KR20230002218A - Robot cleaner and control method - Google Patents

Robot cleaner and control method Download PDF

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Publication number
KR20230002218A
KR20230002218A KR1020220178020A KR20220178020A KR20230002218A KR 20230002218 A KR20230002218 A KR 20230002218A KR 1020220178020 A KR1020220178020 A KR 1020220178020A KR 20220178020 A KR20220178020 A KR 20220178020A KR 20230002218 A KR20230002218 A KR 20230002218A
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South Korea
Prior art keywords
driving
cleaning plate
cleaning
robot cleaner
plate
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KR1020220178020A
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Korean (ko)
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허주표
박금자
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허주표
박금자
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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
    • A47L11/4063—Driving means; Transmission means 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
    • A47L11/4011—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
    • A47L11/4036—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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

The present invention relates to a robot cleaner and, more specifically, to a robot cleaner having three circular cleaning plates disposed below the corners of a triangular body to rotate horizontally, wherein the three circular cleaning plates are controlled individually to perform efficient cleaning. The robot cleaner of the present invention comprises: three circular cleaning plates disposed below the corners of a triangular body to rotate horizontally; a control unit disposed in a main body to control the three circular cleaning plates individually; a surrounding sensing sensor unit disposed on the outer surface of the main body to detect obstacles and a terrain around while driving; and a path recognition sensor unit disposed in a lower part of the main body to recognize a driving path of the robot cleaner. Accordingly, efficient cleaning and driving are performed according to various surrounding situations and the cleaning purpose.

Description

로봇청소기 및 그 제어방법{Robot cleaner and control method}Robot cleaner and its control method {Robot cleaner and control method}

본 발명은 삼각형에 본체의 모서리 하부에 수평으로 회전하는 3개의 원형 청소판을 갖는 로봇청소기의 제어방법에 관한 것으로서, 보다 상세하게는 3개의 청소판의 회전방향 및 회전속도를 각기조정하여 청소 및 주행을 효과적으로 제어하는 방법에 관한 것이다.The present invention relates to a control method for a robot cleaner having three circular cleaning plates rotating horizontally below the corners of a triangular body, and more particularly, to a method for cleaning and cleaning by respectively adjusting the rotational direction and rotational speed of the three cleaning plates. It relates to a method for effectively controlling driving.

로봇청소기는 일반적으로 일반적으로 로봇 청소기는 자가주행으로 주행을 하며 바닥면을 자동으로 청소를 하는 장치이다. 일반적으로 로봇 청소기는 바닥의 먼지를 흡입하는 흡입기능을 주로 수행하지만 최근에는, 바닥을 걸레질을 하여 이물질을 제거하는 로봇 청소기가 소개되고 있다.A robot cleaner is generally a device that travels in a self-driving manner and automatically cleans a floor surface. In general, a robot cleaner mainly performs a suction function of sucking dust from the floor, but recently, a robot cleaner that removes foreign substances by wiping the floor has been introduced.

이러한 걸레질을 이용한 로봇청소기는 대한민국 특허출원 제 10-2007-0053264 호와 같이 로봇청소기 하부면에 물걸레판을 부착시켜 별도의 주행장치를 구비하여 이동경로를 걸레질하고 있다.A robot cleaner using such a mop is provided with a separate traveling device by attaching a wet mop plate to the lower surface of the robot cleaner to mop a moving path, as described in Korean Patent Application No. 10-2007-0053264.

그러나. 이와 같은 부착걸레를 이용한 청소방식은 로봇 청소기의 주행 시 물걸레용 청소포와 바닥면의 마찰을 이용한 것에 불과하여, 청소 구역 내에 밀착된 오물을 제거하는 것에 한계가 있었다.however. The cleaning method using such an attached mop only uses friction between the wet mop cleaning cloth and the floor surface when the robot cleaner is running, and thus has limitations in removing dirt adhering to the cleaning area.

