WO2015012602A1 - Wet cloth cleaning robot and method for controlling cleaning - Google Patents

Wet cloth cleaning robot and method for controlling cleaning Download PDF

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Publication number
WO2015012602A1
WO2015012602A1 PCT/KR2014/006723 KR2014006723W WO2015012602A1 WO 2015012602 A1 WO2015012602 A1 WO 2015012602A1 KR 2014006723 W KR2014006723 W KR 2014006723W WO 2015012602 A1 WO2015012602 A1 WO 2015012602A1
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WO
WIPO (PCT)
Prior art keywords
mop
water
cleaning
plate
robot
Prior art date
Application number
PCT/KR2014/006723
Other languages
French (fr)
Korean (ko)
Inventor
박홍석
허주표
정우철
이상교
Original Assignee
주식회사 모뉴엘
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from KR1020140015069A external-priority patent/KR101520043B1/en
Application filed by 주식회사 모뉴엘 filed Critical 주식회사 모뉴엘
Publication of WO2015012602A1 publication Critical patent/WO2015012602A1/en

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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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/06—Nozzles with fixed, e.g. adjustably fixed brushes or the like
    • A47L9/0686—Nozzles with cleaning cloths, e.g. using disposal fabrics for covering the nozzle
    • 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
    • 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

Definitions

  • the present invention relates to a mop robot cleaner and a cleaning control method thereof, and more particularly, in a mop robot cleaner, a water bucket is formed on a mop plate, and the mop is formed of a water wiping part of the water coating unit, and the mop cleaning is called and wiped. It is intended to be clear and quick through the process.
  • Another object of the present invention is to be configured to guide the air to the ground of the vacuum pump air discharge portion to allow the drying process after the water cleaning process.
  • the robot cleaner performs cleaning while automatically driving itself in a work area such as a cleaning area without a user's manipulation.
  • the above robot cleaner sweeps dust using a brush while traveling in a preset work path or an optimal work path according to a built-in program, or stores dust in a dust bin provided by suctioning dust by vacuum suction input. To work.
  • the robot cleaner as described above is equipped with a mop plate mounted on the lower part of the body, and the mop is cleaned by attaching a mop to the mop plate.
  • the mop attached to the mop plate is moistened with water to clean the mop mop.
  • the conventional robot cleaner as described above has a problem that the mop attached to the mop plate is a dry mop or a temporarily wet mop so that the entire mop of the cleaning part is not cleaned.
  • the present invention can solve the problem that the conventional robot cleaner is not clear and clean by the mop, in particular, when the mop is moistened with the mop, the mop is temporarily cleaned and the entire mop is not cleaned. It would be.
  • a bucket is formed on the mop plate, and the water wiping part of the water coating part is formed on the mop.
  • the air of the vacuum pump air discharge portion is configured to be guided to the ground.
  • the present invention is formed by the bucket on the mop plate, the mop is composed of the water coating portion and the water cleaning portion, the mop cleaning is made quickly and clearly through the soaking and wiping process.
  • the air of the vacuum pump air discharge portion is configured to be guided to the ground, the wet cleaning area is dried after the water wiping process, and the cleaning is clearly completed.
  • FIG. 1 is an exploded perspective view showing an embodiment according to the present invention.
  • Figure 2 is an illustration of a bottom exploded perspective view showing an embodiment according to the present invention.
  • Figure 3 is an illustration of a bottom perspective showing a state in which the present invention is mounted on the robot body.
  • Figure 4 is a partial cross-sectional perspective view of the mop plate according to the present invention.
  • Figure 5 is a perspective illustration of a mop plate shown to have a dry guide plate in another embodiment according to the present invention.
  • Figure 6 is an exemplary side view showing a state mounted on the robot body mop plate to which a dry induction plate is applied to another embodiment of the present invention.
  • FIG. 7 is a control block diagram showing an embodiment according to the present invention.
  • FIG 8 is an exemplary view showing an automatic cleaning process of the robot cleaner according to the present invention.
  • FIG 9 is an exemplary view showing a intensive cleaning process of the robot cleaner according to the present invention.
  • FIG 10 is an exemplary view showing a wall cleaning process of the robot cleaner according to the present invention.
  • FIG 11 is an exemplary view showing an S-shaped cleaning process of the robot cleaner according to the present invention.
  • Figure 12 is an exemplary view showing a whirlwind cleaning process of the robot cleaner according to the present invention.
  • Figure 13 is an exemplary view showing a zigzag cleaning process of the robot cleaner according to the present invention.
  • the present invention is to ensure that water is continuously supplied to the mop in the cleaning process and that the mop cleaning can be made clearly through the soaking and wiping process.
  • the present invention as shown in Figure 1 is coupled to both sides of the robot body by a suspension device driven by the drive unit 170 and the main brush coupled to the lower portion of the robot body 110 ( 131, the side brush 132 provided on the side of the robot body 110, the vacuum pump 180 provided in the robot body 110, the front of the robot body 110 is provided with a sensing sensor
  • the mop plate 10 is coupled to the rear side lower portion of the robot body 110 and configured to be supplied with water so as to be detachably mounted, the mop plate ( The mop 20 is provided at the bottom of the 10).
  • the mop plate 10 is protruded upward from the end side of the rear robot body 110, as shown in Figures 1 and 2 and 4, the bucket 11 is formed to have a storage space, the A capillary supply part 12 is formed in a plate shape so as to allow the capillary flow of water from the bucket 11 to the front side of the mop plate 10.
  • a capillary supply part 12 is formed in the lower part of the front side of the mop plate 10.
  • the water supply unit 13 for supplying the supplied water to the mop 20 is formed.
  • the bucket 11 has a water injection portion 11b having a water injection stopper 11a to form a water storage space of a predetermined volume and to inject water into the lower portion thereof.
  • the capillary supply portion 12 is formed between the upper plate and the lower plate of the mop plate body made of a plate shape.
  • the capillary supply portion 12 is absorbed and flows by the viscous force with the mop plate body.
  • the capillary supply unit 12 may be provided to be provided with a supply filter (12a) that can smoothly supply the water in the bucket (11).
  • a limit water supply jaw (11c) to limit the amount of water supplied to the mop 20 is supplied only to wet the mop 20 completely.
  • the limited water supply jaw (11c) is supplied only enough to completely wet the water mop (20) stored in the bucket (11) to prevent excessive water supply when the robot cleaner stops in the cleaning process and the robot cleaner can run normally In this case, the filled water remaining on the limited water supply jaw 11c is overflowed by shaking and is supplied to the capillary supply part 12.
  • the mop plate 10 is a projection fitting projection 14 that is fitted to the fitting coupling groove formed on the bottom side of the robot body 110 on the upper surface is formed.
  • the mop 20 is formed to correspond to the shape of the mop plate body as shown in Figures 1 and 2 and is bound to the lower portion of the mop plate 10 by a binding means such as Velcro and mop plate on the front side Water applied to the cleaning part by receiving water from the water supply part 13 of the (10) and the water coating part 21 and the water applied to the cleaning part by the mop plate 10 provided on the rear side of the water applying part 21 It is composed of a water wiping unit 22 to make the cleaning while closing.
  • a binding means such as Velcro and mop plate
  • the water coating part 21 is made of a reinforcing or porous material so as to evenly spray the supplied water to be applied to the cleaning unit to evenly disperse the foreign matter stuck to the cleaning site to remove.
