WO2015137561A1 - 로봇 청소기 및 그의 제어 방법 - Google Patents
로봇 청소기 및 그의 제어 방법 Download PDFInfo
- Publication number
- WO2015137561A1 WO2015137561A1 PCT/KR2014/004236 KR2014004236W WO2015137561A1 WO 2015137561 A1 WO2015137561 A1 WO 2015137561A1 KR 2014004236 W KR2014004236 W KR 2014004236W WO 2015137561 A1 WO2015137561 A1 WO 2015137561A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotating member
- robot cleaner
- obstacle
- controlling
- reference plane
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000004140 cleaning Methods 0.000 claims description 21
- 230000008859 change Effects 0.000 claims description 7
- 230000004044 response Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 description 14
- 238000004891 communication Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000003860 storage Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 229920001410 Microfiber Polymers 0.000 description 1
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 239000002657 fibrous material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000004745 nonwoven fabric Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- 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
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
-
- 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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
-
- 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
-
- 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
Definitions
- the present invention relates to a robot cleaner and a control method thereof, and more particularly, to a robot cleaner and a control method thereof that can perform mop cleaning while moving autonomously.
- a robot cleaner is a device that automatically cleans an area to be cleaned by inhaling foreign substances such as dust from the surface to be cleaned or by wiping off the foreign materials from the surface to be cleaned while driving itself in the area to be cleaned without a user's operation. It is utilized.
- such a robot cleaner may include a vacuum cleaner that performs cleaning using suction power using a power source such as electricity.
- a robot cleaner including such a vacuum cleaner has a limitation that can not remove foreign matters or dents stuck to the surface to be cleaned, recently a robot that can be attached to the robot cleaner to perform mopping or mop cleaning Vacuum cleaners are on the rise.
- the mop cleaning method using a general robot cleaner is a simple method of attaching a mop or the like to the lower part of a conventional robot vacuum cleaner, and thus has a disadvantage in that a foreign matter removal effect is low and efficient mop cleaning is not performed.
- the mop cleaning method of the general robot cleaner runs using the existing suction type vacuum cleaner moving method and the avoiding method for obstacles as it is, so that even if the dust scattered on the surface to be cleaned is removed, There is a problem that cannot be easily removed.
- the mop attachment structure of the general robot cleaner the frictional force with the ground by the mop surface is in a state that the additional driving force is required to move the wheel, there is a problem that the battery consumption increases.
- the present invention has been made in view of the above problems, in the robot cleaner having a pair of rotating members that can be attached to the mop so as to effectively remove the foreign matter stuck to the surface to be cleaned, the rotational force of the rotating member itself It is an object of the present invention to provide a robot cleaner and a control method thereof that not only improve battery efficiency using a moving power source but also perform rotation control to achieve effective mop cleaning in response to a path and obstacle detection.
- the apparatus of the present invention for achieving the above object the robot cleaner, the first rotary member and the second rotary member to which the circular cleaner can be fixed is coupled to protrude toward the surface to be cleaned;
- a driving part fixed in the main body to drive the first rotating member in a first direction or a second direction and to drive the second rotating member in the first or second direction;
- a control unit controlling the member and the second rotating member.
- control method of the robot cleaner may be implemented as a computer-readable recording medium recording a program for execution in a computer.
- the robot cleaner can move while effectively removing foreign matters and the like adhered to the surface to be cleaned by using the rotational force of the pair of rotating members to which the mop is attached as a moving force source.
- the robot cleaner may not only solve the problem of the robot cleaner moving due to an obstacle, but also reduce the manufacturing cost due to the attachment of the sensor.
- FIG. 1 is a view schematically showing the appearance of a robot cleaner according to an embodiment of the present invention.
- FIG. 2 is a bottom view illustrating a first rotating member and a second rotating member of the robot cleaner according to an embodiment of the present invention.
- FIG 3 is a side view illustrating a sensor position of a robot cleaner according to an exemplary embodiment of the present invention.
- FIG. 4 is a block diagram illustrating a system configuration for controlling a robot cleaner according to an exemplary embodiment of the present invention.
- FIG. 5 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present invention.
- 6 to 8 are views for explaining a wall movement pattern according to an embodiment of the present invention.
- components expressed as means for performing the functions described in the detailed description include all types of software including, for example, a combination of circuit elements or firmware / microcode, etc. that perform the functions. It is intended to include all methods of performing a function which are combined with appropriate circuitry for executing the software to perform the function.
- the invention, as defined by these claims, is equivalent to what is understood from this specification, as any means capable of providing such functionality, as the functionality provided by the various enumerated means are combined, and in any manner required by the claims. It should be understood that.
- 1 to 3 are views for explaining the physical configuration of the robot cleaner according to an embodiment of the present invention.
- Figure 1 is an exploded perspective view schematically showing the structure of a robot cleaner according to an embodiment of the present invention
- Figure 2 illustrates a first rotating member and a second rotating member of the robot cleaner according to an embodiment of the present invention
- 3 is a side view illustrating a sensor position of a robot cleaner according to an exemplary embodiment of the present invention.
