KR20210030300A - 3 mob robot cleaner for multy collabolation - Google Patents

3 mob robot cleaner for multy collabolation Download PDF

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KR20210030300A
KR20210030300A KR1020210025265A KR20210025265A KR20210030300A KR 20210030300 A KR20210030300 A KR 20210030300A KR 1020210025265 A KR1020210025265 A KR 1020210025265A KR 20210025265 A KR20210025265 A KR 20210025265A KR 20210030300 A KR20210030300 A KR 20210030300A
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unit
cleaner
coupling
vacuum cleaner
cleaning
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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
    • A47L11/405—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
    • A47L11/4036—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
    • A47L11/4011—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 collaborative multi robot vacuum cleaner for removing dust and stains through complex cleaning of the same area so that each wet-mop robot cleaner can perform wet-mop cleaning individually or simultaneously through individual or combined operations. The present invention comprises a first vacuum cleaner and a second vacuum cleaner, wherein the first vacuum cleaner comprises a mop cleaning running unit that continuously supplies the water stored inside and moves while being wet, and the second vacuum cleaner comprises a mop cleaning running unit that moves while being dry or wet.

Description

협업 멀티 로봇청소기 {3 MOB ROBOT CLEANER FOR MULTY COLLABOLATION}Collaborative Multi Robot Cleaner {3 MOB ROBOT CLEANER FOR MULTY COLLABOLATION}

본 발명은 협업 멀티 로봇청소기과 관련한 것으로, 더욱 상세하게는 물걸레로봇청소기가 개별동작 또는 합체동작을 통해서 물걸레청소를 각각 또는 동시에 할수 있게 하는 협업 멀티 로봇청소기에 관한 것이다.The present invention relates to a cooperative multi-robot cleaner, and more particularly, to a cooperative multi-robot cleaner capable of performing a wet mop cleaning individually or at the same time through an individual operation or a combined operation.

일반적으로, 로봇 걸레청소기 특히, 걸레청소기는 청소면과 마찰에 의하여 이동하면서 청소면을 청소한다.In general, a robotic mop cleaner, in particular, a mop cleaner cleans the cleaning surface while moving by friction with the cleaning surface.

종래발명은 복수의 자율주행 청소기에 관한 것으로, 복수의 자율주행 청소기 중 제1 청소기로서, 본체를 이동시키는 주행부; 제2 청소기와 통신하는 통신부; 및 상기 통신부에서 출력되는 초광대역 신호를 이용하여 상기 제2 청소기의 위치를 결정하고, 제1 청소기와 제2 청소기의 위치에 근거하여, 제1 및 제2 청소기가 청소를 수행할 영역정보를 설정하는 제어부를 포함하고, 상기 제어부는, 상기 제2 청소기가 청소를 수행할 제2 영역정보에 근거하여, 상기 제2 청소기를 제어하며, 상기 제2 청소기로부터 청소 완료 후 청소를 계속 진행할 수 있다는 정보를 수신하면, 상기 제2 영역정보를 변경하며, 상기 제2 청소기로부터 제2 영역정보에서 제2 청소기가 주행하지 않은 특정 영역으로 진입이 불가능하다는 정보를 수신하는 경우, 상기 특정 영역을 제1 청소기가 청소하는 제1 영역정보로 변경하는 것을 특징으로 하는 자율주행 청소기에 관한 것이다.The conventional invention relates to a plurality of self-driving cleaners, comprising: a first cleaner among a plurality of self-driving cleaners, comprising: a driving unit for moving a main body; A communication unit that communicates with the second cleaner; And determining the location of the second cleaner using the ultra-wideband signal output from the communication unit, and setting area information for the first and second cleaners to perform cleaning based on the locations of the first cleaner and the second cleaner. And a control unit, wherein the control unit controls the second cleaner based on second area information to be cleaned by the second cleaner, and information indicating that cleaning can continue after cleaning is completed from the second cleaner When receiving, the second area information is changed, and when information indicating that it is impossible to enter a specific area in which the second cleaner is not driven from the second area information is received from the second cleaner, the specific area is changed to the first cleaner. It relates to an autonomous driving cleaner characterized in that it is changed to the first area information to be cleaned.

이와 같은 복수의 자율주행 청소기는 서로 영역정보를 공유하여 복수의 청소기가 서로영역이 중복되지 않게 청소를 한다.Such a plurality of self-driving cleaners share area information with each other so that the plurality of cleaners clean the areas so that the areas do not overlap with each other.

그러나, 상기한 바와 같은 종래발명은 청소를 영역을 나누어 청소하는 것으로 청소의 속도를 올리는 것일 뿐 다양한 방식으로 청소하여 깨끗하게 청소하지 못하는 문제점이 있었다.However, the conventional invention as described above is to increase the speed of cleaning by dividing the cleaning area into a cleaning area, but there is a problem in that cleaning is not clean by cleaning in various ways.

