KR20220054180A - Robot cleaner - Google Patents

Robot cleaner Download PDF

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KR20220054180A
KR20220054180A KR1020210123667A KR20210123667A KR20220054180A KR 20220054180 A KR20220054180 A KR 20220054180A KR 1020210123667 A KR1020210123667 A KR 1020210123667A KR 20210123667 A KR20210123667 A KR 20210123667A KR 20220054180 A KR20220054180 A KR 20220054180A
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unit
cleaning body
charging
mop
light sensor
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KR1020210123667A
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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

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  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • General Chemical & Material Sciences (AREA)
  • Electrochemistry (AREA)
  • Environmental & Geological Engineering (AREA)
  • Water Supply & Treatment (AREA)
  • Organic Chemistry (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Epidemiology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Apparatus For Disinfection Or Sterilisation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)

Abstract

The present invention relates to a robot mop cleaner, which senses the surroundings and maps data through a linear optical sensor and self-rotation thereof, does not comprise a separate LiDAR sensor, and thus reduces costs and malfunctions. The present invention enables wireless charging of a robot mop cleaner when the cleaner moves close to a charging station for charging, thereby preventing malfunctions, electric leakage, and electric shock. Furthermore, the present invention is configured such that when the robot mop cleaner slides while leaning against a wall of a room, the load on a mop traveling portion increases, and thus the moving speed of the cleaner decreases, and the cleaning rotational speed of mops increases, thereby resulting in thorough cleaning.

Description

로봇걸레청소기{ROBOT CLEANER}Robot mop cleaner {ROBOT CLEANER}

본 발명은 로봇걸레청소기에 관한 것으로, 더욱 상세하게는 청소몸체가 원형으로 형성되어 장애물에 부딪혀도 이동회피가 쉽게 되며 로봇걸레청소기가 360˚ 회전하며 주변의 장애물을 매핑하고 이를 지도데이터화하여 저장하고, 주행정보로 이용하며, 충전스테이션과 쌍방향 통신을 통하여 충전을 위한 주행 및 배터리를 무선충전시키는 로봇걸레청소기에 관한 것이다.The present invention relates to a robot mop vacuum cleaner, and more particularly, the cleaning body is formed in a circular shape so that it is easy to avoid movement even when it collides with an obstacle. It relates to a robot mop vacuum cleaner that is used as driving information and wirelessly charges batteries and driving for charging through two-way communication with a charging station.

일반적으로 로봇 청소기는 자동으로 주변을 진공청소하거나, 청소면과 마찰 접촉을 통하여 자가주행을 하며 청소면을 걸레로 자동으로 청소를 하는 것이다.In general, a robot vacuum cleaner automatically vacuums the surrounding area, or drives itself through frictional contact with the cleaning surface, and automatically cleans the cleaning surface with a mop.

이상과 같은 로봇 청소기는 내부에 진공청소하는 진공흡입부. 바퀴휠로 주행및 조향하는 주행부, 장애물을 감지하는 근접센서부, 주행방향 및 주행을 제어하는 제어부 및 전원공급하는 전원부로 구성된다.The robot vacuum cleaner as described above has a vacuum suction part that vacuums the inside. It consists of a driving unit that drives and steers with the wheel, a proximity sensor unit that detects obstacles, a control unit that controls driving direction and driving, and a power supply that supplies power.

또는, 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 전원부 및 거리광센서부로 구성되는 것이다.Alternatively, two mobs that induce cleaning and movement driving force by frictional contact between the cleaning body and the cleaning surface, a mob driving motor that rotates the mobs, a sensor unit provided outside the cleaning body to detect obstacles, and the sensor unit to detect Accordingly, it is composed of a control unit for controlling the rotation of the mop driving motor, an operation unit for inputting a user's operation signal of the control unit, and a power supply unit and a distance light sensor unit provided to supply operating power.

이와 같은 로봇 걸레 청소기는 2개의 몹이 제어부의 제어에 따라 회전되면서 청소면을 청소한다.Such a robot mop cleaner cleans the cleaning surface while 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 청소하게 된다.On the other hand, the robot mop cleaner as described above is provided with a water tank in the mop, the mop absorbs the water supplied from the mop to clean the cleaning surface with a wet mop.