- the robot cleaner 100 of the present invention is structurally coupled to a body 10 and a driving unit fixed to the inside of the body 10 to be connected to each other in the direction of the surface to be cleaned ( 151 and the second rotating shaft 152, the first rotating member 110 is coupled to the first rotating shaft 151 to rotate, and the second rotating member coupled to the second rotating shaft 152 to rotate 120, one or more sensors 130a, 130b,... Provided on side and center surfaces of the main body 10, an input unit 180 and a communication unit 140 provided on an upper end of the main body 10. It may be configured to include).
- first circular cleaner 210 and the second circular cleaner 220 are respectively connected to the first rotating member 110 and the second rotating member 120 coupled to the first rotating shaft 151 and the second rotating shaft 152. May be coupled and rotate according to the rotational movement.
- the first rotating member 110 and the second rotating member 120 may be coupled to protrude from the main body 10 in the direction to be cleaned, for example, to protrude in the bottom surface direction, and include a first circular cleaner 210 and The second circular cleaner 220 may be formed to be fixed.
- the first circular cleaner 210 and the second circular cleaner 220 may clean various surface to be cleaned, such as a microfiber cloth, a rag, a nonwoven fabric, a brush, and the like, so that the adhered foreign matter on the bottom surface can be removed through a rotary motion. It may be made of a fiber material such as cloth.
- the fixing of the circular cleaners 210 and 220 may be performed by covering the first rotating member 110 and the second rotating member 120 or by using a separate fixing means.
- the first circular cleaner 210 and the second circular cleaner 220 may be attached and fixed to the first rotating member 110 and the second rotating member 120 by Velcro tape or the like.
- the robot cleaner 100 according to the embodiment of the present invention as described above, the first circular cleaner 210 and the second circular cleaner 220 by the rotational movement of the first rotary member 110 and the second rotary member 120. As it rotates, foreign matters stuck to the floor can be removed through friction with the surface to be cleaned. In addition, when a frictional force with the surface to be cleaned is generated, the frictional force may be used as a moving force source of the robot cleaner 100.
- the moving speed and direction of the robot cleaner 100 may be adjusted.
- the rotating shafts of the rotating shafts 151 and 152 coupled to the pair of rotating members 110 and 120 may be formed in a direction inclined toward the center of the body 10. Accordingly, the pair of rotating members 110 and 120 may be coupled to be inclined upward in the center direction from the outside of the body 10. Therefore, when the pair of rotating members 110 and 120 rotate, the relative frictional force generated between the surface to be cleaned may be greater at the outside than the center of the main body 10. Therefore, the movement speed and direction of the robot cleaner 100 may be controlled by the relative friction force generated by controlling the rotation of the pair of rotating members 110 and 120, respectively.
- rotation control for achieving effective mop cleaning in response to the progress path and obstacle detection may be performed through the movement speed and direction control of the robot cleaner 100.
- a detailed control configuration will be described later.
- the sensor unit 130 may include a plurality of sensors provided at an appropriate position for detecting the front and rear obstacles.
- the sensor units 130a, 130b, 130c, and 130d may be provided on side and center surfaces of the main body 10 for obstacle detection.
- a pair of sensor units 130a, 130b, 130c, and 130d may be provided at the front and the rear of the robot cleaner 100 based on the moving direction of the robot cleaner 100, and may be provided at positions corresponding to the respective rotating members 110 and 120. Can be deployed.
- the robot cleaner 100 detects a forward obstacle based on the information sensed by the sensor unit 130a and the sensor unit 130b based on the traveling direction, or detects the sensor unit 130c and the sensor unit.
- the rear obstacle may be detected based on the information sensed at 130d.
- FIG. 4 is a block diagram illustrating a system configuration for controlling a robot cleaner according to an exemplary embodiment of the present invention.
- the system for controlling the robot cleaner drives the sensor unit 130, the communication unit 140, the first rotating member 110, and the second rotating member 120.
- the driving unit 150, the storage unit 160, the control unit 170, the input unit 180, the output unit 185, and the power supply unit 190 may be configured.
- the sensor unit 130 may include one or more sensor units 130a, 130b, 130c, and 130d provided on the side and the center surface of the main body 10 as described above, and may detect a surrounding state of the robot cleaner 100 to detect the robot. A sensing signal for controlling the operation of the cleaner 100 is generated. In addition, the sensor unit 130 may transmit the sensing signal detected according to the surrounding state to the controller 170.
- the sensor unit 130 may include an obstacle detection sensor or a camera sensor that transmits an infrared or ultrasonic signal to the outside and receives a signal reflected from the obstacle.
- the communication unit 140 may include one or more modules that enable wireless communication between the robot cleaner 100 and another wireless terminal or between the robot cleaner 100 and a network in which the other wireless terminal is located.
- the communication unit 140 may communicate with a wireless terminal as a remote control device, and may include a short range communication module or a wireless internet module for this purpose.
- the robot cleaner 100 may control an operation state or an operation method by the control signal received by the communication unit 140.
- the terminal for controlling the robot cleaner 100 may include, for example, a smartphone, a tablet, a personal computer, a remote controller (remote control device), and the like, which can communicate with the robot cleaner 100.
- the driving unit 150 generates a control signal for rotating the first and second rotating members 110 and 120 under the control of the controller 170.