  • the water wiping unit 22 is made of a microfiber to close the foreign matter of the cleaning site with the coated water to remove it well.
  • the present invention is coupled to both sides of the robot body 110 by a suspension device driven by the drive unit 170 and the main brush 131 coupled to the lower portion of the robot body 110, the The side brush 132 provided on the side of the robot body 110, the vacuum pump 180 provided inside the robot body 110, the bumper unit provided in front of the robot body 110 and provided with a sensing sensor ( 140), the robot controller 150 for controlling the cleaning and driving of the robot body 110, the controller 160 for inputting a user's operation signal to the robot controller 150 and supplying power for the operation of the robot Made of a power supply unit 190, coupled to the lower rear side of the robot body 110, the mop plate 10 is configured to be supplied with water is detachably provided, the mop (mop) in the lower portion of the mop plate (10) The robot cleaner equipped with 20) is not equipped with the mop plate 10 from the mop plate detecting means.
  • the cleaning made by the user's operation from the detected state to the mop plate 10 is mounted from the sensing means to clean made by a user's operation in the sensed condition to be.
  • the general cleaning process avoids obstacles in the state where the mop plate 10 is not mounted as shown in FIGS.
  • one or more cleaning processes of the intensive cleaning process 520 in which the cleaning is performed in a circular area and the wall cleaning process 530 in which the cleaning is performed by moving along the wall are operated by the user's operation unit 160. It is made by selectively.
  • the automatic cleaning process 510 is a robot control unit when the operation is made to perform automatic cleaning by operating the operation unit in the state in which it is detected that the mop plate 10 is not mounted from the mop plate detection means as shown in FIG. The cleaning is performed while the 150 detects the obstacle through the sensor provided in the robot cleaner body in the bumper unit 140 and moves to avoid it.
  • the intensive cleaning process 520 is a robot control unit when the user is operated to perform the concentrated cleaning by operating the operation unit in the state in which it is detected that the mop plate 10 is not mounted from the mop plate detecting means as shown in FIG.
  • the robot 150 controls the driving unit 170 so that the robot cleaner moves forward at a predetermined distance from the cleaning start point, and then moves backward, and then rotates at a predetermined angle at the cleaning start point in the process of moving forward.
  • Battery operation of the vacuum cleaner is a radial cleaning is made in a circle.
  • the wall cleaning process 530 is a robot control unit when the user is manipulated to clean the wall by manipulating the operation unit in the state that it is detected that the mop plate 10 is not mounted from the mop plate detection means as shown in FIG. 150 detects a wall surface through a sensor provided in the robot cleaner body and cleans along the detected wall surface.
  • the mop cleaning process as shown in Figs. 11 to 13 move in an S-shape in the state equipped with the mop plate 10 and moving while drawing a circle and the S-shaped cleaning process 610 in which the mop cleaning is performed.
  • the cleaning process of cleaning the mop whirlwind 620 and the zigzag cleaning process to clean the zigzag cleaning process (630) to move left and right alternately back and forth is selectively made by the operation of the user's operation unit 160. .
  • the s-type cleaning process 610 is a robot when the user is operated to clean the s-shaped mop by operating the operation unit in the state that the mop plate 10 is detected from the mop plate detection means as shown in FIG.
  • the controller 150 controls the driving unit 170 to clean the mop while the robot cleaner forms an S-shaped trajectory.
  • the whirlpool cleaning process 620 is a robot control unit when the user manipulates the whirlpool mop by manipulating the operation unit in a state where the mop plate 10 is detected from the mop plate detecting means as shown in FIG. 12.
  • the mop cleaning is performed while the 150 controls the driving unit 170 while the robot cleaner continuously forms a circular trajectory.
  • the zigzag cleaning process 630 is a robot control unit when the user manipulates the whirlpool mop by manipulating the operation unit in a state where the mop plate 10 is detected from the mop plate detecting means as shown in FIG. 13.
  • 150 controls the driving unit 170 so that the robot cleaner moves forward in one direction of the left and right sides, and then retreats to a distance shorter than the forward movement distance, and then moves forward in the opposite direction, and then to a shorter distance than the forward movement distance.
  • Mop cleaning is performed while forming the cleaning trace so that the retreat movement process is repeated.
  • a mop plate 10 coupled to the lower rear side of the robot body 110 and configured to be supplied with water is provided to be detachable, and a mop is provided at the bottom of the mop plate 10.
  • the robot cleaner applied with the present invention having a 20 is a general cleaning process in which cleaning is performed by a user's operation when it is detected that the mop plate 10 is not mounted from the mop plate detecting means.
  • the general cleaning process avoids obstacles according to the operation of the user's control unit 160, and automatically runs and cleans the driving and retreat forward and backward around the cleaning starting point.
  • One or more cleaning processes of the concentrated cleaning process 520 and the wall cleaning process 530 in which the cleaning is performed by moving along the wall surface are selectively performed by the user's manipulation unit 160.
  • the robot cleaner to which the present invention is applied is detected that the mop plate 10 is mounted from the mop plate detecting means, the mop cleaning process is performed by the user's operation.
  • the mop cleaning process is moved to the S-shaped cleaning process 610 in which the mop cleaning is carried out in a state in which the mop plate 10 is mounted in accordance with the operation of the user's operation unit 160, cleaning the mop and cleaning the mop
  • the whirlwind cleaning process 620 and the zigzag cleaning process 630 for cleaning the left and right alternately moving forward and backward is made by the user of the operation unit 160 is selectively performed.
  • the robot cleaner according to the present invention as described above is continuously supplied with water to the mop 20 during the mop cleaning process, the mop cleaning is made clear.
  • the mop 20 is formed by a water wiping part 22 made of a mesh cloth or porous water coating part 21 and a microfiber
  • the water coating part 21 is sprayed evenly on the cleaning part by spraying the water supplied. It is easy to clean the foreign matter adhered to the cleaning site by coating, and the foreign matter called by the water wiping unit 22 is clearly wiped off by the microfiber.
  • the capillary supply part 12 is provided with a supply filter 12a which enables the water of the bucket 11 to be supplied smoothly, the water in the bucket 11 is uniform through the supply filter 12a. It is absorbed so that the capillary transfer is supplied, the water is made uniformly in the mop cleaning process by the uniform mop 20, the cleaning is made.
  • the robot cleaner when the restriction water supply jaw (11c) is formed between the capillary supply portion 12 and the water tank 11, the robot cleaner is in a state in which water stored in the water tank 11 is supplied to the water mop 20.
  • the amount of water supplied to the mop 20 is limited to prevent damage to the floor made of wood due to excessive supply of the water in the bucket 11, and the water stored in the bucket 11 in the normal cleaning run state is
  • the water supply to the mop 20 is smoothly supplied by overflowing by shaking.
  • main brush 132 side brush
  • driving unit 180 vacuum pump 190: power supply

Abstract

The present invention relates to a wet cloth cleaning robot, the objective of the present invention being allowing cleaning with a wet cloth, by means of wetting and wiping steps, to be certain and rapid. To that end, provided in the wet cloth cleaning robot are a water receptacle on a wet cloth plate, and a wet cloth having a water coated part and a water wiping part. Accordingly, by having the wet cloth plate provided with the water receptacle and the wet cloth having the water coated part and the water wiping part, the present invention allows a certain and rapid cleaning with a wet cloth by means of wetting and wiping steps.