또한 종래의 로봇 걸체 청소기를 충전하는 방법은 충전스테이션에 직접접촉하여 배터리 충전을 한다.In addition, in the conventional method of charging the robot vacuum cleaner, the battery is charged by direct contact with the charging station.

그러나, 상기한 바와 같은 종래의 청소기는, 길죽한 장방형원의 모양으로 형성되어 장애물의 이동회피하기 어려운 단점이 있으며, 종래청소기는 라이다센서부를 설치하여 사용되는 것으로, 상기 라이다센서부는 고속회전을 위한 구성을 포함하고, 이에 따라서 고장율이 높아지며, 비용이 증가하는 단점이 있다.However, the conventional vacuum cleaner as described above has a disadvantage in that it is formed in the shape of an elongated rectangular circle and it is difficult to avoid movement of obstacles. There is a disadvantage in that it includes a configuration for the purpose, and thus the failure rate is increased, and the cost is increased.

충전을 위하여 충전스테이션에 직접접촉하기 위하는 과정에서 오동작이 있으며, 누전이 발생하는 단점이 있다.There is a malfunction in the process of directly contacting the charging station for charging, and there is a disadvantage that a short circuit occurs.

또한, 본체의 표면이 매끄러워 벽면에 미끌어지듯 움직이게 되고, 걸레질의 특성상 바깥쪽으로 이물질이 쏠려 벽면에 몰리는 단점이 있다.In addition, since the surface of the body is smooth, it slides on the wall surface, and due to the nature of mopping, foreign substances are concentrated on the wall surface.

대한민국 특허등록 제0486578호Republic of Korea Patent Registration No. 0486578

이에, 본 발명은 원형으로 형성된 청소몸체를 구비하며, 직진형 광센서 및 로봇 걸레청소기의 자체회전을 통해서 주변을 감지하고 지도데이터화 하는것으로 별도의 라이다센서를 구비하지 않는 것이다.Accordingly, the present invention is provided with a cleaning body formed in a circular shape, and does not have a separate lidar sensor to detect the surroundings through the self-rotation of the straight optical sensor and the robot mop cleaner and convert it into map data.

또한, 충전을 위해서 충전스테이션에 접촉하여 충전하는 방식이 아닌 무선충전부를 구비하는 것이다.In addition, it is to be provided with a wireless charging unit, which is not a charging method in contact with the charging station for charging.

또한, 벽면에 기대어 슬라이드시에 걸레주행부의 부하가 커져서 이동속도가 감소되며 걸레청소 회전수가 늘어나 면밀하게 청소하기 위해 벽면과 닿는 본체의 표면의 마찰계수를 높이는 것이다.In addition, when leaning against the wall, the load of the mop running part increases, so the moving speed is reduced, and the number of mop cleaning rotations increases to increase the friction coefficient of the surface of the main body in contact with the wall surface for thorough cleaning.

즉, 본 발명은 원형의 청소몸체와 상기 청소몸체에 구비되는 이동주행하는 걸레주행부, 이동주행을 제어하고 주변장애물을 감지하여 지도데이터화하는 제어부, 주행을 조작하는 조작부, 지도데이터를 저장하는 데이터저장부, 전원공급하는 전원부, 외부전원을 공급받아 전원부에 충전시키는 충전부, 측면에서 근접장애물을 감지하는 근접감지센서부를 포함하는 로봇 걸레청소기에 있어서, That is, the present invention provides a circular cleaning body and a moving mop driving unit provided in the cleaning body, a control unit that controls moving driving and detects surrounding obstacles to form map data, an operation unit that operates driving, data for storing map data In the robot mop cleaner comprising a storage unit, a power supply unit for supplying power, a charging unit for receiving external power and charging the power supply unit, and a proximity sensing sensor unit for detecting a proximity obstacle from the side,

외부 또는 내부에서 주변장애물을 감지하는 거리광센서를 포함하는 것을 특징으로 한다.It is characterized in that it includes a distance light sensor for detecting surrounding obstacles from the outside or the inside.

또한, 상기 제어부는 거리광센서가 주변을 360˚회전동작하여 주변 장애물을 인식하고 거리광센서의 중심이 회전중심이 되는 중심회전동작을 포함하는 것을 특징으로 한다.In addition, the control unit is characterized in that it includes a center rotation operation in which the distance optical sensor rotates 360° around the periphery to recognize surrounding obstacles, and the center of the distance optical sensor becomes the rotational center.