- the driving unit 150 may include a first driving unit and a second driving unit, and each of the first driving units generates a control signal for controlling the rotation of the first rotating shaft 151 axially coupled to the first rotating member 110.
- the second driving unit may generate a control signal for controlling the rotation of the second rotating shaft 152 coupled to the second rotating member 120.
- the storage unit 160 may store a program for the operation of the controller 170, and may temporarily store input / output data.
- the storage unit 160 may include a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg, SD or XD memory), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Programmable Read-Only Memory (PROM), Magnetic Memory, It may include a storage medium of at least one type of magnetic disk, optical disk.
- the input unit 180 generates input data for the user to control the operation of the robot cleaner 100.
- the input unit 180 may include a key pad dome switch, a touch pad (constant voltage / capacitance), a jog wheel, a jog switch, and the like.
- the output unit 185 is used to generate an output related to vision, hearing, and the like.
- the output unit 185 may include a display unit, a sound output module, an alarm unit, and the like.
- the controller 170 typically controls the overall operation of the robot cleaner 100. For example, processes and controls related to cleaning time determination, cleaning path determination, driving mode setting, obstacle avoidance, and the like are performed.
- the controller 170 rotates at least one of the first rotating member 110 or the second rotating member 120 at the same time or sequentially according to the driving mode, the robot cleaner 100. ) Can be controlled to travel in a specific travel direction.
- the controller 170 determines whether an obstacle is detected from a signal sensed by the sensor unit 130 while the robot cleaner 100 continues to travel.
- the first rotating member 110 and the second rotating member 120 may be rotated in the same direction and at the same speed for a predetermined time.
- the robot cleaner 100 may perform the movement to rotate in place.
- the robot cleaner 100 may rotate in place according to the speed at which the first rotating member 110 and the second rotating member 120 rotate.
- the frictional force acting on the robot cleaner 100 may act as a rotational force with respect to the robot cleaner 100 while being opposite to each other.
- the controller 170 may change the direction of travel by arbitrarily adjusting the rotation time to rotate in place after a specific time. Accordingly, according to an embodiment of the present invention, even if an obstacle is not detected, when a specific time elapses, by rotating in place and changing the direction, it may be possible to escape from being caught by an obstacle that is not sensed. .
- the robot cleaner 100 according to the embodiment of the present invention may reach a hanging state without climbing on a carpet, etc., but it is possible to easily escape without additional sensor by performing the rotation control as described above.
- the controller 170 controls the rotation of the first rotating member and the second rotating member in a direction for avoiding the obstacle, and performs a direction change according to the position of the detected obstacle.
- the direction in which the obstacle is not detected may be set as the traveling direction.
- controller 170 may include a forward mode setting unit configured to select one of the driving modes as the driving mode or the first forward mode.
- the forward mode setting unit selects one of the first forward mode and the second forward mode according to the speed setting of the robot cleaner, or the first forward mode or the second forward according to the cleaning mode setting of the robot cleaner.
- One of the modes can be selected.
- the moving direction may vary according to a moving path determined by the controller 170 or a predetermined moving path according to a user input.
- the controller 170 controls at least one of the first rotating member and the second rotating member according to the selected driving mode and the set travel direction in the first forward mode or the second forward mode specialized for the robot cleaner 100. It is possible to carry out running and to perform efficient cleaning.
- the controller 170 may rotate the first rotating member 110 and the second rotating member 120 in different directions and at the same speed to correspond to the traveling direction when the first forward mode is selected. Can be controlled.
- the direction in which one end moves with respect to the surface to be cleaned by the frictional force of the first rotating member 110 based on the body 10 of the robot cleaner 100 is the surface to be cleaned by the frictional force of the second rotating member 120. It may be the same as the direction in which the other end with respect to. Therefore, when the first forward mode is selected, the controller 170 may perform straight driving in a specific direction.
- the control unit 170 rotates the first rotating member 110 in a constant first speed and second direction for a first time when the second forward mode is selected, the second rotating member
- the second step of controlling the second rotating member 120 to rotate in the first direction and the first direction while rotating in a first direction different from the speed and the second direction is sequentially repeated for a preset cleaning time.
- the controller 170 may perform driving while forming an S-shaped path in a specific direction. In this case, although the moving speed may be slightly reduced compared to the first forward mode, there is an advantage of improving obstacle detection performance and cleaning efficiency.
- the power supply unit 190 receives an external power source and an internal power source under the control of the controller 170 to supply power for operation of each component.
- FIG. 5 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present invention.
- the robot cleaner 100 sets a progress direction (S101), and starts driving by controlling the first rotating member 110 and the second rotating member 120 according to the forward mode (S103). .
- the controller 170 may set the moving direction according to the predetermined movement path, select the forward mode, and perform driving.
- the robot cleaner 100 determines whether an obstacle is detected (S105).
- the controller 170 may determine whether an obstacle is detected based on the sensing signals output from the plurality of sensors 130a, 130b, 130c, and 130d included in the sensor unit 130.
- the controller 170 may determine whether the obstacle is detected by using only some of the sensing signals corresponding to the moving direction of the robot cleaner 100 among the sensors of the sensor unit 130. For example, the controller 170 determines whether an obstacle is located in the traveling direction based on a sensor 130a located at one side and a sensing signal output from the sensor 130b based on a relatively long side of the body 10. can do.