특허등록 제10-2179057호Patent Registration No. 10-2179057

본 발명은 각각 다른영역을 설정하여 단지 빠른청소작업에 대한 문제점을 해결하기 위한것으로 동일 영역에 대하여 복합적으로 청소를 수행하여 더 높은 먼지, 얼룩제거를 하기 위한 것이다.The present invention is to solve the problem of a quick cleaning operation by setting different areas, and to perform a complex cleaning on the same area to further remove dust and stains.

본 발명은 협업 멀티 로봇청소기에 있어서,The present invention is a cooperative multi-robot cleaner,

제1청소기 및 제2청소기를 구성하고,Configure the first vacuum cleaner and the second vacuum cleaner,

제1청소기 및 제2청소기는 내부에 저장된 물을 지속적으로 공급하여 젖은체로 이동주행하는 걸레청소주행부와,상기 제1청소기 및 제2청소기가 서로 통신하는 통신부, 동작조작하는 조작부, 동작을 제어하는 제어부와, 서로 결합하여 이동주행이 가능하게 하는 결합주행부를 포함하고,The first vacuum cleaner and the second vacuum cleaner continuously supply water stored in the inside and move to a wet body with a mop cleaning driving unit, a communication unit in which the first and second vacuum cleaners communicate with each other, an operation unit that operates, and controls the operation. And a combined driving unit that combines with each other to enable moving driving,

상기 결합주행부는 제1청소기 및 제2청소기의 일 측변에 자력유도결합부와, 결속고정부 및 위치송수신부를 포함하며,The combined driving part includes a magnetic induction coupling part, a binding fixing part, and a position transmitting and receiving part on one side of the first and second cleaners,

상기 제어부는 이동거리 및 방향을 정보화하여 맵데이터로 저장하는 위치정보부를 더 포함하고,The control unit further includes a location information unit that converts the moving distance and direction into information and stores it as map data,

상기 제어부는 제1청소기가 물걸레질을 설정된 청소패턴에 따라 이동청소하면, 제2청소기가 제1청소기를 따라서 움직여 물기를 닦거나, 물걸레질청소를하는 따름협업동작과 제1청소기와 제2청소기가 서로 결합 후 설정된 청소패턴에 따라서 이동청소하는 결합협업동작을 포함하는 것을 특징으로 한다.When the first cleaner moves and cleans the mop according to the set cleaning pattern, the second cleaner moves along the first cleaner to wipe the moisture, or the first cleaner and the second cleaner perform a cooperative operation of cleaning with a wet mop. It characterized in that it comprises a combined collaboration operation of moving and cleaning according to the cleaning pattern set after being combined with each other.

또한, 상기 자력유도결합부는 일측 변에 1개 이상 설치하고, 결합시 감지하는 결합감지센서를 각각 설치하고, In addition, one or more magnetic induction coupling units are installed on one side, and a coupling detection sensor that detects when coupling is installed, respectively,

상기 결속고정부는 자력유도결합부 사이에 구성되고, 상기 결속고정부는 하부 일측에 구속홈이 형성된 결합돌출구가 구성되고, 상기 결합돌출구와 대응되는 위치에 결합돌출구가 돌출되면 구속홈에 삽입결속되는 결합구속구가 구성되며, The binding fixing portion is configured between the magnetic induction coupling portion, the binding fixing portion is configured with a coupling protrusion formed with a restriction groove on one side of the lower side, and when the coupling protrusion protrudes at a position corresponding to the coupling protrusion, the coupling is inserted into the restriction groove. A restraint sphere is constructed,

상기 결합돌출구를 탄성복귀시키게 하는 탄성체와, 결합구속구를 구속홈에 삽입시키는 탄성체가 각각 포함되며,Each includes an elastic body for elastically returning the coupling protrusion and an elastic body for inserting the coupling restraint hole into the constraining groove,

상기 결합감지센서 및 조작부에 의해서 상기 결합돌출구 및 결합구속구의 결합과 결합해제되게 솔레노이드가 각각 포함되는 것을 특징으로 한다.It characterized in that each solenoid is included so as to be disengaged and disengaged from the coupling protrusion and the coupling restraint by the coupling detection sensor and the operation unit.

본 발명은 각각 역할이 다른 복수의 청소기를 동작시켜 동일영역을 복합적인 청소를 통해 먼지, 얼룩제거를 하기 위한 것이다The present invention is for removing dust and stains through complex cleaning of the same area by operating a plurality of vacuum cleaners having different roles.

마른걸레 또는 물걸레로봇청소기와 물걸레로봇청소기가 개별동작 또는 합체동작을 통해서 마른걸레 또는 물걸레청소와 물걸레청소를 각각 또는 동시에 할수 있게 하는 협업 멀티 로봇청소기에 관한 것이다.It relates to a collaborative multi-robot vacuum cleaner that enables a dry or wet robot cleaner and a wet mop robot cleaner to perform a dry or wet mop cleaning and a wet mop cleaning individually or at the same time through individual or combined motion.