상기 거리광센서는 청소몸체의 중심에 형성되는 것을 특징으로 한다.The distance light sensor is characterized in that formed in the center of the cleaning body.

또한 상기 청소몸체 외면에는 벽면과 마찰되는 마찰부가 구비되는 것을 특징으로 한다.In addition, it is characterized in that the outer surface of the cleaning body is provided with a friction part to rub against the wall.

따라서, 따라서, 본 발명은 청소몸체가 원형으로 형성하여 장애물에 부딪혀도 이동회피가 쉽게 된다.Therefore, according to the present invention, the cleaning body is formed in a circular shape so that it is easy to avoid movement even if it collides with an obstacle.

또한, 본 발명은 직진형 광센서 및 로봇 걸레청소기의 자체회전을 통해서 주변을 감지하고 지도데이터화 하는것으로 별도의 라이다센서를 구비하지 않는 것이다. 또한, 충전을 위해서 충전스테이션 근접하게 이동하게 되면 무선으로 충전되어 오동작 및 누전, 감전방지의 효과가 있다. 벽면과 닿는 본체의 표면의 마찰계수를 높이는 것이다. 벽면에 기대어 슬라이드시에 걸레주행부의 부하가 커져서 이동속도가 감소되며 걸레청소 회전수가 늘어나 면밀하게 청소되는 것이다.In addition, the present invention does not have a separate lidar sensor to detect the surroundings through the self-rotation of the linear optical sensor and the robot mop cleaner and convert it into map data. In addition, when moving close to the charging station for charging, it is wirelessly charged, which has the effect of preventing malfunction, short circuit, and electric shock. It is to increase the coefficient of friction of the surface of the body in contact with the wall. When leaning against a wall, the load on the mop running part increases, reducing the moving speed, and increasing the mop cleaning rotation speed for thorough cleaning.

도 1 내지 3은 본 발명의 일 실시 예를 보인 사시 예시도.
도 4 내지 5는 본 발명의 다른 일 실시 예를 보인 사시 예시도.
도 6 내지 7은 본 발명의 일 실시 예를 보인 중심회전동작 예시도.
도 8은 본 발명의 다른 실시 예를 보인 청소몸체 내부에 거리광센서부를 내장한 측면예시도.
도 9은 본 발명의 일 실시 예를 보인 블록도.
도 10은 본 발명의 실시 예를 보인 중심회전동작을 보인 예시도.
도 11은 본 발명의 실시 예를 보인 배터리충전동작을 보인 예시도.
도 12는 본 발명의 실시 예를 보인 충전스테이션을 보인 예시 사시도.
도 13은 본 발명의 실시 예를 보인 무선충전을 보인 예시도.1 to 3 are perspective views showing an embodiment of the present invention.
4 to 5 are perspective views showing another embodiment of the present invention.
6 to 7 are exemplary views of the center rotation operation showing an embodiment of the present invention.
8 is a side elevational view in which a distance light sensor unit is built inside the cleaning body according to another embodiment of the present invention.
9 is a block diagram showing an embodiment of the present invention.
10 is an exemplary view showing a center rotation operation showing an embodiment of the present invention.
11 is an exemplary view showing a battery charging operation according to an embodiment of the present invention.
12 is an exemplary perspective view showing a charging station according to an embodiment of the present invention.
13 is an exemplary view showing wireless charging 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 로봇 걸레청소기의 원형으로 형성하고, 원형의 본체 외주면과 벽면에 닿는 부위에 마찰력을 높여서 벽면쪽 바닥의 청소능력을 높인 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 is formed in a circular shape of a robot mop cleaner, and the frictional force is increased on the part in contact with the outer circumferential surface of the circular body and the wall to increase the cleaning ability of the floor on the wall. It should not be construed as limited to the technical meaning of the present invention, and on the basis of the principle that the inventor can appropriately define the concept of a term in order to explain his invention in the best way, the meaning and should be interpreted as a concept.

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 this specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention, and do not represent all of the technical spirit of the present invention, so they can be substituted at the time of the present application It should be understood that various equivalents and modifications may exist.