- the robot cleaner 100 controls the first rotating member 110 and the second rotating member 120 to switch in the direction of avoiding the obstacle (S111), and then to the switched direction.
- the driving direction is reset (S113), and driving starts to control the first and second rotary members again according to the advance mode (S103).
- the controller 170 may measure the direction and the distance where the obstacle is located based on the traveling direction based on the sensing signal output from the sensor unit 130.
- the rotation control in which the controller 170 switches to a direction for avoiding an obstacle may have several methods.
- the controller 170 controls the rotation direction and the speed of the first rotation member 110 and the second rotation member 120 in the same manner to rotate in place for a predetermined time in a direction away from the direction in which the obstacle is detected. Can be controlled.
- the controller 170 may stop the rotation of the second rotating member 110 in the first state.
- the rotation direction of the rotation member 110 may be controlled to rotate in a direction away from the obstacle by rotating for a predetermined time in a direction opposite to the current direction.
- the controller 170 rotates the first rotating member 110 and the second rotating member 120. It is also possible to reverse the direction of travel by rotating the directions all in opposite directions different from the present.
- the controller 170 may select a specific direction except for the direction in which the obstacle is detected and reset the moving direction.
- the specific direction may be a random direction except the direction in which the obstacle is detected or a direction determined according to the predetermined movement path according to the direction change result.
- the robot cleaner 100 determines whether a predetermined time has elapsed (S107). If the predetermined time has not elapsed, driving in the forward mode is continued (S103).
- the robot cleaner 100 rotates the first rotating member 110 and the second rotating member 120 in the same direction for a predetermined time (S109).
- the driving of the robot cleaner 100 depends on the rotational force of the rotating member, and a cleaner of a cloth material such as a mop may be attached to the rotating member. Therefore, the robot cleaner 100 may travel abnormally due to obstacles that are difficult to sense such as height change or material change of the surface to be cleaned. Therefore, in order to solve this problem, the controller 170 controls the rotation direction and the speed of the first rotating member 110 and the second rotating member 120 in the same manner when the state without the obstacle detection exceeds the predetermined time. Control to perform in-situ rotation.
- the robot cleaner 100 By the rotation control of the control unit 170, the in-situ rotation is performed at a predetermined time period, the robot cleaner 100 according to an embodiment of the present invention to more effectively detect the obstacles located around the rotation through the avoidance. Can be.
- the robot cleaner 100 may escape through periodic rotations even when the robot cleaner 100 is stuck in a specific position of the surface to be cleaned and is stuck in a difficult deadlock sensing state.
- FIG. 6 is a flowchart illustrating a control method of a robot cleaner according to another embodiment of the present invention.
- the robot cleaner 100 performs the forward mode driving according to the cleaning mode (S401).
- control unit 170 sets the first forward mode or the second forward mode according to the cleaning mode, and controls the first rotating member 110 and the second rotating member 120, respectively, according to the movement path.
- the movement of the robot cleaner 100 may be controlled in the advancing direction.
- the controller 170 may perform the above-described direction change control.
- the controller 170 may perform the in-situ rotation control described above.
- the robot cleaner 100 sets a reference plane based on the detected position of the obstacle (S405), and moves the wall to move along the set reference plane. Pattern control is performed (S405).
- the controller 170 may set a reference plane according to the position of the obstacle when the obstacle detection time from the sensing signal of the sensor unit 130 has elapsed for a predetermined time.
- the wall movement pattern control may be performed by controlling the first rotation member and the second rotation member to perform the wall movement pattern along the reference plane.
- the controller 170 When the wall movement pattern control is started and a predetermined time has not elapsed (S409), the controller 170 again performs obstacle detection for updating the reference plane (S413), and sets the reference plane based on the detected position of the obstacle again. (S405).
- the controller 170 may update the reference plane according to the position of the obstacle when a continuous obstacle is detected after the wall movement pattern is started and a predetermined time elapses.
- the controller 170 determines whether another obstacle is detected from a sensor corresponding to the moving direction of the robot cleaner while the wall movement pattern is performed, and the time when the other obstacle is detected is continuously passed for a predetermined time or more.
- the reference plane may be reset or updated based on the position of the other obstacle.
- the controller 170 may control the first rotating member 110 and the second rotating member 120 to perform a wall movement pattern along the updated reference plane.
- the robot cleaner 100 resets to the existing forward mode and returns to the driving according to the forward mode as in step S401 (S411).
- the control unit 170 returns to the driving mode to simultaneously or at least one of the first rotating member 110 or the second rotating member 120.
- the robot cleaner may be controlled to travel in the specific progress direction.
- Robot cleaner 100 through such a wall movement pattern control, it is possible to remove the pollutants more cleanly by performing a rotary mop along the wall portion that is not wiped well during normal cleaning, continuous By performing the wall movement pattern even in the part judged as the rough road by the obstacle detection, it is possible to easily escape without escaping the traveling path and the area in a random manner.
- FIG. 7 is a view for explaining that the wall movement pattern is performed through the rotation control of the robot cleaner 100 according to the embodiment of the present invention.