Description

물걸레 로봇청소기 및 청소제어방법Mop Robot Cleaner and Cleaning Control Method
본 발명은 물걸레 로봇청소기 및 그 청소제어방법에 관한 것으로서, 더욱 상세하게는 물걸레 로봇청소기에 있어서, 걸레판에 물통을 형성하고, 물걸레를 물도포부의 물닦음부로 형성되어서, 물걸레 청소가 불림과 닦음 과정을 통하여 명확하고 신속하게 이루어질 수 있도록 함을 목적으로 한 것이다.The present invention relates to a mop robot cleaner and a cleaning control method thereof, and more particularly, in a mop robot cleaner, a water bucket is formed on a mop plate, and the mop is formed of a water wiping part of the water coating unit, and the mop cleaning is called and wiped. It is intended to be clear and quick through the process.
본 발명의 다른 목적은 진공펌프 공기토출부의 공기가 지면으로 유도되게 구성되어서 물닦음과정 후 건조과정이 이루어질 수 있도록 함을 목적으로 한 것이다.Another object of the present invention is to be configured to guide the air to the ground of the vacuum pump air discharge portion to allow the drying process after the water cleaning process.
일반적으로, 로봇청소기는 사용자의 조작 없이도 자동으로 청소구역과 같은 작업구역을 스스로 주행하면서 청소작업을 수행한다.In general, the robot cleaner performs cleaning while automatically driving itself in a work area such as a cleaning area without a user's manipulation.
이상과 같은 로봇청소기는 내장된 프로그램에 따라 미리 설정된 작업 경로 또는 최적의 작업 경로를 주행하면서 브러시를 이용하여 먼지를 쓸어 담거나, 진공흡입력에 의하여 먼지를 흡입하여서 구비된 먼지통에 먼지를 저장하여 청소작업을 하는 것이다.The above robot cleaner sweeps dust using a brush while traveling in a preset work path or an optimal work path according to a built-in program, or stores dust in a dust bin provided by suctioning dust by vacuum suction input. To work.
상기한 바와 같은 로봇청소기는 몸체 하부에 걸레판을 장착 구비하고, 상기 걸레판에 걸레를 부착하여서 청소부위의 걸레청소가 이루어지게 하고 있다.The robot cleaner as described above is equipped with a mop plate mounted on the lower part of the body, and the mop is cleaned by attaching a mop to the mop plate.
또한, 상기 걸레판에 부착되는 걸레에 물을 적셔 청소부위가 물걸레청소가 이루어지게 하고 있다.In addition, the mop attached to the mop plate is moistened with water to clean the mop mop.
그러나, 상기한 바와 같은 종래의 로봇청소기는 걸레판에 부착되는 걸레가 마른 걸레이거나 일시적으로 젖은 걸레여서 청소부위의 전체적인 물걸레 청소가 이루어지지 않는 문제점이 있었다.However, the conventional robot cleaner as described above has a problem that the mop attached to the mop plate is a dry mop or a temporarily wet mop so that the entire mop of the cleaning part is not cleaned.
이에, 본 발명은 상술한 바와 같이 종래 로봇청소기가 걸레에 의한 청소가 명확하고 깨끗하게 이루어지지 않으며 특히, 걸레에 물을 적셔 하는 경우 물걸레 청소가 일시적으로 이루어져 전체적인 물걸레 청소가 이루어지지 않는 문제점을 해결할 수 있도록 한 것이다.Thus, the present invention can solve the problem that the conventional robot cleaner is not clear and clean by the mop, in particular, when the mop is moistened with the mop, the mop is temporarily cleaned and the entire mop is not cleaned. It would be.
즉, 물걸레 로봇청소기에 있어서, 걸레판에 물통을 형성하고, 물걸레에 물도포부의 물닦음부가 형성된 것이다.That is, in the mop robot cleaner, a bucket is formed on the mop plate, and the water wiping part of the water coating part is formed on the mop.
또한, 진공펌프 공기토출부의 공기가 지면으로 유도되게 구성된 것이다.In addition, the air of the vacuum pump air discharge portion is configured to be guided to the ground.
따라서, 본 발명은 걸레판에 물통이 형성되고, 물걸레에 물도포부와 물닦음부로 구성됨으로써, 물걸레 청소가 불림과 닦음과정을 통하여 명확하고 신속하게 이루어지는 것이다.Therefore, the present invention is formed by the bucket on the mop plate, the mop is composed of the water coating portion and the water cleaning portion, the mop cleaning is made quickly and clearly through the soaking and wiping process.
또한, 진공펌프 공기토출부의 공기가 지면으로 유도되게 구성함으로써 물 닦음과정 후 젖은 청소부위가 건조되어 청소가 명확하게 완료되는 것이다.In addition, since the air of the vacuum pump air discharge portion is configured to be guided to the ground, the wet cleaning area is dried after the water wiping process, and the cleaning is clearly completed.
도 1 은 본 발명에 따른 일 실시 예를 보인 분해 사시 예시도.1 is an exploded perspective view showing an embodiment according to the present invention.
도 2 는 본 발명에 따른 일 실시 예를 보인 저면 분해 사시 예시도.Figure 2 is an illustration of a bottom exploded perspective view showing an embodiment according to the present invention.
도 3 은 본 발명을 로봇몸체에 장착한 상태를 보인 저면 사시 예시도.Figure 3 is an illustration of a bottom perspective showing a state in which the present invention is mounted on the robot body.
도 4 는 본 발명에 따른 걸레판의 부분 단면 사시 예시도.Figure 4 is a partial cross-sectional perspective view of the mop plate according to the present invention.
도 5 는 본 발명에 따른 다른 실시 예로 건조 유도판을 구비한 것을 보인 걸레판의 사시 예시도.Figure 5 is a perspective illustration of a mop plate shown to have a dry guide plate in another embodiment according to the present invention.
도 6 은 본 발명의 다른 실시 예인 건조유도판이 적용된 걸레판을 로봇몸체에 장착한 상태를 보인 측면 예시도.Figure 6 is an exemplary side view showing a state mounted on the robot body mop plate to which a dry induction plate is applied to another embodiment of the present invention.
도 7은 본 발명에 따른 일 실시 예를 보인 제어블록도.7 is a control block diagram showing an embodiment according to the present invention.
도 8은 본 발명에 따른 로봇청소기의 자동청소과정을 보인 예시도.8 is an exemplary view showing an automatic cleaning process of the robot cleaner according to the present invention.
도 9는 본 발명에 따른 로봇청소기의 집중청소과정을 보인 예시도.9 is an exemplary view showing a intensive cleaning process of the robot cleaner according to the present invention.
도 10은 본 발명에 따른 로봇청소기의 벽면청소과정을 보인 예시도.10 is an exemplary view showing a wall cleaning process of the robot cleaner according to the present invention.
도 11은 본 발명에 따른 로봇청소기의 에스자형청소과정을 보인 예시도.11 is an exemplary view showing an S-shaped cleaning process of the robot cleaner according to the present invention.