즉, 본 발명은 청소몸체(100)와 상기 청소몸체(100)에 구비되는 이동주행하는 걸레주행부(140), 이동주행을 제어하고 주변장애물을 감지하여 지도데이터화하는 제어부(150), 주행을 조작하는 조작부(160), 지도데이터를 저장하는 데이터저장부(130), 전원공급하는 전원부(170), 외부전원을 공급받아 전원부(170)에 충전시키는 충전부(190), 측면에서 근접장애물을 감지하는 근접감지센서부(151)를 포함하는 로봇 걸레청소기에 있어서, That is, the present invention provides a cleaning body 100 and a mop running unit 140 for moving moving provided in the cleaning body 100, a control unit 150 for controlling moving driving and detecting surrounding obstacles to form map data, driving Operating unit 160, data storage unit 130 for storing map data, power supply unit 170 for supplying power, charging unit 190 for receiving external power and charging the power supply unit 170, detecting proximity obstacles from the side In the robot mop cleaner comprising a proximity sensing sensor unit 151,

상기 청소몸체(100)는 원형 또는 타원형으로 형성된다. 그리고 상기 걸레주행부(140)는 청소몸체(100)보다 작거나 동일 또는 살짝 크게 형성되어서 상기 청소몸체(100)가 외부에 닿게 형성된다.The cleaning body 100 is formed in a circular or oval shape. And the mop running unit 140 is formed to be smaller than, equal to, or slightly larger than the cleaning body 100 so that the cleaning body 100 is in contact with the outside.

상기 청소몸체(100)가 원형 또는 타원형으로 형성되면 장애물에 부딪힐때 걸림이없어 회피이동하기 쉬워진다. 또한 장애물과 접촉시 간섭이 적어 회전하기 용이하게 된다.When the cleaning body 100 is formed in a circular or oval shape, there is no jamming when hitting an obstacle, so it is easy to avoid moving. In addition, there is less interference when in contact with an obstacle, so it is easy to rotate.

상기 청소몸체(100)의 바깥면은 마찰계수를 높인 마찰부(110)를 형성하여 벽면에 마찰될때 마찰력으로 인하여 걸레주행부(140)에 부하를 주어 걸레청소를 더 면밀하게 하게 되는 것이다.The outer surface of the cleaning body 100 forms a friction part 110 with a high coefficient of friction, and when it rubs against the wall, a load is applied to the mop running unit 140 due to frictional force to make mop cleaning more thorough.

상기 청소몸체(100) 내부 또는 상부에 직진형 광센서를 통해서 주변을 인식하는 거리광센서부(180)를 구비한다 .상기 청소몸체(100) 일측에서 직진형 광센서를 통해서 주변을 인식하는 거리광센서부(180)를 구비한다.The cleaning body 100 is provided with a distance optical sensor unit 180 for recognizing the surroundings through a linear optical sensor inside or above the cleaning body 100. Distance for recognizing the surroundings through a linear optical sensor from one side of the cleaning body 100 An optical sensor unit 180 is provided.

여기에서 상기 걸레주행부(140)에는 한쌍의 걸레부 또는 3개의 걸레부가 형성되어 걸레의 지면마찰로 주행하는 것을 포함한다.Here, a pair of mop parts or three mop parts are formed in the mop running unit 140, and it includes running by ground friction of the mop.

또는, 상기 걸레주행부(140)는 지면에 마찰하는 하나의 걸레부와 이동주행하는 이동주행부가 포함된다.Alternatively, the mop running unit 140 includes one mop unit rubbing against the ground and a moving moving unit moving and moving.

특히 상기 3개의 걸레부가 형성되는 걸레주행부(140)는 청소몸체(100)가 삼각형으로 형성되는 것을 포함하고, 3개의 걸레부가 유기적으로 연결되어 주행 및 방향전환을 하게 된다. 예컨데 2개의 걸레부는 주행을 나머지 걸레부는 조향을 할 수 있다.In particular, the mop traveling part 140 in which the three mop parts are formed includes that the cleaning body 100 is formed in a triangle, and the three mop parts are organically connected to run and change direction. For example, two mops can drive and the other mop can steer.

그리고 상기 거리광센서부(180)는 직진형 광센서로 예컨데 레이져센서, TOF(Time of Flight), 적외선센서가 포함될 수 있다. In addition, the distance optical sensor unit 180 is a linear optical sensor, and may include, for example, a laser sensor, a time of flight (TOF), and an infrared sensor.