- the robot cleaner 100 determines that the robot cleaner 100 is located in the rough road, and determines the wall movement pattern. May be initiated.
- the controller 170 may perform setting of the first reference plane 500.
- Setting of the first reference plane 500 may be determined according to the position of the first obstacle to be sensed by the sensor unit 130.
- the sensor when the first obstacle is detected from the plurality of sensors corresponding to the moving direction of the robot cleaner 100 for a predetermined time or more, the sensor is perpendicular to the moving direction, and the sensor Either of the two directions extending from the position of the first obstacle detected by may be set as the first reference plane.
- the robot cleaner 100 performs the wall movement pattern in more detail as follows.
- the controller 170 may determine the wall movement direction 700 in response to the set first reference plane 500.
- the wall moving direction 700 may be determined in one of two directions parallel to the first reference plane 500.
- the controller 170 may determine a rotation direction of the rotating member for moving the robot cleaner according to the wall moving direction. As illustrated in FIG. 12, the rotation direction of the first rotating member 110 for moving in the wall moving direction 700 may be determined in a clockwise direction, that is, in a second direction when the traveling direction is assumed to be 12 o'clock.
- the controller 170 controls the robot cleaner to rotate in the rotation direction at a higher speed than the other second rotation members 120 by selecting the first rotation member 110 according to the wall moving direction 700.
- the opposite surface may be controlled to face the first reference plane 500.
- the controller 170 when the robot cleaner rotates in accordance with the rotation of the first rotary member 110, when the first reference plane 500 is reached again, the second rotary member 120 to the first It can be controlled to rotate at a higher speed than the rotating member (110). The direction of rotation becomes the same as the second direction previously determined.
- the robot cleaner 100 moves the first reference plane 500 toward the wall moving direction 700. Efficient automatic mop cleaning according to the wall movement pattern can be performed at the center.
- Figure 8 shows the movement of the robot cleaner by the control method of the robot cleaner according to another embodiment of the present invention.
- the controller 170 of the robot cleaner 100 may continuously update the reference plane by checking whether the obstacle is detected even after the wall movement pattern is started.
- the wall movement pattern may be maintained even at the corner portion of FIG. 13.
- the controller 170 may accelerate the rotation of the first rotating member 110 in the first wall moving direction 710 to control the robot cleaner 100 to move along the first reference plane 500.
- the second obstacle located on the second reference plane 510 may be newly detected.
- the controller 170 updates the reference plane, resets the second wall moving direction 720 based on the updated second reference plane 510, and corresponds to this.
- the rotation of the second rotating member 120 may be accelerated. Accordingly, according to another embodiment of the present invention, the robot cleaner 100 may flexibly travel along the wall movement pattern without being affected by obstacles even in terrain such as wall edges and corners.
- the present invention provides a robot cleaner having a pair of rotating members that can be attached to a mop so as to effectively remove foreign substances stuck to the surface to be cleaned, so that the rotational force of the rotating member itself can be used as a moving power source for battery efficiency.
- the present invention can provide a robot cleaner and a method of controlling the same, which perform rotational control according to a driving mode for achieving effective mop cleaning in response to a progress path and obstacle detection.
- control method of an electronic device may be implemented in program code and provided to each server or device in a state of being stored in various non-transitory computer readable mediums. have.
- the non-transitory readable medium refers to a medium that stores data semi-permanently and is readable by a device, not a medium storing data for a short time such as a register, a cache, a memory, and the like.
- a non-transitory readable medium such as a CD, a DVD, a hard disk, a Blu-ray disk, a USB, a memory card, a ROM, or the like.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (17)
- 로봇 청소기의 제어 방법에 있어서,주행 모드에 따라, 제1 회전부재 및 제2 회전부재 중 적어도 하나를 회전시켜 상기 로봇 청소기를 특정 진행 방향으로 주행하도록 제어하는 단계;상기 센서로부터 장애물 검출 여부를 식별하는 단계; 및상기 장애물이 연속하여 검출되는 경우, 상기 장애물에 따라 기준면을 설정하고, 상기 기준면을 따라 벽 이동 패턴을 수행하도록 상기 제1 회전부재 및 상기 제2 회전부재를 제어하는 단계를 포함하는 로봇 청소기의 제어 방법.
- 제1항에 있어서,상기 벽 이동 패턴이 수행되는 동안 상기 로봇 청소기의 진행 방향에 대응되는 센서로부터 제2 장애물 검출 여부를 판단하는 단계; 및상기 제2 장애물이 연속하여 검출되는 시간이 일정 시간 이상 경과한 경우 상기 제2 장애물에 따라 제2 기준면을 재설정하고, 상기 제2 기준면을 따라 벽 이동 패턴을 수행하도록 상기 제1 회전부재 및 상기 제2 회전부재를 제어하는 단계를 더 포함하는 로봇 청소기의 제어 방법.
- 제1항에 있어서,상기 기준면을 설정하는 단계는,상기 진행 방향에 대응되는 복수의 센서 전부로부터 상기 장애물이 연속하여 검출되는 경우, 상기 진행 방향에 대해 수직인 양 방향 중 어느 한 방향을 상기 기준면으로 설정하는 단계를 포함하는 로봇 청소기의 제어 방법.