더욱이, 물걸레용 청소포와 바닥면 사이의 마찰력으로 인하여, 별도의 구동력에 의한 로봇의 주행이 방해를 받아 배터리에 의한 구동력의 소모가 극심하게 되는 문제점이 있으며, 또한 별도의 주행장치의 주행으로 인한 바닥에 주행자국이 남는다는 문제점이 있었다.Furthermore, due to the frictional force between the wet mop cleaning cloth and the floor, the driving of the robot by a separate driving force is hindered, resulting in extreme consumption of the driving force by the battery, and also the floor due to the driving of a separate traveling device. There was a problem that the running traces were left on.

대한민국 특허출원 제 10-2007-0053264 호Korean Patent Application No. 10-2007-0053264

이에 본 발명은 상기한 바, 로봇청소기에 있어서 부착걸레를 이용한 바닥의 오물의 제거를 더욱 효과적으로 이뤄지게하며, 청소포와 바닥면 사이의 마찰력으로 인한 에너지적 손실의 문제를 해결하고, 주행 및 방향전환시 효율적인 동작이 이루어지는 것을 목적으로 하는 것이다.Therefore, as described above, the present invention makes it possible to more effectively remove dirt from the floor using an attached mop in a robot cleaner, solves the problem of energy loss due to frictional force between the cleaning cloth and the floor, and when driving and changing direction The purpose is to achieve efficient operation.

이와 같은 목적을 해결하기 위해서, 삼각형에 본체의 모서리 하부에 수평으로 회전하는 3개의 원형 청소판을 구비하고, 본체 내부에 상기 3개의 원형 청소판을 각기 조정하는 제어부을 구비하는 것이다.In order to solve the above object, it is provided with three circular cleaning plates horizontally rotating at the bottom of the corner of the main body in a triangle, and a control unit for adjusting each of the three circular cleaning plates is provided inside the main body.

또한, 본체 외면에 주행중 주변의 장애물 및 지형을 감지하는 주변감지센서부, 본체하부에 로봇청소기의 주행경로를 인식하는 경로인식센서부 를 구비한 로봇청소기로 구비하는 것이다.In addition, it is provided as a robot cleaner having an ambient detection sensor unit on the outer surface of the main body for detecting surrounding obstacles and topography while driving, and a path recognition sensor unit for recognizing the driving path of the robot cleaner on the lower part of the main body.

상기한 바와 같이, 이상의 구성을 갖는 로봇청소기 및 그 제어방법을 따르면, 청소판을 이용하여 청소 및 주행이 함께 이루어지게 되어 별도의 주행장치가 없어서 바닥에 주행자국이 남지 않으며 에너지의 낭비가 감소되며 단순부착형 걸레형에 비하여 회전을 통한 효과적인 걸레질이 이루어지는 것이다.As described above, according to the robot cleaner and its control method having the above configuration, cleaning and driving are performed together using a cleaning plate, so there is no separate traveling device, so no running marks are left on the floor and waste of energy is reduced. Compared to the simple attachment mop type, effective mop is achieved through rotation.

또한 3개의 청소판의 회전방향 및 회전속도를 각기 조절하여 이를 통해 다양한 주행의 상황에서 알맞은 대응이 이루어지며 효율적인 방향의 전환이 가능한 것이다.In addition, by adjusting the rotation direction and rotation speed of the three cleaning plates, it is possible to respond appropriately to various driving situations and efficiently switch directions.