상기 거리광센서부(180)에는 초음파센서가 더 포함될 수 있다.The distance optical sensor unit 180 may further include an ultrasonic sensor.

상기 거리광센서부(180)에는 일반적으로 광 송수신부가 포함되고 제어부(150)와 연결되고, 상기 제어부(150)에는 거리광센서부(180)의 정보를 저장하는 데이터저장부(130)가 포함된다.The distance light sensor unit 180 generally includes an optical transceiver and is connected to the control unit 150 , and the control unit 150 includes a data storage unit 130 for storing information of the distance light sensor unit 180 . do.

상기 거리광센서부(180)에서 360˚회전시키는 걸레주행부(140)가 하게 된다.The mop traveling unit 140 rotates 360 ° in the distance light sensor unit 180 is done.

상기 거리광센서부(180)가 내부에 형성되는 경우에는 내부에서 외부로 센싱할 수있도록 청소몸체(100)의 일측이 뚫려있는 관통공이 형성된다.When the distance light sensor unit 180 is formed inside, a through hole through which one side of the cleaning body 100 is drilled is formed so as to be able to sense from the inside to the outside.

상기 거리광센서부(180)에서 센싱된 정보는 제어부(150)를 통해서 실시간으로 장애물의 지도를 데이터화하여 데이터저장부(130)에 저장된다.The information sensed by the distance light sensor unit 180 is stored in the data storage unit 130 by converting the map of the obstacle into data in real time through the control unit 150 .

또한, 상기 거리광센서부(180)에서 센싱된 정보는 제어부(150)를 통해서 실시간으로 주변을 탐색하여 주행정보로 이용한다.In addition, the information sensed by the distance light sensor unit 180 is used as driving information by searching the surroundings in real time through the control unit 150 .

상기 거리광센서부(180)는 청소몸체(100)의 바깥측에 구성되며, 상기 제어부(150)는 상기 걸레주행부(140)가 동시에 회전되어 청소몸체(100)가 360˚회전되되 거리광센서부(180)의 중심이 회전중심이 되는 중심회전동작(10s)을 포함한다.The distance light sensor unit 180 is configured on the outside of the cleaning body 100, the control unit 150 is the mop running unit 140 is rotated at the same time, the cleaning body 100 is rotated 360 °, the distance light It includes a center rotation operation (10s) in which the center of the sensor unit 180 becomes the rotation center.

상기 중심회전동작(10s)은 걸레주행부(140)가 서로 상호 작용하여 청소몸체(100) 중심에서 일정한 각속도로 회전하게 된다.In the center rotation operation (10s), the mop traveling unit 140 interacts with each other to rotate at a constant angular velocity in the center of the cleaning body 100 .

예컨데 걸레주행부(140)를 동작시키는 각각의 청소구동모터의 부하를 제어부(150)가 감지하여 청소구동모터의 회전속도를 증감시켜 청소몸체(100) 중심에서 일정한 각속도를 유지하게 할 수 있다.For example, the control unit 150 detects the load of each cleaning drive motor that operates the mop running unit 140 to increase or decrease the rotational speed of the cleaning drive motor to maintain a constant angular speed in the center of the cleaning body 100 .

또한,상기 걸레주행부(140)의 주행정보를 감지하는 주행감지부(120)를 설치할수 있다.In addition, it is possible to install a driving sensing unit 120 for detecting the driving information of the mop driving unit 140.

상기 주행감지부(120)는 걸레주행부(140)의 전동기 회전수를 감지하는 회전감지부(121), 상기 청소몸체(100) 내부 일측에 각속도를 감지하는 자이로센서부(122), 가속도를 감지하는 가속도센서부(123)를 포함하여서 상기 제어부(150)가 각 정보를 이용하여 로봇걸레청소기의 위치보정의 정보로 이용하는 위치보정동작(20s)을 더 포함하게 된다.The driving sensing unit 120 is a rotation sensing unit 121 that detects the number of rotations of the motor of the mop traveling unit 140, a gyro sensor unit 122 that detects an angular velocity on one side of the cleaning body 100 inside, Detects an acceleration Including the acceleration sensor unit 123, the control unit 150 will further include a position correction operation (20s) used as information of position correction of the robot mop cleaner using each information.