도 1 및 2는 본 발명의 일 실시 예를 보인 사시 예시도
도 3은 본 발명의 일 실시 예를 보인 수조부의 분리 사시 예시도.
도 4는 본 발명의 일 실시 예를 보인 제1청소기 및 제2청소기의 결합주행부를 보인 예시도.
도 5는 본 발명의 일 실시 예를 보인 제1청소기 및 제2청소기의 결합주행부를 통해 결합동작을 보인 예시도.
도 6은 본 발명의 일 실시 예를 보인 제1청소기 및 제2청소기의 따름협업동작에 따라 패턴주행을 보인 예시도.
도 7 은 본 발명의 일 실시 예를 보인 제1청소기 및 제2청소기가 결합하여 주행하는 모습을 보인 예시도.
도 8은 본 발명의 일 실시 예를 보인 수조부의 내부를 보인 단면도.
도 9는 본 발명의 일 실시 예를 보인 청소기 본체의 내부를 보인 단면도.
도 10은 본 발명의 일 실시 예를 보인 살균모듈의 개요도.
도 11 및 12은 본 발명의 실시에 있어서 걸레청소주행부의 걸레회전판의 예시도.1 and 2 are perspective views showing an embodiment of the present invention
Figure 3 is a perspective view of a separate water tank showing an embodiment of the present invention.
4 is an exemplary view showing a combined driving part of a first vacuum cleaner and a second vacuum cleaner showing an embodiment of the present invention.
Figure 5 is an exemplary view showing a coupling operation through a combined driving unit of the first vacuum cleaner and the second cleaner showing an embodiment of the present invention.
6 is an exemplary view showing a pattern driving according to a cooperative operation of a first vacuum cleaner and a second vacuum cleaner showing an embodiment of the present invention.
7 is an exemplary view showing a state in which a first vacuum cleaner and a second vacuum cleaner are combined and driven according to an embodiment of the present invention.
Figure 8 is a cross-sectional view showing the inside of the water tank showing an embodiment of the present invention.
9 is a cross-sectional view showing the inside of a cleaner body showing an embodiment of the present invention.
10 is a schematic diagram of a sterilization module showing an embodiment of the present invention.
11 and 12 are exemplary views of the mop rotating plate of the mop cleaning running unit in the implementation of the present invention.

즉, 본 발명은 본 발명은 협업 멀티 로봇청소기에 있어서, 제1청소기(1) 및 제2청소기(2)를 구성한다.That is, the present invention constitutes a first vacuum cleaner (1) and a second vacuum cleaner (2) in the cooperative multi-robot cleaner.

제1청소기(1) 및 제2청소기(2)는 청소몸체(10)와 걸레청소주행부(40), 수조부(20), 물펌프부(23), 급수구(30), 제어부(50) 및 조작부(60)로 구성한다.The first vacuum cleaner (1) and the second vacuum cleaner (2) include a cleaning body 10 and a mop cleaning drive unit 40, a water tank unit 20, a water pump unit 23, a water supply port 30, and a control unit 50. ) And the operation unit 60.

제1청소기(1)는 내부에 저장된 물을 지속적으로 공급하여 젖은체로 이동주행하는 걸레청소주행부와, 상기 제2청소기(2)는 마른걸래 또는 물걸래로 이동주행하는 걸레청소주행부를 포함하고,The first vacuum cleaner (1) includes a mop cleaning unit that continuously supplies water stored therein to move to a wet body, and the second vacuum cleaner (2) includes a mop cleaning unit that moves with a dry or wet cloth. ,

상기 제1청소기(1) 및 제2청소기(2)는 서로 통신하는 통신부, 조작하는 조작부(60), 동작을 제어하는 제어부(50)와, 서로 결합하여 이동주행이 가능하게 하는 결합주행부(800)를 포함하고,The first vacuum cleaner (1) and the second vacuum cleaner (2) are a communication unit that communicates with each other, an operation unit that manipulates 60, a control unit 50 that controls the operation, and a combined driving unit ( 800),

상기 결합주행부(800)는 제1청소기(1) 및 제2청소기(2)의 일 측변에 자력유도결합부(810)와, 결속고정부(820) 및 위치송수신부(90)를 포함하며,The combined driving unit 800 includes a magnetic induction coupling unit 810 on one side of the first vacuum cleaner 1 and the second vacuum cleaner 2, a binding fixing unit 820 and a position transmitting and receiving unit 90, and ,

상기 제어부(50)는 이동거리 및 방향을 정보화하여 맵데이터로 저장하는 위치정보부(80)를 더 포함한다.The control unit 50 further includes a location information unit 80 that converts the moving distance and direction into information and stores it as map data.

상기 위치정보부(80)는 자이로센서 및 가속도센서와, 데이터저장부를 포함한다.The location information unit 80 includes a gyro sensor, an acceleration sensor, and a data storage unit.

상기 제어부(50)는 제1청소기(1)가 물걸레질을 설정된 청소패턴에 따라 이동청소하면, 제2청소기(2)가 제1청소기(1)를 따라서 움직여 조작에 의해 물기를 닦거나, 물걸래청소를 하는 따름협업동작과 제1청소기(1)와 제2청소기(2)가 서로 결합 후 설정된 청소패턴에 따라서 이동청소하는 결합협업동작을 포함한다.When the first cleaner (1) moves and cleans the mop according to the set cleaning pattern, the second cleaner (2) moves along the first cleaner (1) to wipe the moisture by operation or It includes a cooperative operation of performing mop cleaning and a combined cooperative operation of moving and cleaning according to a set cleaning pattern after the first and second cleaners 1 and 2 are combined with each other.