도 12는 본 발명에 따른 로봇청소기의 회오리청소과정을 보인 예시도.Figure 12 is an exemplary view showing a whirlwind cleaning process of the robot cleaner according to the present invention.
도 13은 본 발명에 따른 로봇청소기의 지그재그청소과정을 보인 예시도.Figure 13 is an exemplary view showing a zigzag cleaning process of the robot cleaner according to the present invention.
이하, 첨부된 도면에 의하여 상세히 설명하면 다음과 같다.Hereinafter, described in detail by the accompanying drawings as follows.
본 발명은 청소과정에 있어 걸레에 물이 지속적으로 공급되게 하고 물걸레청소가 불림과 닦음과정을 통하여 명확하게 이루어질 수 있도록 한 것이다.The present invention is to ensure that water is continuously supplied to the mop in the cleaning process and that the mop cleaning can be made clearly through the soaking and wiping process.
즉, 본 발명은 도 1 에 도시된 바와 같이 로봇몸체의 양측에 현가장치에 의하여 결합되어 구동부(170)에 의하여 구동되는 구동륜(120)과 상기 로봇몸체(110)의 하부에 결합된 메인브러시(131), 상기 로봇몸체(110)의 측면에 구비되는 사이드브러시(132), 로봇몸체(110)의 내부에 구비되는 진공펌프(180), 로봇몸체(110)의 전방에 구비되며 감지센서가 구비된 범퍼부(140), 상기 로봇몸체(110)의 청소 및 구동을 제어하는 로봇제어부(150), 상기 로봇제어부(150)로 사용자의 조작신호를 입력하는 조작부(160) 및 로봇의 동작을 위한 전원을 공급하는 전원부(190)로 이루어진 로봇 청소기에 있어서, 상기 로봇몸체(110)의 후방 측 하부에 결합되며 물이 공급되게 구성된 걸레판(10)이 장 탈착 가능하게 구비되고, 상기 걸레판(10)의 하부에 물걸레(20)가 구비된 것이다.That is, the present invention, as shown in Figure 1 is coupled to both sides of the robot body by a suspension device driven by the drive unit 170 and the main brush coupled to the lower portion of the robot body 110 ( 131, the side brush 132 provided on the side of the robot body 110, the vacuum pump 180 provided in the robot body 110, the front of the robot body 110 is provided with a sensing sensor The bumper unit 140, the robot controller 150 for controlling the cleaning and driving of the robot body 110, the operation unit 160 for inputting a user's operation signal to the robot controller 150 and for the operation of the robot In the robot cleaner consisting of a power supply unit 190 for supplying power, the mop plate 10 is coupled to the rear side lower portion of the robot body 110 and configured to be supplied with water so as to be detachably mounted, the mop plate ( The mop 20 is provided at the bottom of the 10).
여기서, 상기 걸레판(10)은 도 1 과 도 2 및 도 4 에 도시된 바와 같이 후방 측 로봇몸체(110)의 단부 측에서 상부로 돌출되어 저장공간을 갖게 물통(11)이 형성되고, 상기 물통(11)에서 걸레판(10)의 전방 측으로 물을 모세관 유동시킬 수 있게 판상으로 형성된 모세관공급부(12)가 형성되며, 상기 걸레판(10)의 전방 측 하부에는 모세관공급부(12)를 통하여 공급된 물을 물걸레(20)로 공급하는 물공급부(13)가 형성된 것이다.Here, the mop plate 10 is protruded upward from the end side of the rear robot body 110, as shown in Figures 1 and 2 and 4, the bucket 11 is formed to have a storage space, the A capillary supply part 12 is formed in a plate shape so as to allow the capillary flow of water from the bucket 11 to the front side of the mop plate 10. A capillary supply part 12 is formed in the lower part of the front side of the mop plate 10. The water supply unit 13 for supplying the supplied water to the mop 20 is formed.
상기 물통(11)은 일정 체적의 물저장공간을 형성하고 하부에 물을 주입할 수 있게 물주입마개(11a)가 구비된 물주입부(11b)가 형성된 것이다.The bucket 11 has a water injection portion 11b having a water injection stopper 11a to form a water storage space of a predetermined volume and to inject water into the lower portion thereof.
상기 모세관공급부(12)는 판상으로 이루어진 걸레판몸체의 상부판과 하부판 사이에 형성되는 것이다.The capillary supply portion 12 is formed between the upper plate and the lower plate of the mop plate body made of a plate shape.
상기 모세관공급부(12)는 걸레판몸체와의 점성력에 의하여 흡수 유동되는 것이다.The capillary supply portion 12 is absorbed and flows by the viscous force with the mop plate body.
한편, 상기 모세관공급부(12)에는 물통(11)의 물을 원활하게 공급할 수 있게 한 공급필터(12a)가 구비되게 실시할 수 있는 것이다.On the other hand, the capillary supply unit 12 may be provided to be provided with a supply filter (12a) that can smoothly supply the water in the bucket (11).
또한, 상기 모세관공급부(12)와 물통(11) 사이에는 물걸레(20)로 공급되는 물의 양이 물걸레(20)를 완전히 적시는 양만 공급되게 제한하는 제한급수턱(11c)을 형성한 것이다.In addition, between the capillary supply portion 12 and the bucket 11 is formed a limit water supply jaw (11c) to limit the amount of water supplied to the mop 20 is supplied only to wet the mop 20 completely.
상기 제한급수턱(11c)은 물통(11)에 저장된 물이 물걸레(20)를 완전히 적실 정도만 공급되어 청소과정에 있어 로봇청소기가 정지할 경우 과도한 물공급이 이루어지지 않게 하며 로봇청소기가 정상적으로 주행할 경우에는 제한급수턱(11c)에 잔류하여 채워진 물이 흔들림에 의하여 넘쳐서 모세관공급부(12)로 공급되는 것이다.The limited water supply jaw (11c) is supplied only enough to completely wet the water mop (20) stored in the bucket (11) to prevent excessive water supply when the robot cleaner stops in the cleaning process and the robot cleaner can run normally In this case, the filled water remaining on the limited water supply jaw 11c is overflowed by shaking and is supplied to the capillary supply part 12.
한편, 상기 걸레판(10)은 상면에 로봇몸체(110)의 바닥측에 형성된 끼움결합홈에 끼움 결합되는 끼움결합돌기(14)가 돌출형성된 것이다.On the other hand, the mop plate 10 is a projection fitting projection 14 that is fitted to the fitting coupling groove formed on the bottom side of the robot body 110 on the upper surface is formed.