즉 상기 위치보정동작(20s)은 로봇걸레청소기의 이동주행시, 중심회전동작(10s)시, 이동주행하며 주변의 장애물을 지도데이터화 할 때 위치보정동작(20s)의 위치정보를 반영하여서 오차를 줄여 정확도를 높이게 된다.That is, the position correction operation (20s) reflects the position information of the position correction operation (20s) when the robot mop cleaner moves, when the center rotation operation (10s), moves and converts the surrounding obstacles into map data, and reduces the error will increase the accuracy.

상기 회전감지부(121)는 예컨데 홀센서가 될 수 있다.The rotation detecting unit 121 may be, for example, a Hall sensor.

또한, 청소몸체(100)에는 일측에 무선충전부(190)가 설치되며, 제어부(150)는 로봇걸레청소기의 배터리가 부족하면 충전스테이션(200)을 찾아 이동하여 배터리충전하는 배터리충전동작(30s)을 하게된다.In addition, a wireless charging unit 190 is installed on one side of the cleaning body 100, and the control unit 150 finds the charging station 200 when the battery of the robot mop vacuum cleaner is insufficient and moves to find the charging station 200 to charge the battery (30s) will do

상기 배터리충전동작(30s)은 충전스테이션(200)을 검색하여 찾는 위치검색과정(31s), 충전스테이션(200)의 위치로 이동하는 경로이동과정(32s), 충전스테이션(200)의 근처에서 충전을 위해 근접하게 이동하는 충전스테이션충전접근과정(33s)으로 이루어진다.The battery charging operation (30s) includes a location search process (31s) for searching and finding the charging station (200), a path moving process (32s) for moving to the location of the charging station (200), and charging in the vicinity of the charging station (200). It consists of a charging station charging approach process (33s) that moves close to the

이때 상기 위치검색과정(31s)에서는 충전스테이션(200)에 도킹을 위한 도킹광센서(210)부가 포함되고, 상기 도킹광센서(210)부와 청소몸체(100)의 거리광센서부(180) 서로 쌍방향 통신하여 서로 위치를 찾게된다.At this time, in the location search process 31s, a docking optical sensor 210 for docking is included in the charging station 200, and a distance optical sensor 180 between the docking optical sensor 210 and the cleaning body 100. Two-way communication with each other to locate each other.

이때, 로봇걸레청소기는 중심회전동작(10s)을 통해서 청소스테이션을 검색하게 된다. 서로 쌍방향 통신되지 않을때 주변을 이동하면서 중심회전동작(10s) 하여 검색하게 된다.At this time, the robot mop cleaner searches the cleaning station through the center rotation operation (10s). When there is no two-way communication with each other, while moving around, the center rotation operation (10s) is performed to search.

또한, 저장된 장애물지도데이터를 이용하여 현재 중심회전동작(10s)을 통해 검색되는 영역과, 검색되지 않은 영역을 구분하게 되고, 검색되는 영역에서 청소스테이션이 발견되지 않을경우 검색되지 않은 영역으로 이동하여 중심회전동작(10s)을 통해 청소스테이션을 검색하는 영역별검색과정이 더 포함 될 수 있다.In addition, using the stored obstacle map data, the currently searched area through the center rotation operation (10s) and the unsearched area are distinguished, and if the cleaning station is not found in the searched area, the A search process for each area of searching for a cleaning station through the central rotation operation (10s) may be further included.

상기 경로이동과정(32s)은 위치검색과정(31s)을 통해서 충전스테이션(200)을 위치를 찾으면 로봇 걸레청소기는 충전스테이션(200)을 향해 이동하게 된다.In the path moving process (32s), when the charging station 200 is located through the location search process (31s), the robot mop cleaner moves toward the charging station 200 .

이때 상기 로봇 걸레청소기는 저장된 장애물지도데이터를 이용하여 최적경로를 검색하여 이동하는 최적경로검색과정이 더 포함 될 수 있다.In this case, the robot mop cleaner may further include an optimal path search process of moving by searching for an optimal path using the stored obstacle map data.