상기 위치송수신부는 적외선 송신부 및 수신부를 구성하여 제1청소기(1) 및 제2청소기(2)의 상호거리 및 방향정보를 송수신하게 한다.The location transmitting and receiving unit constitutes an infrared transmitting unit and a receiving unit to transmit and receive mutual distance and direction information between the first vacuum cleaner 1 and the second vacuum cleaner 2.

또한, 상기 자력유도결합부(810)는 일측 변에 1개 내지 4개 중 어느 하나를 선택하여 이상 설치하고, 결합시 감지하는 결합감지센서(811)를 각각 설치하고, In addition, the magnetic induction coupling unit 810 is installed on one side by selecting any one of one to four abnormally, and respectively installing a coupling detection sensor 811 to detect when coupled,

상기 결속고정부(820)는 자력유도결합부(810) 사이 또는 근처에 구성되고, 상기 결속고정부(820)는 하부 일측에 구속홈(822)이 형성된 결합돌출구(821)가 구성되고, 상기 결합돌출구(821)와 대응되는 위치에 결합돌출구(821)가 돌출되면 구속홈(822)에 삽입결속되는 결합구속구(823)가 구성되며, The binding fixing part 820 is configured between or near the magnetic induction coupling part 810, and the binding fixing part 820 has a coupling protrusion 821 having a constraining groove 822 formed at one lower side thereof, and the When the coupling protrusion 821 protrudes at a position corresponding to the coupling protrusion 821, a coupling restraint hole 823 inserted into the restraining groove 822 is configured,

상기 결합돌출구(821)를 탄성복귀시키게 하는 탄성체(824)와, 결합구속구(823)를 구속홈(822)에 삽입시키는 탄성체(824)가 각각 포함되며,An elastic body 824 for elastically returning the coupling protrusion 821, and an elastic body 824 for inserting the coupling restraint 823 into the constraining groove 822, respectively,

상기 결합감지센서(811) 및 조작부(60)에 의해서 상기 결합돌출구(821) 및 결합구속구(823)의 결합과 결합해제되게 솔레노이드(825)가 각각 포함된다.A solenoid 825 is included to be disengaged from the coupling of the coupling protrusions 821 and the coupling restraints 823 by the coupling detection sensor 811 and the operation unit 60, respectively.

또한, 주행패턴은 일반적으로 "ㄹ"자형. 지그재그형, 나선형, 별형등 종래에 일반적으로 사용되는 주행패턴이 될 수 있다.In addition, the driving pattern is generally "ㄹ" shape. It may be a driving pattern generally used in the related art, such as a zigzag type, a spiral shape, and a star shape.

또한, 상기 따름협업동작은 제1청소기(1)가 패턴동작하고 제2청소기(2)가 제1청소기(1)의 이동정보를 따라서 주행하는 하는 것을 포함한다.In addition, the follow-up operation includes the first vacuum cleaner 1 operating in a pattern and the second vacuum cleaner 2 traveling according to the movement information of the first vacuum cleaner 1.

또한 상기 따름협엽동작은 제1청소기(1) 및 제2청소기(2)의 순서를 바꾸어 동작시킬 수 있다In addition, the following operation may be performed by changing the order of the first vacuum cleaner 1 and the second vacuum cleaner 2.

그리고 상기 청소몸체(10)는 삼각판 형상으로 형성된다.And the cleaning body 10 is formed in a triangular plate shape.

상기 청소몸체(10)는 걸레(44)청소부주행부가 장착되는 하부몸체(12)와 상기 하부몸체(12)의 상부에 결합되어 수조부(20)와 조작부(60)가 구비되는 상부몸체(11)로 구성된다.The cleaning body 10 is coupled to the lower body 12 on which the mop 44, the cleaning unit running unit is mounted, and the upper body 11 provided with the water tank 20 and the operation unit 60 ).

상기 상부몸체(11)에는 수조부(20)가 안착되는 상부측이 개방된 수조안착부(14)가 형성된다.The upper body 11 is formed with a water tank seating portion 14 with an open upper side on which the water tank portion 20 is seated.

또한, 상기 수조부(20)는 물이 펌핑대기 저수되는 물저수부(22)가 형성된다.In addition, the water tank 20 is formed with a water reservoir 22 for storing water in the pumping atmosphere.

상기 물저수부(22)의 하부 일측에서 저수된 물이 물펌프부(23)로 공급될 수 있게 구비한 저수배출관(22a)을 형성한다.A storage water discharge pipe 22a is formed so that the water stored in the lower one side of the water storage unit 22 can be supplied to the water pump unit 23.

상기 물저수부(22)의 하부 다른 일측에는 수조부(20)를 분리할 때 물저수부(22)에서 부압이 형성되지 않게 외부의 공기가 유입될 수 있게 만 형성한 수조분리체크밸브(22b)를 구비한다.On the other side of the lower portion of the water reservoir 22, there is provided a water tank separation check valve 22b formed only to allow external air to be introduced so that negative pressure is not formed in the water reservoir 22 when the water tank 20 is separated. Equipped.