그리고, 상기 물걸레(20)는 도 1 과 도 2 에 도시된 바와 같이 걸레판 몸체의 형상에 대응하여 형성되며 벨크로와 같은 결속수단에 의하여 걸레판(10)의 하부에 결속되며 전방 측에 걸레판(10)의 물공급부(13)로부터 물을 공급받아 청소부위에 도포하는 물도포부(21)와 상기 물도포부(21)의 후방 측에 구비되어 상기 걸레판(10)에 의하여 청소부위에 도포된 물을 닫으면서 청소가 이루어지게 하는 물닦음부(22)로 구성되는 것이다.And, the mop 20 is formed to correspond to the shape of the mop plate body as shown in Figures 1 and 2 and is bound to the lower portion of the mop plate 10 by a binding means such as Velcro and mop plate on the front side Water applied to the cleaning part by receiving water from the water supply part 13 of the (10) and the water coating part 21 and the water applied to the cleaning part by the mop plate 10 provided on the rear side of the water applying part 21 It is composed of a water wiping unit 22 to make the cleaning while closing.
상기 물도포부(21)는 공급된 물을 고루 분사시켜 청소부에 도포하여서 청소부위에 들러붙은 이물질을 불림 제거할 수 있도록 고루 분산시킬 수 있게 망직 또는 다공질재료로 이루어진 것이다.The water coating part 21 is made of a reinforcing or porous material so as to evenly spray the supplied water to be applied to the cleaning unit to evenly disperse the foreign matter stuck to the cleaning site to remove.
상기 물닦음부(22)는 청소부위의 이물질을 도포된 물과 함께 잘 닫아 제거할 수 있게 한 극세사로 이루어진 것이다.The water wiping unit 22 is made of a microfiber to close the foreign matter of the cleaning site with the coated water to remove it well.
한편, 본 발명의 실시에 있어서, 도 5 와 도 6 에 도시된 바와 같이 상기 걸레판(10)의 물통(11) 후방 측에 로봇몸체(110)에 내장된 진공펌프(180)에 뜨거운 공기가 토출되는 공기토출부(111)의 공기를 물 닦음이 완료된 청소부위로 유도하여 청소부위에 잔류한 수분을 제거할 수 있게 한 건조유도판(15)이 형성된 것이다.On the other hand, in the practice of the present invention, as shown in Figure 5 and 6 hot air in the vacuum pump 180 built in the robot body 110 on the rear side of the bucket 11 of the mop plate 10 The dry guide plate 15 is formed to guide the air of the discharged air discharge part 111 to the cleaning part where the water wiping is completed to remove the moisture remaining in the cleaning part.
이하, 본 발명에 따른 로봇청소기의 청소방법에 대하여 설명하면 다음과 같다.Hereinafter, the cleaning method of the robot cleaner according to the present invention will be described.
즉, 본 발명은 로봇몸체(110)의 양측에 현가장치에 의하여 결합되어 구동부(170)에 의하여 구동되는 구동륜(120)과 상기 로봇몸체(110)의 하부에 결합된 메인브러시(131), 상기 로봇몸체(110)의 측면에 구비되는 사이드브러시(132), 로봇몸체(110)의 내부에 구비되는 진공펌프(180), 로봇몸체(110)의 전방에 구비되며 감지센서가 구비된 범퍼부(140), 상기 로봇몸체(110)의 청소 및 구동을 제어하는 로봇제어부(150), 상기 로봇제어부(150)로 사용자의 조작신호를 입력하는 조작부(160) 및 로봇의 동작을 위한 전원을 공급하는 전원부(190)로 이루어지되, 상기 로봇몸체(110)의 후방 측 하부에 결합되며 물이 공급되게 구성된 걸레판(10)이 장 탈착 가능하게 구비되고, 상기 걸레판(10)의 하부에 물걸레(20)가 구비된 로봇청소기는 걸레판감지수단으로부터 걸레판(10)이 장착되지 않은 것으로 감지된 상태에서 사용자의 조작에 의하여 청소가 이루어지는 일반청소과정과 걸레판감지수단으로부터 걸레판(10)이 장착된 것으로 감지된 상태에서 사용자의 조작에 의하여 청소가 이루어지는 물걸레청소과정으로 이루어진 것이다.That is, the present invention is coupled to both sides of the robot body 110 by a suspension device driven by the drive unit 170 and the main brush 131 coupled to the lower portion of the robot body 110, the The side brush 132 provided on the side of the robot body 110, the vacuum pump 180 provided inside the robot body 110, the bumper unit provided in front of the robot body 110 and provided with a sensing sensor ( 140), the robot controller 150 for controlling the cleaning and driving of the robot body 110, the controller 160 for inputting a user's operation signal to the robot controller 150 and supplying power for the operation of the robot Made of a power supply unit 190, coupled to the lower rear side of the robot body 110, the mop plate 10 is configured to be supplied with water is detachably provided, the mop (mop) in the lower portion of the mop plate (10) The robot cleaner equipped with 20) is not equipped with the mop plate 10 from the mop plate detecting means. Been made to the normal cleaning process with the mop plate wet-cloth cleaning process, the cleaning made by the user's operation from the detected state to the mop plate 10 is mounted from the sensing means to clean made by a user's operation in the sensed condition to be.
여기서, 상기 일반청소과정은 도 8 내지 도 10에 도시된 바와 같이 걸레판(10)이 장착되지 않은 상태에서 장애물을 회피하며 자동으로 주행하며 청소가 이루어지는 자동청소과정(510)과 청소시작점을 중심으로 전진과 후진을 반복동작하며 원형의 면적으로 청소가 이루어지는 집중청소과정(520) 및 벽면을 따라 이동하며 청소가 이루어지는 벽면청소과정(530) 중 어느 하나이상의 청소과정이 사용자의 조작부(160) 조작에 의하여 선택적으로 이루어지는 것이다.Here, the general cleaning process avoids obstacles in the state where the mop plate 10 is not mounted as shown in FIGS. By repeating the forward and backward movements, one or more cleaning processes of the intensive cleaning process 520 in which the cleaning is performed in a circular area and the wall cleaning process 530 in which the cleaning is performed by moving along the wall are operated by the user's operation unit 160. It is made by selectively.
상기 자동청소과정(510)은 도 8 에 도시된 바와 같이 걸레판감지수단으로부터 걸레판(10)이 장착되지 않은 것으로 감지된 상태에서 사용자가 조작부를 조작하여 자동청소가 이루어지게 조작하면 로봇제어부(150)가 범퍼부(140)에 로봇청소기 몸체에 구비된 센서를 통하여 장애물을 감지하고 회피이동하면서 청소가 이루어지는 것이다.The automatic cleaning process 510 is a robot control unit when the operation is made to perform automatic cleaning by operating the operation unit in the state in which it is detected that the mop plate 10 is not mounted from the mop plate detection means as shown in FIG. The cleaning is performed while the 150 detects the obstacle through the sensor provided in the robot cleaner body in the bumper unit 140 and moves to avoid it.