상기 충전스테이션충전접근과정(33s)은 상기 경로이동과정(32s)을 통해 로봇 걸레청소기가 충전스테이션(200)에 접근하였을 때 무선으로 충전가능한 위치로 이동하는 과정이다. 이 때 상기 도킹광센서(210)부는 충전스테이션(200)에 구비된 도킹충전부(220)의 일측에 형성되고, 중심에는 메인 광센서와 상기 메인 광센서의 좌우측에 각각 보조광센서(212)가 설치되어 로봇 걸레청소기의 거리광센서부(180)와 쌍방향 통신으로 충전가능한 위치로 근접하게 유도하게 된다.The charging station charging approach process (33s) is a process of moving to a wireless charging position when the robot mop cleaner approaches the charging station 200 through the path moving process (32s). At this time, the docking optical sensor 210 part is formed on one side of the docking charging part 220 provided in the charging station 200, and in the center, the main optical sensor and the auxiliary optical sensor 212 are installed on the left and right sides of the main optical sensor. The distance light sensor unit 180 and the two-way communication of the robot mop cleaner are guided to a position that can be charged close.

여기에서 상기 보조광센서(212)는 적외선 센서가 될수 있다.Here, the auxiliary light sensor 212 may be an infrared sensor.

이하, 본 발명의 적용실시에 따른 작용효과에 대하여 설명하면 다음과 같다.Hereinafter, the effect of the application of the present invention will be described as follows.

청소몸체(100)가 원형 또는 타원형으로 형성되며, 주행중 청소몸체(100)가 벽면에 어느쪽 청소몸체던지 쉽게 접촉되어 슬라이드되어 이동되고, 상기 청소몸체(100)에 마찰부(110)가 구비되면 벽면 사이에서 발생된 마찰력으로 걸레주행부에 부하를 주어 걸레바닥청소를 더 면밀히 할수 있게 되는 것이다.When the cleaning body 100 is formed in a circular or oval shape, the cleaning body 100 easily comes into contact with the wall surface during driving and slides and moves, and the cleaning body 100 is provided with a friction part 110 With the frictional force generated between the walls, a load is applied to the mop running part, so that the mop floor can be cleaned more closely.

거리광센서부(180)는 청소몸체(100)의 중심에 구성되며, 제어부(150)가 걸레주행부(140)를 회전시켜 거리광센서부(180)를 중심으로 청소몸체(100)가 360˚로 회전시키는 중심회전동작(10s)을 통하여 주변장애물을 감지하여 지도데이터화하게 된다. 따라서 거리광센서부(180)는 별도의 회전장치가 필요없으며 걸레주행부(140)가 서로 상호작용하여 회전되고 거리광센서부(180)를 중심으로 청소몸체(100)가 회전되어 외부를 감지하고 데이터화하여 주행정보로 사용되는 것이다.The distance light sensor unit 180 is configured at the center of the cleaning body 100, and the control unit 150 rotates the mop running unit 140 to rotate the cleaning body 100 around the distance light sensor unit 180. Through the central rotation operation (10s) of rotating by ˚, the surrounding obstacles are detected and the map data is formed. Therefore, the distance light sensor unit 180 does not need a separate rotating device, and the mop traveling unit 140 interacts with each other to rotate, and the cleaning body 100 is rotated around the distance light sensor unit 180 to detect the outside. It is then converted into data and used as driving information.

또한, 충전을 위해서 충전스테이션(200) 근접하게 이동하게 되면 무선으로 충전되어 오동작 및 누전, 감전방지가 되는 것이다.In addition, when the charging station 200 is moved close to the charging station for charging, it is wirelessly charged to prevent malfunction, short circuit, and electric shock.

100 : 청소몸체 110 : 마찰부
120 : 주행감지부 121 : 회전감지부
122 : 자이로센서부 123 : 가속도센서부
130 : 데이터저장부
140 : 걸레주행부
150 : 제어부 151 : 근접감지센서부
160 : 조작부
170 : 전원부
180 : 거리광센서부 190 : 충전부
200 : 충전스테이션 210 : 도킹광센서
211 : 메인광센서 212 : 보조광센서
220 : 도킹충전부
10s : 중심회전동작 11s : 주변장애물감지과정
12s : 주변장애물지도데이터화과정
20s : 위치보정동작
30s : 배터리충전동작 31s : 위치검색과정
32s : 경로이동과정 33s : 충전스테이션충전접근과정100: cleaning body 110: friction part
120: driving sensing unit 121: rotation sensing unit
122: gyro sensor unit 123: acceleration sensor unit
130: data storage unit
140: mop running part
150: control unit 151: proximity detection sensor unit
160: control panel
170: power supply
180: distance light sensor unit 190: charging unit
200: charging station 210: docking light sensor
211: main optical sensor 212: auxiliary optical sensor
220: docking charging unit
10s: Center rotation movement 11s: Surrounding obstacle detection process
12s: Surrounding obstacle map dataization process
20s: Position compensation operation
30s: Battery charging operation 31s: Location search process
32s: route movement process 33s: charging station charging approach process