도 1 및 도 2는 본 발명에 따른 로봇청소기의 실시예를 보인 상부 및 하부 사시도.
도 3은 본 발명에 따른 동작관계의 예를 도시한 개략도
도 4는 본 발명에 실시예에 따른 주행과정과 관련된 순서도.
도 5는 본 발명에 따른 정삼각주행법 및 역삼각주행법의 주행법을 보인 개략도.
도 6은 본 발명에 따른 일조향방식 및 이조향방식 및 삼조향방식의 방향전환모드를 보인 개략도.
도 7은 본 발명에 따른 일선행방식 및 이선행방식 및 삼선행방식의 선행주행모드를 보인 개략도.1 and 2 are upper and lower perspective views showing an embodiment of a robot cleaner according to the present invention.
3 is a schematic diagram showing an example of an operation relationship according to the present invention;
Figure 4 is a flow chart related to the driving process according to an embodiment of the present invention.
Figure 5 is a schematic view showing the driving method of the regular triangle driving method and the inverse triangle driving method according to the present invention.
Figure 6 is a schematic diagram showing a direction change mode of one steering method, two steering method and three steering method according to the present invention.
Figure 7 is a schematic diagram showing the preceding driving modes of one-leading method, two-leading method, and three-leading method according to 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 로봇청소기에 있어서 삼각형에 본체의 모서리 하부에 수평으로 회전하는 3개의 원형 청소판을 구비한 로봇청소기를 제공하고 이를 효율적으로 제어하기 위한 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 to provide a robot cleaner equipped with three circular cleaning plates horizontally rotating below the corners of a triangular main body in a robot cleaner and to efficiently control the robot cleaner, and the terms or words used in the present specification and claims are provided. should not be construed as being limited to a conventional or dictionary meaning, and the inventor may appropriately define the concept of the term in order to explain his or her invention in the best way, based on the principle that the technical idea of the present invention It must be interpreted with the corresponding meaning and concept.

즉 본 발명은 삼각형에 본체(100)의 모서리 하부에 수평으로 회전하는 3개의 원형 청소판(200)을 구비하고, 상기 제1 청소판(201) 및 제2 청소판(202) 및 제3 청소판(203)을 각각 회전 구동하는 제1 모터 및 제2 모터 및 제3 모터를 구비하고, 본체(100)외면에 주행중 주변의 장애물 및 지형을 감지하는 주변감지센서부(110), 본체(100)하부에 로봇청소기의 주행경로를 인식하는 경로인식센서부(120) 를 구비한 로봇청소기로 구비하는 것이다.That is, the present invention is provided with three circular cleaning plates 200 horizontally rotating at the bottom of the corner of the main body 100 in a triangle, the first cleaning plate 201, the second cleaning plate 202 and the third cleaning plate 201 A first motor, a second motor, and a third motor are provided to rotate and drive the plate 203, respectively, and the surrounding sensor unit 110 detects surrounding obstacles and terrain while driving on the outer surface of the main body 100, and the main body 100 ) It is provided with a robot cleaner having a path recognition sensor unit 120 for recognizing the driving path of the robot cleaner at the bottom.

이때 상기 본체(100) 내부에 상기 3개의 모터의 동작을 각기 조절하여 3개의 청소판(200)의 회전방향 및 회전속도를 조정하는 제어부를 구비하는 것이다.At this time, a controller is provided inside the main body 100 to adjust the rotational direction and rotational speed of the three cleaning plates 200 by respectively controlling the operation of the three motors.

또한, 상기 주행은 정삼각주행법(S1) 및 역삼각주행법(S2) 중 하나를 선택한 주행법으로 이루어지는 것이다.In addition, the driving is performed by a driving method in which one of the regular triangle driving method (S1) and the reverse triangle driving method (S2) is selected.

이때 상기 정삼각법는 제1 청소판(201)을 전방에 배치하고 다른 제2 청소판(202) 및 제3 청소판(203)은 후방에 수평되게 배치하여 주행하는 것이며, 상기 역삼각주행법(S2) 제2 청소판(202) 및 제3 청소판(203)을 전방에 수평되게 배치하고 다른 제1 청소판(201)을 후방에 배치하여 주행하는 것이다.At this time, the regular triangulation method is that the first cleaning plate 201 is placed in the front and the second cleaning plate 202 and the third cleaning plate 203 are placed horizontally in the rear to travel, and the reverse triangular driving method (S2) The second cleaning plate 202 and the third cleaning plate 203 are placed horizontally at the front and the other first cleaning plate 201 is placed at the rear to drive.