- 제1항에 있어서,상기 벽 이동 패턴이 시작된 후 일정 시간 이상 경과한 경우, 상기 주행 모드로 복귀하여 상기 제1 회전부재 및 상기 제2 회전부재 중 적어도 하나를 회전시켜 상기 로봇 청소기를 상기 특정 진행 방향으로 주행하도록 제어하는 단계를 더 포함하는 로봇 청소기의 제어 방법.
- 제1항에 있어서,상기 벽 이동 패턴을 수행하도록 제어하는 단계는,상기 설정된 기준면에 대응하여, 벽 이동 방향을 결정하는 단계;상기 벽 이동 방향을 따라 상기 로봇 청소기가 이동하기 위한 회전 방향을 결정하고, 상기 벽 이동 방향에 따라 상기 제1 회전부재 또는 제2 회전부재 중 어느 하나의 회전부재를 선택하여 다른 회전부재보다 높은 속도로 상기 회전 방향으로 회전하도록 제어하는 제1 단계;상기 선택된 회전부재의 회전에 따라 상기 로봇 청소기가 회전 주행하여, 상기 기준면에 도달한 경우, 상기 다른 회전부재를 상기 선택된 회전부재보다 높은 속도로 회전하도록 제어하는 제2 단계; 및벽 이동 패턴을 위한 일정 시간 동안 상기 제1 단계 및 상기 제2 단계를 순차적으로 반복 수행하는 단계를 포함하는 로봇 청소기의 제어 방법.
- 제1항에 있어서,상기 주행 모드에 따라 제어하는 단계는,제1 전진 모드가 선택된 경우 상기 진행 방향에 대응하여 상기 제1 회전부재가 제1 방향으로 회전하면서, 상기 제2 회전부재는 상기 제1 방향과 상이한 제2 방향으로 회전하도록 제어하는 단계를 포함하는 로봇 청소기의 제어 방법.
- 제1항에 있어서,상기 주행 모드에 따라 제어하는 단계는,제2 전진 모드가 선택된 경우 상기 진행 방향에 대응하여, 제1 시간 동안 상기 제1 회전부재의 속도 와 방향을 제1 속도 및 제2 방향으로 제어하면서 상기 제2 회전부재의 속도와 방향을 상기 제1 속도보다 큰 제2 속도 및 상기 제2 방향으로 제어하는 제1 단계;상기 제1 시간이 경과하면, 제2 시간 동안 상기 제1 회전부재의 속도와 방향은 상기 제2 속도 및 상기 제2 방향과 상이한 제1 방향으로 제어하면서, 상기 제2 회전부재의 속도와 방향을 상기 제1 속도 및 상기 제1 방향으로 제어하는 제2 단계; 및미리 설정된 청소 시간 동안 상기 제1 단계 및 상기 제2 단계를 순차적으로 반복 수행하는 단계를 포함하는 로봇 청소기의 제어 방법.
- 제1항에 있어서,상기 장애물이 검출된 경우,상기 장애물의 위치에 따라, 상기 제1 회전부재 및 상기 제2 회전부재 중 적어도 하나를 제어하여 방향 전환을 수행하는 단계를 더 포함하는 로봇 청소기의 제어 방법.
- 로봇 청소기에 있어서,원형 클리너가 고정될 수 있는 제1 회전부재 및 제2 회전부재가 피청소면을 향하여 돌출되도록 결합된 본체부;상기 본체부 내에 고정되며, 상기 제1 회전부재를 제1 방향 또는 제2 방향으로 구동시키고, 상기 제2회전 부재를 상기 제1 방향 또는 제2방향으로 구동시키기 위한 구동부;상기 본체부의 외측면에 구비되며, 상기 로봇 청소기 주변의 장애물을 검출하기 위해 구비되는 하나 이상의 센서; 및상기 센서로부터 장애물 검출 여부를 판단하며, 상기 장애물이 연속하여 검출되는 경우, 상기 장애물에 따라 기준면을 설정하고, 상기 기준면을 따라 벽 이동 패턴을 수행하도록 상기 제1 회전부재 및 상기 제2 회전부재를 제어하는 제어부를 포함하는 것을 특징으로 하는 로봇 청소기.
- 제9항에 있어서,상기 제어부는 상기 벽 이동 패턴이 수행되는 동안 상기 로봇 청소기의 진행 방향에 대응되는 센서로부터 제2 장애물 검출 여부를 판단하고, 상기 제2 장애물이 연속하여 검출되는 시간이 일정 시간 이상 경과한 경우 상기 제2 장애물에 따라 제2 기준면을 재설정하고, 상기 제2 기준면을 따라 벽 이동 패턴을 수행하도록 상기 제1 회전부재 및 상기 제2 회전부재를 제어하는 로봇 청소기.
- 제9항에 있어서,상기 제어부는 상기 진행 방향에 대응되는 복수의 센서 전부로부터 상기 장애물이 일정 시간 이상 검출되는 경우, 상기 진행 방향에 대해 수직인 양 방향 중 어느 한 방향을 상기 기준면으로 설정하는 로봇 청소기.
