어서,
청소몸체의 상부몸체의 상면에 요입형성 구비되는 염소수통결합부, 염소수통결합부에 결합되게 구비되는 염소수통, 염소수통결합부의 저면에 형성한 염소수저수부에 구비되어 염소수가 살균력을 갖는 차아염화수소수가 함유된 살균수로 변환되게 구비되는 살균수모듈, 청소몸체의 상부몸체의 내부에서 구비되어 염소수저수부의 살균수배출관과 연결되게 구성되는 살균수펌프, 청소몸체의 상부몸체에 구비되어 살균수펌프에 의하여 펌핑된 살균수을 주행 및 중앙청소걸레부로 공급할 수 있게 구비되는 살균수노즐을 구비한 것을 특징으로 하는 3 몹 로봇 걸레청소기.
The method of claim 1,
Hypochlorite having chlorine water and sterilizing power, provided in the chlorine water container coupling part provided with concave formation on the upper surface of the cleaning body, the chlorine water container provided to be connected to the chlorine water container coupling part, and the chlorine water reservoir formed on the bottom of the chlorine water container coupling part A sterilizing water module provided to be converted into sterilized water containing water, a sterilizing water pump provided inside the upper body of the cleaning body and configured to be connected to the sterilized water discharge pipe of the chlorine reservoir, and sterilized water provided in the upper body of the cleaning body A 3-mob robotic mop cleaner, characterized in that it has a sterilizing water nozzle provided to drive and supply the sterilizing water pumped by the pump to the central cleaning mop.
 제 1 항에 있어서;
상기 염소수통의 하부에는 염소수저수부로 물을 보내게 통배출구가 형성되며, 상부 일측에는 하부로 염소수가 자연스럽게 배출되도록 공기가 유입되는 물배출공기밸브부가 형성되고;
상기 통배출구에는 염소수저수부에서 돌출형성된 통배수유도돌기에 의하여 개방되는 통배출밸브가 구비되며;
상기 살균수노즐에 대응되는 청소몸체의 하부몸체에는 살균수노즐에서 배출되는 살균수을 주행 및 중앙청소걸레부로의 공급을 유도할 수 있게 상부로 돌출된 살균수유도관이 구비한 것을 특징으로 구비되는 3 몹 로봇 걸레청소기.
The method of claim 1;
A container outlet is formed at the lower portion of the chlorine reservoir to send water to the chlorine water storage unit, and a water discharge air valve unit through which air is introduced so that the chlorine water is naturally discharged to the lower portion is formed at one side of the upper portion;
The barrel discharge valve is provided with a barrel discharge valve that is opened by a barrel drainage guide protrusion protruding from the chlorine water reservoir;
3 characterized in that the lower body of the cleaning body corresponding to the sterilization water nozzle is provided with a sterilization water guiding pipe protruding upward so as to guide the sterilization water discharged from the sterilization water nozzle to run and supply to the central cleaning mop. Mob robot mop cleaner.
 제 1항에 있어서,
상기 살균수모듈은 염소수를 전기분해하여 살균력을 갖는 차아염화수소가 함유된 살균수로 변환되게 하는 한 쌍의 도넛망판전극과 상기 도넛망판전극 사이에 구비되는 전극스페이서로 구성한 것을 특징으로 구비되는 는 3 몹 로봇 걸레청소기.

The method of claim 1,
The sterilizing water module comprises a pair of donut mesh plate electrodes for electrolyzing chlorine water to convert it into sterilizing water containing hydrogen hypochlorite having sterilizing power and an electrode spacer provided between the donut mesh plate electrodes. 3 Mob robot mop cleaner.
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