상기 집중청소과정(520)은 도 9 에 도시된 바와 같이 걸레판감지수단으로부터 걸레판(10)이 장착되지 않은 것으로 감지된 상태에서 사용자가 조작부를 조작하여 집중청소가 이루어지게 조작하면 로봇제어부(150)는 구동부(170)을 제어하여 로봇청속기가 청소시작점을 중심으로 일정거리 전진 동작하였다가 다시 후진동작한 후 다시 일정거리 전진 동작하는 과정에 청소시작점에서 일정각도로 회전하여서 전지 동작하여 로봇청소기의 전지동작이 방사형을 이루며 원형으로 청소가 이루어지는 것이다.The intensive cleaning process 520 is a robot control unit when the user is operated to perform the concentrated cleaning by operating the operation unit in the state in which it is detected that the mop plate 10 is not mounted from the mop plate detecting means as shown in FIG. The robot 150 controls the driving unit 170 so that the robot cleaner moves forward at a predetermined distance from the cleaning start point, and then moves backward, and then rotates at a predetermined angle at the cleaning start point in the process of moving forward. Battery operation of the vacuum cleaner is a radial cleaning is made in a circle.
상기 벽면청소과정(530)은 도 10 에 도시된 바와 같이 걸레판감지수단으로부터 걸레판(10)이 장착되지 않은 것으로 감지된 상태에서 사용자가 조작부를 조작하여 벽면청소가 이루어지게 조작하면 로봇제어부(150)는 로봇청소기 몸체에 구비된 센서를 통하여 벽면을 감지하며 감지된 벽면을 따라 청소가 이루어지는 것이다.The wall cleaning process 530 is a robot control unit when the user is manipulated to clean the wall by manipulating the operation unit in the state that it is detected that the mop plate 10 is not mounted from the mop plate detection means as shown in FIG. 150 detects a wall surface through a sensor provided in the robot cleaner body and cleans along the detected wall surface.
그리고, 상기 물걸레청소과정은 도 11 내지 도 13 에 도시된 바와 같이 걸레판(10)이 장착된 상태에서 에스자형으로 전직 동작하며 물걸레 청소가 이루어지는 에스자형청소과정(610)과 원을 그리면서 이동하며 물걸레 청소가 이루어지는 회오리청소과정(620) 및 좌측과 우측을 교대로 전후진 동작하며 청소하는 지그재그청소과정(630) 중 어느 하나 이상의 청소과정이 사용자의 조작부(160) 조작에 의하여 선택적으로 이루어지는 것이다.And, the mop cleaning process as shown in Figs. 11 to 13 move in an S-shape in the state equipped with the mop plate 10 and moving while drawing a circle and the S-shaped cleaning process 610 in which the mop cleaning is performed. And the cleaning process of cleaning the mop whirlwind 620 and the zigzag cleaning process to clean the zigzag cleaning process (630) to move left and right alternately back and forth is selectively made by the operation of the user's operation unit 160. .
상기 에스자형청소과정(610)은 도 11에 도시된 바와 같이 걸레판감지수단으로부터 걸레판(10)이 장착된 것으로 감지된 상태에서 사용자가 조작부를 조작하여 에스자형 물걸레청소가 이루어지게 조작하면 로봇제어부(150)가 구동부(170)을 제어하여 로봇청소기가 에스자형의 궤적을 형성하면서 물걸레 청소가 이루어지는 것이다.The s-type cleaning process 610 is a robot when the user is operated to clean the s-shaped mop by operating the operation unit in the state that the mop plate 10 is detected from the mop plate detection means as shown in FIG. The controller 150 controls the driving unit 170 to clean the mop while the robot cleaner forms an S-shaped trajectory.
상기 회오리청소과정(620)은 도 12에 도시된 바와 같이 걸레판감지수단으로부터 걸레판(10)이 장착된 것으로 감지된 상태에서 사용자가 조작부를 조작하여 회오리 물걸레청소가 이루어지게 조작하면 로봇제어부(150)가 구동부(170)을 제어하여 로봇청소기가 연속하여 원형의 궤적이 연속되게 형성하면서 물걸레 청소가 이루어지는 것이다.The whirlpool cleaning process 620 is a robot control unit when the user manipulates the whirlpool mop by manipulating the operation unit in a state where the mop plate 10 is detected from the mop plate detecting means as shown in FIG. 12. The mop cleaning is performed while the 150 controls the driving unit 170 while the robot cleaner continuously forms a circular trajectory.
상기 지그재그청소과정(630)은 도 13에 도시된 바와 같이 걸레판감지수단으로부터 걸레판(10)이 장착된 것으로 감지된 상태에서 사용자가 조작부를 조작하여 회오리 물걸레청소가 이루어지게 조작하면 로봇제어부(150)가 구동부(170)을 제어하여 로봇청소기가 좌측과 우측 중 일 측 방향으로 전진 이동한 후 전진 이동거리보다 짧은 거리로 후퇴 이동하고 다시 반대방향으로 전진이동한 후 전진 이동거리보다 짧은 거리로 후퇴 이동하는 과정이 반복적으로 이루어지게 청소궤적을 형성하면서 물걸레 청소가 이루어지는 것이다.The zigzag cleaning process 630 is a robot control unit when the user manipulates the whirlpool mop by manipulating the operation unit in a state where the mop plate 10 is detected from the mop plate detecting means as shown in FIG. 13. 150 controls the driving unit 170 so that the robot cleaner moves forward in one direction of the left and right sides, and then retreats to a distance shorter than the forward movement distance, and then moves forward in the opposite direction, and then to a shorter distance than the forward movement distance. Mop cleaning is performed while forming the cleaning trace so that the retreat movement process is repeated.
이하, 본 발명의 적용실시과정에 대하여 설명하면 다음과 같다.Hereinafter, application process of the present invention will be described.
상기한 바와 같이 로봇 청소기에 있어서, 상기 로봇몸체(110)의 후방 측 하부에 결합되며 물이 공급되게 구성된 걸레판(10)이 장탈착 가능하게 구비되고, 상기 걸레판(10)의 하부에 물걸레(20)가 구비된 본 발명이 적용된 로봇청소기는 걸레판감지수단으로부터 걸레판(10)이 장착되지 않은 것으로 감지된 경우 사용자의 조작에 의하여 청소가 이루어지는 일반청소과정이 이루어지는 것이다.As described above, in the robot cleaner, a mop plate 10 coupled to the lower rear side of the robot body 110 and configured to be supplied with water is provided to be detachable, and a mop is provided at the bottom of the mop plate 10. The robot cleaner applied with the present invention having a 20 is a general cleaning process in which cleaning is performed by a user's operation when it is detected that the mop plate 10 is not mounted from the mop plate detecting means.
상기 일반청소과정은 사용자의 조작부(160) 조작에 따라 장애물을 회피하며 자동으로 주행하며 청소가 이루어지는 자동청소과정(510)과 청소시작점을 중심으로 전진과 후진을 반복동작하며 원형의 면적으로 청소가 이루어지는 집중청소과정(520) 및 벽면을 따라 이동하며 청소가 이루어지는 벽면청소과정(530) 중 어느 하나이상의 청소과정이 사용자의 조작부(160) 조작에 의하여 선택적으로 이루어지는 것이다.The general cleaning process avoids obstacles according to the operation of the user's control unit 160, and automatically runs and cleans the driving and retreat forward and backward around the cleaning starting point. One or more cleaning processes of the concentrated cleaning process 520 and the wall cleaning process 530 in which the cleaning is performed by moving along the wall surface are selectively performed by the user's manipulation unit 160.