- 제9항에 있어서,상기 제어부는 상기 벽 이동 패턴이 시작된 후 일정 시간 이상 경과한 경우, 상기 주행 모드로 복귀하여 상기 제1 회전부재 및 상기 제2 회전부재 중 적어도 하나를 회전시켜 상기 로봇 청소기를 상기 특정 진행 방향으로 주행하도록 제어하는 로봇 청소기.
- 제9항에 있어서,상기 제어부는 상기 설정된 기준면에 대응하여, 벽 이동 방향을 결정하고, 상기 벽 이동 방향을 따라 상기 로봇 청소기가 이동하기 위한 회전 방향을 결정하며, 상기 벽 이동 방향에 따라 상기 제1 회전부재 또는 제2 회전부재 중 어느 하나의 회전부재를 선택하여 다른 회전부재보다 높은 속도로 상기 회전 방향으로 회전하도록 제어하고, 상기 선택된 회전부재의 회전에 따라 상기 로봇 청소기가 회전 주행하여, 상기 기준면에 다시 도달한 경우, 상기 다른 회전부재를 상기 선택된 회전부재보다 높은 속도로 회전하도록 제어하는 로봇 청소기.
- 제9항에 있어서,상기 제어부는 상기 주행 모드로 제1 전진 모드가 선택된 경우 상기 진행 방향에 대응하여 상기 제1 회전판이 제1 방향으로 회전하면서, 상기 제2 회전판은 상기 제1 방향과 상이한 제2 방향으로 회전하도록 제어하는 로봇 청소기.
- 제9항에 있어서,상기 제어부는 상기 주행 모드로 제2 전진 모드가 선택된 경우 상기 진행 방향에 대응하여, 제1 시간 동안 상기 제1 회전 부재가 제1 속도로 제2 방향으로 회전하면서 상기 제2 회전부재는 상기 제1 속도보다 큰 제2 속도로 상기 제2 방향과 동일한 방향으로 회전하도록 제어하고, 상기 제1 시간이 경과하면, 제2 시간 동안 상기 제1 회전부재가 상기 제2 속도로 상기 제2 방향과 상이한 제1 방향으로 회전하면서, 상기 제2 회전부재는 상기 제1 속도로 상기 제1 방향으로 회전하도록 제어하는 로봇 청소기.
- 제9항에 있어서,상기 장애물이 검출된 경우,상기 장애물의 위치에 따라, 상기 제1 회전부재 및 상기 제2 회전부재 중 적어도 하나를 제어하여 방향 전환을 수행하는 것을 특징으로 하는 로봇 청소기.
- 제1항 내지 제8항 중 어느 한 항에 기재된 방법을 컴퓨터에서 실행시키기 위한 프로그램이 기록된 컴퓨터가 읽을 수 있는 기록 매체.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201480077085.1A CN106102537B (zh) | 2014-03-11 | 2014-05-12 | 清扫机器人以及其控制方法 |
US15/125,524 US10555655B2 (en) | 2014-03-11 | 2014-05-12 | Robot cleaner and method for controlling the same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2014-0028605 | 2014-03-11 | ||
KR1020140028605A KR101578881B1 (ko) | 2014-03-11 | 2014-03-11 | 로봇 청소기 및 그의 제어 방법 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015137561A1 true WO2015137561A1 (ko) | 2015-09-17 |
Family
ID=54071985
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2014/004236 WO2015137561A1 (ko) | 2014-03-11 | 2014-05-12 | 로봇 청소기 및 그의 제어 방법 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10555655B2 (ko) |
KR (1) | KR101578881B1 (ko) |
CN (1) | CN106102537B (ko) |
WO (1) | WO2015137561A1 (ko) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018074848A1 (en) * | 2016-10-19 | 2018-04-26 | Samsung Electronics Co., Ltd. | Robot vacuum cleaner |
US20220322908A1 (en) * | 2019-09-27 | 2022-10-13 | Lg Electronics Inc. | Robotic cleaner |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106983453B (zh) * | 2017-04-27 | 2019-11-12 | 蒋玉素 | 一种餐厅使用的快速清扫机器人 |
KR102014140B1 (ko) | 2017-08-07 | 2019-08-26 | 엘지전자 주식회사 | 청소기 |
KR102033936B1 (ko) | 2017-08-07 | 2019-10-18 | 엘지전자 주식회사 | 로봇청소기 |
KR102000068B1 (ko) | 2017-08-07 | 2019-07-15 | 엘지전자 주식회사 | 청소기 |
KR102021828B1 (ko) | 2017-08-07 | 2019-09-17 | 엘지전자 주식회사 | 청소기 |
CN107817796B (zh) * | 2017-10-25 | 2020-02-07 | 上海思岚科技有限公司 | 移动机器人贴障碍物运动的方法和设备 |
KR102045003B1 (ko) | 2018-01-25 | 2019-11-14 | 엘지전자 주식회사 | 로봇청소기의 제어방법 |
KR102188797B1 (ko) * | 2018-04-02 | 2020-12-08 | 에브리봇 주식회사 | 로봇 청소기 및 그 제어 방법 |
CN111839328B (zh) * | 2019-04-26 | 2023-01-17 | 科沃斯家用机器人有限公司 | 清洁方法、擦窗机器人及存储介质 |
CN111990934A (zh) * | 2019-05-27 | 2020-11-27 | 江苏美的清洁电器股份有限公司 | 机器人、机器人的控制方法及存储介质 |
US11672390B2 (en) | 2019-11-13 | 2023-06-13 | Emerson Electric Co. | Vacuum cleaner motor assemblies and methods of operating same |
JP7243592B2 (ja) * | 2019-11-25 | 2023-03-22 | トヨタ自動車株式会社 | 制御システム、制御方法およびプログラム |
KR20220003250A (ko) * | 2020-07-01 | 2022-01-10 | 엘지전자 주식회사 | 로봇 청소기와 이를 구비하는 로봇 청소기 시스템 |
CN112120611B (zh) * | 2020-09-29 | 2021-09-28 | 李燕 | 一种高效清洗清洁装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20060105830A (ko) * | 2005-04-04 | 2006-10-11 | 주식회사 대우일렉트로닉스 | 로봇청소기 주행제어방법 |