또한, 상기 제1 청소판(201) 및 제2 청소판(202) 및 제3 청소판(203)은 서로의 역할은 운행중에 제어부을 통해 서로 전환이 가능한 것이다.In addition, the roles of the first cleaning plate 201, the second cleaning plate 202, and the third cleaning plate 203 can be switched with each other through the control unit during operation.

이러한 상기 두 주행법은 직진으로 전진 및 후진 주행하는 직진주행모드를 구비하는 것이다.These two driving methods include a straight driving mode in which the driver travels forward and backward in a straight line.

이때 상기 직진주행모드는 제1 청소판(201)은 좌우왕복원운동을, 제2 청소판(202) 및 제3 청소판(203)은 맞물리는 방향으로 동일속도 회전운동을 하여 주행하는 것이다.At this time, in the straight driving mode, the first cleaning plate 201 travels in a left-right reciprocating circular motion, and the second cleaning plate 202 and the third cleaning plate 203 perform rotational motion at the same speed in the meshing direction.

또한 상기 주행법은 정지한 상태에서 방향을 전환하는 방향전환모드를 구비하는 것이다.In addition, the driving method includes a direction change mode for changing direction in a stopped state.

이때 상기 방향전환모드는 일조향방식(R1) 및 이조향방식(R2) 및 삼조향방식(R3) 중 선택하여 방향의 전환이 이루어지는 것이다. At this time, as the direction change mode, the direction is changed by selecting among a single steering method (R1), a two-steering method (R2), and a three-steering method (R3).

여기서 상기 일조향방식(R1)은 제1 청소판(201)을 전환방향으로 회전하여 방향을 전환하는 것, 이조향방식(R2)은 제2 청소판(202)와 제3청소판(200)을 원하는 전환방향으로 회전하여 방향을 전환하는 것, 삼조향방식(R3)은 제1 청소판(201)과 제2 청소판(202)와 제3 청소판(203)을 모두 전환방향으로 회전하여 방향을 전환하는 것이다.Here, the single steering method (R1) is to change the direction by rotating the first cleaning plate (201) in the switching direction, and the two steering method (R2) is to change the direction by rotating the second cleaning plate (202) and the third cleaning plate (200). is rotated in the desired switching direction to change the direction, and the three steering method (R3) rotates the first cleaning plate 201, the second cleaning plate 202, and the third cleaning plate 203 in the switching direction. is to change direction.

또한 상기 주행법에 있어서 주행중 원하는 방향으로 곡선으로 주행하는 선형주행모드를 구비하는 것이다.In addition, in the driving method, a linear driving mode for driving in a curve in a desired direction during driving is provided.

이때 상기 선행주행모드는 일선행방식(L1) 및 이선행방식(L2) 및 삼선행방식(L3) 중 선택하여 선행주행이 이루어지는 것이다.At this time, as the preceding driving mode, the preceding driving is performed by selecting among the one preceding method (L1), the two preceding method (L2), and the three preceding method (L3).

여기서 상기 일선행방식(L1)은 주행중 제1 청소판(201)의 좌우왕복원운동에 있어서 좌우 왕복정도에 차이를 두어 굽어지고자하는 방향으로 선행주행하는 것, 이선행방식(L2)은 제2 청소판(202)와 제3 청소판(203)이 서로 맞물러 회전하는 과정에서 하는 두 청소판(200)의 회전속도에 차이를 두어 굽어지고자하는 방향으로 선행주행하는 것, 삼선행방식(L3)은 상기 일선행방식(L1)과 이선행방식(L2)이 복합적으로 이루어지는 것을 특징으로 하는 로봇청소기Here, the one-leading method (L1) is to make a difference in the left-right reciprocating degree in the left-right reciprocating circular motion of the first cleaning plate 201 during driving, and the two-precedence method (L2) is to drive in the direction to be bent. In the process of rotation of the cleaning plate 202 and the third cleaning plate 203 interlocking with each other, the rotational speed of the two cleaning plates 200 is different and the preceding driving in the direction to be bent, the three-line method ( L3) is a robot cleaner, characterized in that the first precedence method (L1) and the second precedence method (L2) are combined.