그리고, 본 발명이 적용된 로봇청소기는 걸레판감지수단으로부터 걸레판(10)이 장착된 것으로 감지된 경우 사용자의 조작에 의하여 청소가 이루어지는 물걸레청소과정이 이루어지는 것이다.And, when the robot cleaner to which the present invention is applied is detected that the mop plate 10 is mounted from the mop plate detecting means, the mop cleaning process is performed by the user's operation.
상기 물걸레청소과정은 사용자의 조작부(160) 조작에 따라 걸레판(10)이 장착된 상태에서 에스자형으로 전직 동작하며 물걸레 청소가 이루어지는 에스자형청소과정(610)과 원을 그리면서 이동하며 물걸레 청소가 이루어지는 회오리청소과정(620) 및 좌측과 우측을 교대로 전후진 동작하며 청소하는 지그재그청소과정(630) 중 어느 하나 이상의 청소과정이 사용자의 조작부(160) 조작에 의하여 선택적으로 이루어지는 것이다.The mop cleaning process is moved to the S-shaped cleaning process 610 in which the mop cleaning is carried out in a state in which the mop plate 10 is mounted in accordance with the operation of the user's operation unit 160, cleaning the mop and cleaning the mop The whirlwind cleaning process 620 and the zigzag cleaning process 630 for cleaning the left and right alternately moving forward and backward is made by the user of the operation unit 160 is selectively performed.
한편, 상기한 바와 같은 본 발명에 따른 로봇청소기는 물걸레청소과정에 있어 지속적으로 물걸레(20)에 물이 공급되며 청소가 이루어져 물걸레 청소가 명확하게 이루어지는 것이다.On the other hand, the robot cleaner according to the present invention as described above is continuously supplied with water to the mop 20 during the mop cleaning process, the mop cleaning is made clear.
그리고, 상기 걸레판(10)에 물공급부(13)로 물통(11)의 물을 모세관 유동시키는 모세관공급부(12)를 구비함으로써 물공급부(13)의 물이 원활하고 균일하게 공급되는 것이다.In addition, by providing a capillary tube supply unit 12 for capillary flow of the water in the bucket 11 to the water supply unit 13 in the mop plate 10, the water of the water supply unit 13 is smoothly and uniformly supplied.
또한, 상기 물걸레(20)를 망직 또는 다공질의 물도포부(21)와 극세사로 이루어진 물닦음부(22)로 형성하여 실시하게 되면, 상기 물도포부(21)가 공급된 물을 고루 분사시켜서 청소부위에 도포하여서 청소부위에 들러붙은 이물질의 청소가 용이하게 불림되고, 상기 물닦음부(22)에 의하여 불려진 이물질이 극세사에 의하여 명확하게 닦음 제거되는 것이다.In addition, when the mop 20 is formed by a water wiping part 22 made of a mesh cloth or porous water coating part 21 and a microfiber, the water coating part 21 is sprayed evenly on the cleaning part by spraying the water supplied. It is easy to clean the foreign matter adhered to the cleaning site by coating, and the foreign matter called by the water wiping unit 22 is clearly wiped off by the microfiber.
또한, 상기 모세관공급부(12)에는 물통(11)의 물을 원활하게 공급할 수 있게 한 공급필터(12a)를 구비하여 실시하게 되면, 상기 공급필터(12a)를 통하여 물통(11)의 물이 균일하게 흡수되어 모세관 이동 공급되어 물걸레 청소과정에 있어 균일한 물걸레(20)로 균일하게 물공급이 이루어져 청소가 이루어지는 것이다.In addition, when the capillary supply part 12 is provided with a supply filter 12a which enables the water of the bucket 11 to be supplied smoothly, the water in the bucket 11 is uniform through the supply filter 12a. It is absorbed so that the capillary transfer is supplied, the water is made uniformly in the mop cleaning process by the uniform mop 20, the cleaning is made.
또한, 상기 모세관공급부(12)와 물통(11) 사이에는 제한급수턱(11c)을 형성하여 실시하게 되면, 물통(11)에 저장된 물이 물걸레(20)로 공급됨에 있어 로봇청소기가 이동 불가능한 상태에서 물걸레(20)로 공급되는 물의 양이 제한되게 하여 물통(11)의 물이 과도하게 공급됨으로 인한 목재 등으로 이루어진 마루의 손상을 방지하고, 정상적인 청소주행 상태에서는 물통(11)에 저장된 물이 흔들림에 의하여 넘쳐 공급되어서 물걸레(20)로의 물공급이 원활하게 이루어지는 것이다.In addition, when the restriction water supply jaw (11c) is formed between the capillary supply portion 12 and the water tank 11, the robot cleaner is in a state in which water stored in the water tank 11 is supplied to the water mop 20. The amount of water supplied to the mop 20 is limited to prevent damage to the floor made of wood due to excessive supply of the water in the bucket 11, and the water stored in the bucket 11 in the normal cleaning run state is The water supply to the mop 20 is smoothly supplied by overflowing by shaking.
한편, 본 발명의 실시에 있어, 걸레판(10)의 물통(11) 후방 측에 건조유도판(15)을 구비하여 실시하게 되면, 진공펌프(180)의 공기토출부(111)에서 토출되는 공기가 물 닦음이 완료된 청소부위로 유도되어 청소부위에 잔류한 수분이 건조 제거되는 것이다.On the other hand, in the practice of the present invention, when the drying guide plate 15 is provided on the rear side of the bucket 11 of the mop plate 10 is discharged from the air discharge portion 111 of the vacuum pump 180 Air is guided to the cleaning area where water wiping is completed, and the moisture remaining in the cleaning area is dried and removed.
10 : 걸레판10: mop board
11 : 물통11: bucket
11a: 물주입마개 11b: 물주입부 11c: 제한급수턱11a: water injection cap 11b: water injection portion 11c: limited water supply jaw
12 : 모세관공급부 12a: 공급필터12: capillary supply portion 12a: feed filter
13 : 물공급부13: water supply
14 : 끼움결합돌기14: fitting protrusion
15 : 건조유도판15: dry induction plate
20 : 물걸레20: mop
21 : 물도포부 22 : 물닦음부21: water coating unit 22: water cleaning unit
110 : 로봇몸체 111 : 공기토출부110: robot body 111: air discharge unit
120 : 구동륜120: drive wheel
131 : 메인브러시 132 : 사이드브러시131: main brush 132: side brush
140 : 범퍼부140: bumper
150 : 로봇제어부 160 : 조작부150: robot control unit 160: operation unit
170 : 구동부 180 : 진공펌프 190 : 전원부170: driving unit 180: vacuum pump 190: power supply
510 : 자동청소과정 520 : 집중청소과정 530 : 벽면청소과정510: Automatic cleaning process 520: Intensive cleaning process 530: Wall cleaning process
610 : 에스자형청소과정 620 : 회오리청소과정 630 : 지그재그청소과정610: S-shaped cleaning process 620: Cyclone cleaning process 630: Zig-zag cleaning process