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

상기 상부몸체(11)에는 물저수부(22)에 수용된 물을 전기분해하여 전해수로 전환하는 살균수모듈(24)이 구비된다.The upper body 11 is provided with a sterilizing water module 24 for converting the water contained in the water reservoir 22 into electrolyzed water by electrolysis.

상기 살균수모듈(24)은 물을 전기분해하는 한 쌍의 전극(24a)과, 감지센서(24b)로 이루어지는 것이다.The sterilizing water module 24 is composed of a pair of electrodes 24a for electrolyzing water and a detection sensor 24b.

상기 전극(24a)은 물저수조의 하부로 전원부(70)와 연결되는 접지단자가 돌출되도록 구성하여 전원공급이 이루어지는 것이다.The electrode 24a is configured such that a ground terminal connected to the power supply unit 70 protrudes from the bottom of the water reservoir to provide power.

상기 감지센서(24b)는 수조안착부(14)에 안착된 수조부(20)를 감지하여 제어부(50)로 신호할 수 있도록 빛감지센서(24b)로 실시될 수 있는 것이다.The detection sensor 24b may be implemented as a light detection sensor 24b so as to detect the water tank 20 seated on the water tank seat 14 and signal to the control unit 50.

상기 감지센서(24b)는 물저수부(22)의 일측에 수용된 물의 수위를 감지하는 수위감지센서(24b)로 실시될 수 있는 것이다.The detection sensor 24b may be implemented as a water level detection sensor 24b that senses the level of water accommodated in one side of the water reservoir 22.

상기 상부몸체(11)에는 세개의 변 중 일측변에 손잡이(13)가 상면과 동일면을 이루게 안착되는 손잡이(13)안착부를 형성하고, 상기 손잡이(13)안착부에 안착된 손잡이(13)는 양측이 상부몸체(11)의 다른 두 변에 힌지결합된다.The upper body 11 has a handle 13 seated on one side of the three sides so that the handle 13 forms the same surface as the upper surface, and the handle 13 seated on the handle 13 Both sides are hinged to the other two sides of the upper body (11).

그리고, 상기 걸레청소주행부(40)는 청소몸체(10)의 각 모서리측 하부에 청소면과 마찰접촉에 의하여 청소와 추진력을 형성한다.In addition, the mop cleaning running unit 40 forms cleaning and propulsion force by frictional contact with the cleaning surface at the bottom of each corner side of the cleaning body 10.

상기 걸레청소주행부(40)는 청소구동모터(41)와 청소구동축(42), 상기 걸레회전판(43) 및 걸레(44)로 구성된다.The mop cleaning running unit 40 is 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 회전동작된다.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 돌출된다.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 걸레(44)결속수단에 의하여 걸레(44)를 결속한다.The mop rotating 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 in the rotation process, and the mop 44 is bound by the mop 44 binding means on the lower surface thereof.

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

상기 걸레회전판(43)의 외주면에 상부로 돌출되어 급수구(30)에 의하여 공급된 물이 외부로 원심이탈되지 않게 지지하는 원심차수벽(32)을 형성한 것이다.A centrifugal order wall 32 is formed on the outer circumferential surface of the mop rotation plate 43 to support the water supplied by the water supply port 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 급수공(31)이 형성된다.A water supply hole 31 is formed at the center side of the mop rotation plate 43 of the centrifugal order wall 32.

또한, 상기 수조부(20)는 청소몸체(10)의 상부몸체(11)에 구비된 물저수부(22)에 안착 결합된다.In addition, the water tank 20 is seated and coupled to the water reservoir 22 provided on the upper body 11 of the cleaning body 10.

상기 수조부(20)의 하부에는 물저수부(22)로 물을 보내게 탱크배출구가 형성되며, 상부 일측에는 하부로 물이 자연스럽게 배출되도록 공기가 유입되는 물배출공기밸브부(21)가 형성된다.A tank outlet is formed at the lower portion of the water tank 20 to send water to the water reservoir 22, and a water discharge air valve unit 21 through which air is introduced so that water is naturally discharged to the lower portion is formed at one side of the upper portion. .

상기 탱크배출구에는 물저수부(22)에서 돌출형성된 탱크배수유도돌기에 의하여 개방되는 탱크배출밸브가 구비된다.The tank discharge port is provided with a tank discharge valve that is opened by a tank drain guide protrusion protruding from the water reservoir 22.

또한, 상기 물펌프부(23)는 청소몸체(10)의 상부몸체(11)의 내부에서 구비되어 물저수부(22)의 저수배출관(22a)과 연결되게 구성된다.In addition, the water pump part 23 is provided inside the upper body 11 of the cleaning body 10 and is configured to be connected to the water storage discharge pipe 22a of the water reservoir 22.

상기 물펌프부(23)에 의하여 펌핑된 물은 3 개의 급수구(30)로 분배 공급할 수 있게 급수분배구(23a)가 구비된다. A water distribution port 23a is provided so that the water pumped by the water pump unit 23 can be distributed and supplied to the three water supply ports 30.