KR101000178B1 (ko) * | 2007-04-06 | 2010-12-10 | 조진호 | 자동 청소기 |
KR20120009927A (ko) * | 2010-07-22 | 2012-02-02 | 김용욱 | 청소용 로봇 및 제어방법 |
KR20130002218A (ko) * | 2011-06-28 | 2013-01-07 | 삼성전자주식회사 | 로봇 청소기 및 그 제어방법 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE112013001417T5 (de) * | 2012-03-15 | 2014-12-24 | Irobot Corporation | Anpassbarer Festkörperstoßfänger für einen Roboter |
WO2014071297A1 (en) * | 2012-11-04 | 2014-05-08 | Deming Systems Llc | Robotic surface treatment device |
-
2014
- 2014-03-11 KR KR1020140028605A patent/KR101578881B1/ko active IP Right Grant
- 2014-05-12 WO PCT/KR2014/004236 patent/WO2015137561A1/ko active Application Filing
- 2014-05-12 CN CN201480077085.1A patent/CN106102537B/zh active Active
- 2014-05-12 US US15/125,524 patent/US10555655B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20060105830A (ko) * | 2005-04-04 | 2006-10-11 | 주식회사 대우일렉트로닉스 | 로봇청소기 주행제어방법 |
KR101000178B1 (ko) * | 2007-04-06 | 2010-12-10 | 조진호 | 자동 청소기 |
KR20120009927A (ko) * | 2010-07-22 | 2012-02-02 | 김용욱 | 청소용 로봇 및 제어방법 |
KR20130002218A (ko) * | 2011-06-28 | 2013-01-07 | 삼성전자주식회사 | 로봇 청소기 및 그 제어방법 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018074848A1 (en) * | 2016-10-19 | 2018-04-26 | Samsung Electronics Co., Ltd. | Robot vacuum cleaner |
US10918250B2 (en) | 2016-10-19 | 2021-02-16 | Samsung Electronics Co., Ltd. | Robot vacuum cleaner |
US20220322908A1 (en) * | 2019-09-27 | 2022-10-13 | Lg Electronics Inc. | Robotic cleaner |
Also Published As
Publication number | Publication date |
---|---|
US10555655B2 (en) | 2020-02-11 |
US20170071435A1 (en) | 2017-03-16 |
KR101578881B1 (ko) | 2015-12-18 |
CN106102537A (zh) | 2016-11-09 |
KR20150106272A (ko) | 2015-09-21 |
CN106102537B (zh) | 2019-06-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2015137561A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2015137560A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2015186944A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2015137564A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2016137251A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2016129912A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2015167059A1 (ko) | 로봇 청소기 및 그 제어 방법 | |
WO2015167058A1 (ko) | 로봇 청소기 및 그 제어 방법 | |
WO2015167060A1 (ko) | 로봇 청소기 및 그 제어 방법 | |
WO2016137250A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2016137252A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2016036183A1 (ko) | 습식 청소 장치, 로봇 청소기 및 그의 제어 방법 | |
WO2015137563A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2016126145A1 (ko) | 로봇 청소기 | |
WO2019194464A1 (ko) | 로봇 청소기 및 그 제어 방법 | |
WO2015137562A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2016032257A1 (ko) | 흡입 노즐, 로봇 청소기 및 그의 제어 방법 | |
CN102961088A (zh) | 独立清洁设备及其控制方法 | |
WO2016047935A1 (ko) | 먼지 센서, 먼지 측정 장치, 로봇 청소기 및 그들의 제어 방법 | |
KR20160090567A (ko) | 로봇 청소기 및 로봇 청소기 제어 방법 | |
WO2016129911A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
KR102345564B1 (ko) | 로봇 청소기 및 로봇 청소기 제어 방법 | |
KR102318295B1 (ko) | 로봇 청소기 및 로봇 청소기 제어 방법 | |
WO2019190160A1 (ko) | 로봇 청소기 및 그 제어 방법 | |
WO2022145650A1 (ko) | 로봇청소기 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 14885138 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15125524 Country of ref document: US |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM1205A DATED 05/01/2017) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 14885138 Country of ref document: EP Kind code of ref document: A1 |