Claims (7)

  1. 로봇 청소기에 있어서;In a robot cleaner;
    상기 로봇몸체(110)의 후방 측 하부에 결합되며 물이 공급되게 구성된 걸레판(10)이 구비되고, 상기 걸레판(10)의 하부에 물걸레(20)이 구비된 것을 특징으로 하는 물걸레 로봇청소기.The mop robot cleaner, which is coupled to the lower rear side of the robot body 110 and is provided with a mop plate configured to supply water, and a mop 20 is provided under the mop plate 10. .
  2. 제 1 항에 있어서;The method of claim 1;
    상기 걸레판(10)은 후방 측 로봇몸체(110)의 단부 측에서 상부로 돌출되어 저장공간을 갖게 물통(11)이 형성되고, 상기 물통(11)에서 걸레판(10)의 전방 측으로 물을 모세관 유동시킬 수 있게 판상으로 형성된 모세관공급부(12)가 형성되며, 상기 걸레판(10)의 전방 측 하부에는 모세관공급부(12)를 통하여 공급된 물을 물걸레(20)로 공급하는 물공급부(13)가 형성된 것을 특징으로 하는 물걸레 로봇청소기.The mop plate 10 is protruded upward from the end side of the rear side robot body 110 to form a water reservoir 11 to have a storage space, the water from the water bottle 11 to the front side of the mop plate 10 A capillary supply part 12 is formed in a plate shape to enable the capillary flow, and a water supply part 13 for supplying water supplied through the capillary supply part 12 to the mop 20 at a lower portion of the front side of the mop plate 10. Mop robot cleaner characterized in that formed.
  3. 제 2 항에 있어서;The method of claim 2;
    상기 모세관공급부(12)는 판상으로 이루어진 걸레판몸체의 상부판과 하부판 사이에 형성되며,The capillary supply portion 12 is formed between the upper plate and the lower plate of the mop plate body made of a plate shape,
    상기 걸레판(10)은 상면에 로봇몸체(110)에 끼울 결합되는 끼움결합돌기(14)가 돌출형성된 것을 특징으로 하는 물걸레 로봇청소기.The mop plate 10 is a mop robot cleaner, characterized in that the fitting coupling protrusion 14 is protruded to be fitted to the robot body 110 on the upper surface.
  4. 제 1 항에 있어서;The method of claim 1;
    상기 물걸레(20)는 걸레판 몸체의 형상에 대응하여 형성되며 벨크로와 같은 결속수단에 의하여 걸레판(10)의 하부에 결속되며 전방 측에 걸레판(10)의 물공급부(13)로부터 물을 공급받아 청소부위에 도포하는 물도포부(21)와 상기 물도포부(21)의 후방 측에 구비되어 에 의하여 청소부위에 도포된 물을 닫으면서 청소가 이루어지게 하는 물닦음부(22)로 구성된 것을 특징으로 하는 물걸레 로봇청소기.The mop 20 is formed to correspond to the shape of the mop plate body and is bound to the lower part of the mop plate 10 by a binding means such as a Velcro and water from the water supply portion 13 of the mop plate 10 on the front side. It is characterized by consisting of a water applying unit 21 supplied to the cleaning portion and the water wiping unit 22 is provided on the rear side of the water coating unit 21 by the cleaning by closing the water applied to the cleaning portion by Mop robot cleaner.
  5. 제 4 항에 있어서;The method of claim 4;
    상기 물도포부(21)는 공급된 물을 고루 분사시켜 청소부위에 도포하여서 청소부위에 들러붙은 이물질을 불림 제거할 수 있게 한 망직과 다공질재료 중 어느 하나로 형성되고,The water coating unit 21 is formed of any one of a mesh and a porous material that is sprayed evenly to the supplied water to apply to the cleaning site to remove the foreign matter stuck to the cleaning site,
    상기 물닦음부(22)는 청소부위의 이물질을 도포된 물과 함께 잘 닫아 제거할 수 있게 한 극세사로 형성된 것을 특징으로 하는 물걸레 로봇청소기.The water cleaning unit 22 is mop robot cleaner, characterized in that formed of a microfiber to close and remove the foreign matter of the cleaning area with the coated water well.
  6. 제 1 항에 있어서;The method of claim 1;
    상기 모세관공급부(12)에는 물통(11)의 물을 원활하게 공급할 수 있게 한 공급필터(12a)가 구비되고,The capillary supply part 12 is provided with a supply filter 12a for smoothly supplying the water in the bucket 11,
    상기 모세관공급부(12)와 물통(11) 사이에는 물걸레(20)로 공급되는 물의 양이 물걸레(20)를 완전히 적시는 양만 공급되게 제한하는 제한급수턱(11c)이 형성된 것을 특징으로 하는 물걸레 로봇청소기.Mop robot, characterized in that between the capillary supply portion 12 and the bucket 11 is formed a limit water supply jaw (11c) for limiting the amount of water supplied to the mop 20 so that only the wet amount of the mop 20 is supplied completely vacuum cleaner.
  7. 제 1 항에 있어서;The method of claim 1;
    상기 걸레판(10)의 물통(11) 후방 측에 로봇몸체(110)에 내장된 진공펌프(180)에 뜨거운 공기가 토출되는 공기토출부(111)의 공기를 물 닦음이 완료된 청소부위로 유도하여 청소부위에 잔류한 수분을 제거할 수 있게 한 건조유도판(15)이 형성된 것을 특징으로 하는 물걸레 로봇청소기.By introducing the air of the air discharge portion 111 to discharge hot air to the vacuum pump 180 built into the robot body 110 on the rear side of the bucket 11 of the mop plate 10 to the cleaning site where the water wipe is completed Mop robot cleaner, characterized in that the drying induction plate 15 is formed to remove the moisture remaining in the cleaning area.
PCT/KR2014/006723 2013-07-24 2014-07-23 Wet cloth cleaning robot and method for controlling cleaning WO2015012602A1 (en)

Applications Claiming Priority (4)

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KR20130087226 2013-07-24
KR10-2013-0087226 2013-07-24
KR1020140015069A KR101520043B1 (en) 2013-07-24 2014-02-10 Wet cloth cleaning robot
KR10-2014-0015069 2014-02-10

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WO2016126145A1 (en) * 2015-02-06 2016-08-11 에브리봇 주식회사 Robotic cleaner
WO2016129911A1 (en) * 2015-02-10 2016-08-18 에브리봇 주식회사 Robotic cleaner and control method therefor
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KR101253639B1 (en) * 2006-04-10 2013-04-10 엘지전자 주식회사 Robot Cleaner
KR20110105305A (en) * 2010-03-18 2011-09-26 김정옥 A cleaner
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WO2016126145A1 (en) * 2015-02-06 2016-08-11 에브리봇 주식회사 Robotic cleaner
WO2016129911A1 (en) * 2015-02-10 2016-08-18 에브리봇 주식회사 Robotic cleaner and control method therefor
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US20230111703A1 (en) * 2017-06-02 2023-04-13 Robot Corporation Cleaning pad for cleaning robot

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