또한, 상기 급수구(30)은 청소몸체(10)의 상부몸체(11)에 구비되어 물펌프부(23)에 의하여 펌핑된 물을 걸레청소주행부(40)로 공급한다.In addition, the water supply port 30 is provided on the upper body 11 of the cleaning body 10 to supply water pumped by the water pump unit 23 to the mop cleaning running unit 40.

상기 급수구(30)에 대응되는 청소몸체(10)의 하부몸체(12)에는 급수구(30)에서 배출되는 물을 걸레청소주행부(40)로의 공급을 유도할 수 있게 상부로 돌출된 급수유도관(30a)이 구비된다.In the lower body 12 of the cleaning body 10 corresponding to the water supply port 30, the water discharged from the water supply port 30 is supplied to the water supply port 30 so as to induce the supply of the water to the mop cleaning driving unit 40. An induction tube 30a is provided.

또한, 상기 제어부(50)는 청소몸체(10)의 내부에 구비된다.In addition, the control unit 50 is provided inside the cleaning body 10.

또한, 상기 조작부(60)는 청소몸체(10)의 일측 외면에 구비되어 제어부(50)에 제어신호를 입력할 수 있게 구비된다.In addition, the operation 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 청소몸체(10)의 하부몸체(12) 중앙에는 걸레청소주행부(40)의 청소를 위한 중량체를 형성하고 동작전원을 공급하는 전원부(70)가 구비된다.In addition, in the center of the lower body 12 of the cleaning body 10, a power supply unit 70 that forms a weight for cleaning the mop cleaning running unit 40 and supplies operation power is provided.

또한, 상기 청소몸체(10)의 측면 중 어느 한 면 이상에 주행과정에 장애물을 감지하여 제어부(50)로 장애물감지 신호를 입력하는 장애물감지센서(24b)가 구비된다.In addition, an obstacle detection sensor 24b is provided on one or more of the side surfaces of the cleaning body 10 to detect an obstacle during the driving process and input an obstacle detection signal to the control unit 50.

또한, 상기 청소몸체(10)의 하부 일측에는 절벽을 감지하여 제어부(50)로 절벽감지신호를 입력하는 절벽감지센서(24b)가 구비된다.In addition, a cliff detection sensor 24b that senses a cliff and inputs a cliff detection signal to the controller 50 is provided at a lower side of the cleaning body 10.

상기와 같이 이루어진 본 발명은 다음과 같은 효과가 있다.The present invention made as described above has the following effects.

제1청소기(1)는 청소몸체(10)와 걸레청소주행부(40), 수조부(20), 물펌프부(23), 급수구(30), 제어부(50) 및 조작부(60)로 구성하고, 제1청소기(1)는 내부에 저장된 물을 지속적으로 공급하여 젖은 물걸레로 이동주행하는 걸레청소주행부(40)와, 상기 제2청소기(2)는 마른걸래 또는 물걸레로 이동주행하는 걸레청소주행부(40)와, 상기 제1청소기(1) 및 제2청소기(2)는 서로 통신하는 통신부, 조작하는 조작부(60), 동작을 제어하는 제어부(50)를 포함하며, 상기 제어부(50)는 제1청소기(1)가 물걸레질을 설정된 청소패턴에 따라 이동청소하면, 제2청소기(2)가 제1청소기(1)를 따라서 움직여 물기를 닦거네 물걸레질을 통한 청소를하는 따름협업동작과 제1청소기(1)와 제2청소기(2)가 서로 결합 후 설정된 청소패턴에 따라서 이동청소하는 결합협업동작을 포함하여 실시하면,The first vacuum cleaner (1) includes a cleaning body (10), a mop cleaning unit (40), a water tank (20), a water pump (23), a water supply port (30), a control unit (50), and a control unit (60). And, the first vacuum cleaner (1) is a mop cleaning running unit 40 that continuously supplies water stored therein and moves with a wet mop, and the second vacuum cleaner (2) moves with a dry mop or a wet mop. The mop cleaning driving unit 40 and the first vacuum cleaner 1 and the second vacuum cleaner 2 include a communication unit that communicates with each other, an operation unit 60 that operates, and a control unit 50 that controls the operation, and the control unit (50) means that when the first cleaner (1) moves and cleans the mop according to the set cleaning pattern, the second cleaner (2) moves along the first cleaner (1) to wipe the moisture. Including a cooperative operation and a combined cooperative operation of moving and cleaning according to a set cleaning pattern after the first cleaner 1 and the second cleaner 2 are combined with each other,

상기 따름협업동작을 통해서 각기 다른 역할을 하는 제1청소기(1)와 제2청소기(2)가 물걸레질, 물기 건조 또는 물걸레질을 통해서 더 깨끗한 청소가 가능하게 된다.The first and second cleaners (1) and 2 (2), each of which have different roles through the cooperative operation, can be cleaned by mopping with water, drying with water, or mopping with water.