Claims (5)

로봇 걸레청소기에 있어서;
청소몸체와 상기 청소몸체에 구비되는 이동주행하는 걸레주행부, 이동주행을 제어하고 주변장애물을 감지하여 지도데이터화하는 제어부, 주행을 조작하는 조작부, 지도데이터를 저장하는 데이터저장부, 전원공급하는 전원부, 외부전원을 공급받아 전원부에 충전시키는 충전부, 측면에서 근접장애물을 감지하는 근접감지센서부를 포함하는 로봇 걸레청소기에 있어서,
상기 청소몸체는 장애물에도 걸림없이 회피가능하게 원형으로 형성되는 것을 특징으로 하는 로봇걸레청소기.
In the robot mop vacuum cleaner;
A cleaning body and a moving mop running unit provided in the cleaning body, a control unit that controls moving driving and detects surrounding obstacles and turns it into map data, an operation unit that operates driving, a data storage unit that stores map data, a power supply that supplies power In the robot mop cleaner comprising a charging unit for receiving external power and charging the power supply unit, and a proximity sensing sensor unit for detecting a proximity obstacle from the side,
The cleaning body is a robot mop cleaner, characterized in that it is formed in a circular shape to be avoidable without being caught by obstacles.
 제 1항에 있어서,
상기 청소몸체의 외면은 마찰부가 형성되는 것을 특징으로 하는 로봇걸레청소기.
The method of claim 1,
The outer surface of the cleaning body is a robot mop cleaner, characterized in that the friction part is formed.
 제 1항에 있어서
상기 청소몸체에 바깥측에서 주변장애물을 감지하는 거리광센서를 포함하며, 상기 제어부는 거리광센서가 주변을 360˚회전동작하여 주변 장애물을 인식하고 거리광센서의 중심이 회전중심이 되는 중심회전동작을 포함하며,
상기 거리광센서부는 청소몸체 상부면에 구비되는 것을 특징으로 하는 로봇걸레청소기
2. The method of claim 1
A distance light sensor for detecting a surrounding obstacle from the outside of the cleaning body is included, and the control unit rotates the distance light sensor 360° around the circumference to recognize the surrounding obstacles and rotate the center of the distance light sensor as the center of rotation. includes action,
The distance light sensor unit robot mop cleaner, characterized in that provided on the upper surface of the cleaning body
 제 1항에 있어서,
상기 거리광센서부는 청소몸체 내부에 구비되며, 거리광센서부가 외부를 감지할 수 있게 청소몸체 일부가 관통되거나 투명막으로 구성되는 것을 특징으로 하는 로봇걸레청소기
The method of claim 1,
The distance light sensor unit is provided inside the cleaning body, and a part of the cleaning body is penetrated or made of a transparent film so that the distance light sensor unit can detect the outside.
 제 1항에 있어서,
청소몸체 일측에 배터리를 충전하는 무선충전부가 구비되고, 유선으로 공급받은 전력을 청소몸체에 무선으로 공급하는 충전스테이션이 포함되며,
상기 충전스테이션의 일측에는 청소몸체의 거리광센서와 쌍방향 통신하는 도킹광센서부와 도킹되어 무선전력공급 하는 도킹충전부가 포함되며,
상기 제어부가 배터리가 부족하면 충전스테이션을 찾아 이동하여 배터리충전하는 배터리충전동작을 하는 것을 특징으로 하는 로봇걸레청소기.The method of claim 1,
A wireless charging unit for charging the battery is provided on one side of the cleaning body, and a charging station for wirelessly supplying power supplied by wire to the cleaning body is included,
One side of the charging station includes a docking light sensor unit for interactive communication with the distance light sensor of the cleaning body and a docking charging unit for wirelessly supplying power,
Robot mop cleaner, characterized in that when the control unit runs out of battery, it finds a charging station and performs a battery charging operation to charge the battery.
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