여기서 상기 제어부는 상기 다양한 주행모드에 있어서 주변감지센서부(110)의 주변상황을 인식한 감지신호를 수신하여 주행경로 및 그에 알맞은 주행모드를 결정하여 상기 3개의 모터에 주행신호를 발신하는 것이다.Here, the control unit receives a detection signal that recognizes the surrounding situation of the surrounding sensor unit 110 in the various driving modes, determines a driving route and a driving mode suitable therefor, and transmits driving signals to the three motors.

또한 주행중에 상기 경로인식센서부(120)의 진행경로상황 및 속력을 인식한 인식신호를 수신하여 실제 주행경로와 예정된 주행방향 및 속도와의 오차를 분석하고 이를 이용하여 3개의 청소판(200)에 수정동작신호를 보내 올바른 방향으로 수정하여 진행하는 것이다.In addition, while driving, a recognition signal for recognizing the progress path status and speed of the path recognition sensor unit 120 is received to analyze the error between the actual driving path and the scheduled driving direction and speed, and use this to analyze the three cleaning plates 200 It sends a corrective operation signal to correct and proceed in the right direction.

100: 본체 101: 입력부 102: 출력부
110: 주변감지센서부 120: 경로인식센서부
200: 청소판 201: 제1 청소판 202: 제2 청소판
203: 제3 청소판
S1: 정삼각주행법 S2: 역삼각주행법
R1: 일조향방식 R2: 이조향방식 R3: 삼조향방식
L1: 일선행방식 L2: 이선행방식 L3: 삼선행방식100: body 101: input unit 102: output unit
110: ambient detection sensor unit 120: path recognition sensor unit
200: cleaning plate 201: first cleaning plate 202: second cleaning plate
203 third cleaning plate
S1: regular triangle driving method S2: inverse triangle driving method
R1: Single Steering R2: Two Steering R3: Three Steering
L1: One-precedence L2: Two-precedence L3: Three-precedence

Claims (3)

삼각형에 본체(100)의 모서리 하부에 수평으로 회전하는 3개의 원형 청소판(200)을 구비하고, 상기 제1 청소판(201) 및 제2 청소판(202) 및 제3 청소판(203)을 각각 회전 구동하는 제1 모터 및 제2 모터 및 제3 모터를 구비하고, 본체(100)외면에 주행중 주변의 장애물 및 지형을 감지하는 주변감지센서부(110)를 구비하고,
상기 본체(100) 내부에 상기 3개의 모터의 동작을 각기 조절하여 3개의 청소판(200)의 회전방향 및 회전속도를 조정하는 제어부를 구비하고,

상기 주행은 정삼각주행법(S1) 및 역삼각주행법(S2) 중 선택한 주행법으로 이루어지고,
상기 정삼각법는 제1 청소판(201)을 전방에 배치하고 다른 제2 청소판(202) 및 제3 청소판(203)은 후방에 수평되게 배치하여 주행하고,
상기 역삼각주행법(S2) 제2 청소판(202) 및 제3 청소판(203)을 전방에 수평되게 배치하고 다른 제1 청소판(201)을 후방에 배치하여 주행하며,

상기 제1 청소판(201) 및 제2 청소판(202) 및 제3 청소판(203)은 서로의 역할은 운행중에 상기 제어부을 통해 서로 전환이 가능한 것을 특징으로 하는 로봇청소기.
Equipped with three circular cleaning plates 200 horizontally rotating at the bottom of the corner of the triangular body 100, the first cleaning plate 201, the second cleaning plate 202, and the third cleaning plate 203 and a first motor, a second motor, and a third motor for rotationally driving, respectively, and an ambient sensor unit 110 for detecting surrounding obstacles and terrain while driving on the outer surface of the main body 100,
A controller is provided inside the main body 100 to adjust the rotational direction and rotational speed of the three cleaning plates 200 by respectively controlling the operation of the three motors,