또한, 서로 결합하여 이동주행이 가능하게 하는 결합주행부(800)를 포함하고,In addition, it includes a combined driving unit 800 that enables moving by combining with each other,

상기 결합주행부(800)는 제1청소기(1) 및 제2청소기(2)의 일 측변에 자력유도결합부(810)와, 서로의 위치를 주고받는 위치송수신부와, 결속고정부(820)를 포함하고, 상기 자력유도결합부(810)는 일측 변에 1개 이상 설치하고, 결합시 감지하는 결합감지센서(811)를 각각 설치하고, 상기 결속고정부(820)는 자력유도결합부(810) 사이 또는 근처에 구성되고, 상기 결속고정부(820)는 하부 일측에 구속홈(822)이 형성된 결합돌출구(821)가 구성되고, 상기 결합돌출구(821)와 대응되는 위치에 결합돌출구(821)가 돌출되면 구속홈(822)에 삽입결속되는 결합구속구(823)가 구성되며, 상기 결합돌출구(821)를 탄성복귀시키게 하는 탄성체(824)와, 결합구속구(823)를 구속홈(822)에 삽입시키는 탄성체(824)가 각각 포함되며, 상기 결합감지센서(811) 및 조작부(60)에 의해서 상기 결합돌출구(821) 및 결합구속구(823)의 결합과 결합해제되게 솔레노이드(825)가 각각 포함하여 구성하면, 위치송수신부를 통해서 서로의 위치를 파악하며 결합가이드되고, 결합협업동작을 하는 도중 결합이 쉽게 해제되지 않고, 자력유도결합부(810)를 통해서 결합이 유도되면서 동시에 완전한 접촉결합을 감지하여 결속고정부(820)를 통해서 완전한결속이 이루어지게 된다.The combined driving unit 800 includes a magnetic induction coupling unit 810 at one side of the first vacuum cleaner 1 and the second vacuum cleaner 2, a position transmitting/receiving unit for exchanging positions with each other, and a binding fixing unit 820. ), wherein at least one magnetic induction coupling part 810 is installed on one side, and a coupling detection sensor 811 that senses when coupling is installed, respectively, and the coupling fixing part 820 is a magnetic induction coupling part Consisting between or near the 810, the coupling fixing part 820 is configured with a coupling protrusion 821 having a constraining groove 822 formed on a lower side thereof, and a coupling protrusion at a position corresponding to the coupling protrusion 821 When the (821) protrudes, a coupling restraint tool 823 inserted into the restraining groove 822 is configured, and the elastic body 824 for elastically returning the coupling protrusion 821 and the coupling restraint tool 823 are restrained. Each elastic body 824 inserted into the groove 822 is included, and the solenoid is coupled to and disengaged from the coupling protrusion 821 and the coupling restraint hole 823 by the coupling detection sensor 811 and the operation unit 60 When 825 is configured to include each, the coupling is guided by grasping the position of each other through the position transmitting and receiving unit, and the coupling is not easily released during the coupling cooperative operation, and coupling is induced through the magnetic induction coupling unit 810. At the same time, perfect bonding is achieved through the bonding fixing unit 820 by detecting the complete contact bonding.

또한, 상기 따름협업동작은 제1청소기(1)가 패턴동작하고 제2청소기(2)가 제1청소기(1)의 이동정보를 따라서 주행하면, 서로 주행이 뒤섞이지 않고 청소주행을 하게 된다. In addition, in the follow-up operation, when the first vacuum cleaner 1 operates in a pattern and the second vacuum cleaner 2 travels according to the movement information of the first vacuum cleaner 1, the driving is not mixed with each other, and the cleaning operation is performed.

1 : 제1청소기 2: 제2청소기
10 : 청소몸체
11 : 상부몸체 12 : 하부몸체
13 : 손잡이 14 : 수조안착부
20 : 수조부 21 : 물배출공기밸브부
22 : 물저수부
22a: 저수배출관 22b: 수조분리체크밸브
22c: 수조파지홈
23 : 물펌프부 23a: 급수분배구
24 : 살균수모듈 24a : 전극
24b : 감지센서
30 : 급수구 30a: 급수유도관
31 : 급수공 32 : 원심차수벽
40 : 걸레청소주행부 41 : 청소구동모터
42 : 청소구동축 43 : 걸레회전판
44 : 걸레
50 : 제어부 60 : 조작부
70 : 전원부 80 : 위치정보부
90 : 위치송수신부
800 : 결합주행부
810 : 자력유도결합부
811 : 결합감지센서
820 : 결속고정부
821 : 결합돌출구 822 : 구속홈
823 : 결합구속구
824 : 탄성체
825 : 솔레노이드1: 1st vacuum cleaner 2: 2nd vacuum cleaner
10: cleaning body
11: upper body 12: lower body
13: handle 14: water tank seat
20: water tank part 21: water discharge air valve part
22: water reservoir
22a: storage water discharge pipe 22b: water tank separation check valve
22c: water tank gripping groove
23: water pump part 23a: water distribution port
24: sterilizing water module 24a: electrode
24b: detection sensor
30: water inlet 30a: water supply induction pipe
31: water supply hole 32: centrifugal order wall
40: mop cleaning driving unit 41: cleaning drive motor
42: cleaning drive shaft 43: mop rotating plate
44: mop
50: control unit 60: control unit
70: power unit 80: location information unit
90: position transmission and reception unit
800: combined driving unit
810: magnetic induction coupling unit
811: coupling detection sensor
820: Solidarity government
821: coupling protrusion 822: confinement groove
823: coupling restraint
824: elastic body
825: solenoid