The driving is performed by a driving method selected from the regular triangle driving method (S1) and the reverse triangle driving method (S2),
In the regular trigonometric method, the first cleaning plate 201 is placed in the front, and the other second and third cleaning plates 202 and 203 are placed horizontally in the rear to drive,
In the reverse triangular driving method (S2), the second cleaning plate 202 and the third cleaning plate 203 are horizontally placed in the front and the other first cleaning plate 201 is placed in the rear to drive,

The robot cleaner, characterized in that the roles of the first cleaning plate 201, the second cleaning plate 202, and the third cleaning plate 203 can be switched with each other through the control unit during operation.
 제 1항에 있어서,
상기 제어부은 그 주행법에 있어서 정지한 상태에서 방향을 전환하는 방향전환모드를 구비하고,
상기 방향전환모드는 일조향방식(R1) 및 이조향방식(R2) 및 삼조향방식(R3) 중 선택하여 방향의 전환이 이루어지고,
상기 일조향방식(R1)은 제1 청소판(201)을 전환방향으로 회전하여 방향을 전환하는 것, 이조향방식(R2)은 제2 청소판(202)와 제3청소판(200)을 원하는 전환방향으로 회전하여 방향을 전환하는 것, 삼조향방식(R3)은 제1 청소판(201)과 제2 청소판(202)와 제3 청소판(203)을 모두 전환방향으로 회전하여 방향을 전환하는 것을 특징으로 하는 로봇청소기.According to claim 1,
The control unit has a direction change mode for changing the direction in a stopped state in the driving method,
In the direction change mode, the direction is changed by selecting one of a single steering method (R1), a two-steering method (R2) and a three-steering method (R3),
The single steering method (R1) changes the direction by rotating the first cleaning plate 201 in the switching direction, and the two steering method (R2) rotates the second cleaning plate 202 and the third cleaning plate 200. Changing the direction by rotating in the desired switching direction, the three-steering method (R3) rotates the first cleaning plate 201, the second cleaning plate 202, and the third cleaning plate 203 in the switching direction to change the direction A robot cleaner characterized in that for switching. 제1항에 있어서,
상기 제어부은 그 주행법에 있어서 주행 중 원하는 방향으로 곡선으로 주행하는 선형주행모드를 구비하고,
상기 선행주행모드는 일선행방식(L1) 및 이선행방식(L2) 및 삼선행방식(L3) 중 선택하여 선행주행이 이루어지고,
상기 일선행방식(L1)은 주행중 제1 청소판(201)의 좌우왕복원운동에 있어서 좌우 왕복정도에 차이를 두어 굽어지고자하는 방향으로 선행주행하는 것, 이선행방식(L2)은 제2 청소판(202)와 제3 청소판(203)이 서로 맞물러 회전하는 과정에서 하는 두 청소판(200)의 회전속도에 차이를 두어 굽어지고자하는 방향으로 선행주행하는 것, 삼선행방식(L3)은 상기 일선행방식(L1)과 이선행방식(L2)이 복합적으로 이루어지는 것을 특징으로 하는 로봇청소기.According to claim 1,
The control unit has a linear driving mode for driving in a curve in a desired direction during driving in the driving method,
In the preceding driving mode, the preceding driving is performed by selecting one of the one preceding method (L1), the two preceding method (L2), and the three preceding method (L3),
The one-leading method (L1) is to make a difference in the degree of left-right reciprocation in the left-right reciprocating circular motion of the first cleaning plate 201 during driving, and the two-precedence method (L2) is to drive in the direction to be bent. In the process of rotation of the plate 202 and the third cleaning plate 203 interlocking with each other, the rotational speed of the two cleaning plates 200 is different to drive in advance in the direction to be bent, the three-line method (L3 ) is a robot cleaner, characterized in that the one-precedence method (L1) and the two-precedence method (L2) are combined.
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* Cited by examiner, † Cited by third party
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