Claims (3)

협업 멀티 로봇청소기에 있어서,
제1청소기 및 제2청소기를 구성하고,
제1청소기는 내부에 저장된 물을 지속적으로 공급하여 젖은체로 이동주행하는 걸레청소주행부와, 상기 제2청소기는 마르거나 젖은체로 이동주행하는 걸레청소주행부를 포함하고,
상기 제1청소기 및 제2청소기가 서로 통신하는 통신부, 동작조작하는 조작부, 동작을 제어하는 제어부와, 서로 결합하여 이동주행이 가능하게 하는 결합주행부를 포함하고, 상기 제어부는 이동거리 및 방향을 정보화하여 맵데이터로 저장하는 위치정보부를 포함하며,
상기 결합주행부는 제1청소기 및 제2청소기의 일 측변에 자력유도결합부와, 결속고정부 및 서로의 위치를 주고받는 위치송수신부를 포함하며,
상기 결합주행부는 제1청소기 및 제2청소기의 일 측변에 자력유도결합부와, 결속고정부를 포함하며,
상기 제어부는 제1청소기가 물걸레질을 설정된 청소패턴에 따라 이동청소하면, 제2청소기가 제1청소기를 따라서 움직여 물기를 닦거나, 물걸레질청소를하는 따름협업동작과 제1청소기와 제2청소기가 서로 결합 후 설정된 청소패턴에 따라서 이동청소하는 결합협업동작을 포함하는 것을 특징으로 하는 협업 멀티 로봇청소기.

In the collaborative multi-robot vacuum cleaner,
Configure the first vacuum cleaner and the second vacuum cleaner,
The first vacuum cleaner includes a mop cleaning running unit that continuously supplies water stored therein and moves to a wet body, and the second vacuum cleaner includes a mop cleaning running unit that moves to a dry or wet body,
The first and second cleaners include a communication unit for communicating with each other, an operation unit for operating an operation, a control unit for controlling an operation, and a combined driving unit for enabling movement by combining with each other, and the control unit converts the moving distance and direction into information. It includes a location information unit that stores the map data,
The combined driving unit includes a magnetic induction coupling unit on one side of the first and second cleaners, a binding fixing unit, and a position transmitting and receiving unit for exchanging positions with each other,
The combined driving part includes a magnetic induction coupling part and a binding fixing part on one side of the first cleaner and the second cleaner,
When the first cleaner moves and cleans the mop according to the set cleaning pattern, the second cleaner moves along the first cleaner to wipe the moisture, or the first cleaner and the second cleaner perform a cooperative operation with wet mopping Collaborative multi-robot vacuum cleaner, characterized in that it comprises a combined cooperative operation of moving and cleaning according to a set cleaning pattern after being combined with each other.

 제 1항에 있어서,
상기 자력유도결합부는 일측 변에 1개 내지 4개 중에서 어느 하나를 선택하여 설치하고,
상기 결속고정부는 자력유도결합부 사이 또는 근처에 구성되고, 상기 결속고정부는 하부 일측에 구속홈이 형성된 결합돌출구가 구성되고, 상기 결합돌출구와 대응되는 위치에 결합돌출구가 돌출되면 구속홈에 삽입결속되는 결합구속구가 구성되며,
상기 결합돌출구를 탄성복귀시키게 하는 탄성체와, 결합구속구를 구속홈에 삽입시키는 탄성체가 각각 포함되며,
상기 결합감지센서 및 조작부에 의해서 상기 결합돌출구 및 결합구속구의 결합과 결합해제되게 솔레노이드가 각각 포함되는 것을 특징으로 하는 협업 멀티 로봇청소기.
The method of claim 1,
The magnetic induction coupling unit is installed by selecting any one of 1 to 4 on one side,
The binding fixing part is configured between or near the magnetic induction coupling part, and the binding fixing part has a coupling protrusion formed with a constraining groove on one side of the lower side, and when the coupling protrusion protrudes at a position corresponding to the coupling protrusion, it is inserted into the constraining groove. The binding restraint sphere is composed,
Each includes an elastic body for elastically returning the coupling protrusion and an elastic body for inserting the coupling restraint hole into the constraining groove,
Collaborative multi-robot cleaner, characterized in that each solenoid is included so as to be disengaged and disengaged from the coupling protrusion and the coupling restraint by the coupling detection sensor and the operation unit.
 제 2항에 있어서,
상기 자력유도결합부는 결합시 감지하는 결합감지센서를 각각 구성되는 것을 특징으로 하는 협업멀티로봇청소기, .The method of claim 2,
The cooperative multi-robot cleaner, characterized in that the magnetic induction coupling unit is configured to each of the coupling detection sensor to detect when coupled.
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