WO2015186944A1

WO2015186944A1 - Robot cleaner and method for controlling same

Info

Publication number: WO2015186944A1
Application number: PCT/KR2015/005497
Authority: WO
Inventors: 원덕연; 천광배; 이상규; 박준옥; 이병호; 김경민
Original assignee: 에브리봇 주식회사
Priority date: 2014-06-02
Filing date: 2015-06-02
Publication date: 2015-12-10
Also published as: KR20150139111A; KR101689133B1

Abstract

A robot cleaner is disclosed. The robot cleaner comprises: a drive unit for supplying power; first and second rotating members which respectively rotate about first and second rotary shafts by the power of the drive unit and to which a cleaner for wet cleaning can be fixed; a control unit for controlling the drive unit to rotate at least one of the first and second rotating members in order to drive the robot cleaner in a predetermined direction; and a dry cleaning unit including a suction port for sucking free particles collected from a surface to be cleaned during the driving of the robot cleaner according to the rotary movement of the first and second rotating members.

Description

Robot cleaner and his control method

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 capable of performing wet cleaning and dry cleaning while driving autonomously.

With the development of industrial technology, various devices are being automated. As is well known, 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.

In general, such a robot cleaner may include a vacuum cleaner that performs cleaning using suction power using a power source such as electricity.

Robot cleaners including such vacuum cleaners have a limitation in that they cannot remove foreign substances or stains stuck on the surface to be cleaned, and recently, robot cleaners that can perform wet cleaning by attaching mops to the robot cleaners have emerged. .

However, a wet cleaning method using a general robot cleaner is a simple method of attaching a rag or the like to a lower part of a conventional vacuum cleaner, and thus has a disadvantage in that a foreign matter removal effect is low and efficient wet cleaning cannot be performed.

In particular, in the case of the wet cleaning method of a general robot cleaner, the vehicle is driven by using a conventional suction type vacuum cleaner moving method and an obstacle avoiding method, and thus, even if the dust scattered on the surface to be cleaned is removed, There is a problem that cannot be easily removed.

In addition, the mop attachment structure of the general robot cleaner, the frictional force with the ground by the mop surface is in a state of increasing the additional driving force for driving the wheel, there is a problem that the battery consumption increases.

The present invention has been made in view of the above-described problems, and an object of the present invention is to use the rotational force itself of a pair of rotating members as a moving force source of a robot cleaner, and to allow a cleaner for wet cleaning to be fixed to the rotating member, The present invention provides a robot cleaner capable of driving while performing wet cleaning and a control method thereof.

In addition, an object of the present invention is to control the rotational movement of the pair of rotating members so that the free particles located on the surface to be cleaned near the suction port, the robot cleaner that can run while performing both wet cleaning and dry cleaning and its control method In providing.

Robot cleaner according to an embodiment of the present invention for achieving the above object is a rotational movement around the driving unit for providing power, the first rotary shaft, the second rotary shaft by the power of the drive unit, the cleaner for wet cleaning A control unit for controlling the drive unit to rotate the at least one of the first and second rotation members to fix the first and second rotation members and the robot cleaner in a predetermined direction, respectively; And a dry cleaning part including a suction port that sucks free particles collected from the surface to be cleaned while the robot cleaner moves in accordance with the rotational motion of the two rotating members.

In addition, the robot cleaner according to an embodiment of the present invention for achieving the above object is formed on the front end of the main body and the bottom of the main body to form the exterior of the robot cleaner, the cleaner for wet cleaning, respectively 1, a second rotating member, formed on a rear end of the first and second rotating members on the bottom of the main body, and collected from the surface to be cleaned according to the rotational movement of the first and second rotating members with the cleaner fixed thereto. And a guide member for guiding the free particles to be collected near the suction port, and a suction port formed near the guide member at the bottom of the main body and sucking the collected free particles.

In addition, the control method of the robot cleaner according to an embodiment of the present invention for achieving the above object, the rotation of at least one of the first and second rotation members to rotate around the first rotation axis, the second rotation axis, respectively Driving the robot cleaner to move in a predetermined direction and sucking free particles collected from the surface to be cleaned according to the rotational motion of the first and second rotating members while the robot cleaner is running.

According to various embodiments of the present disclosure, the robot cleaner may travel while performing wet cleaning using the rotational force of a pair of rotating members to which the cleaner for wet cleaning can be fixed as a moving force source.

In addition, according to various embodiments of the present disclosure, the robot cleaner controls the rotational movement of the pair of rotating members so that the free particles located on the surface to be cleaned are collected near the suction port, thereby effectively driving both wet cleaning and dry cleaning. Can be.

In addition, according to various embodiments of the present disclosure, the robot cleaner may improve battery efficiency by using the rotational force of the pair of rotating members to which the cleaner for wet cleaning is fixed as a moving power source.

In addition, according to various embodiments of the present disclosure, the rotary shaft of each of the pair of rotating members of the robot cleaner may be inclined to have a predetermined angle with respect to the central axis, thereby increasing a moving speed of the robot cleaner, and When an obstacle having a predetermined height, such as a threshold, is positioned on the driving path of the cleaner, wet cleaning and dry cleaning may be performed while climbing by driving the obstacle.

1 is an exploded perspective view of a robot cleaner according to an embodiment of the present invention.

2 is a bottom view of the robot cleaner according to the embodiment of the present invention.

3 is a front view of the robot cleaner according to an embodiment of the present invention.

Figure 4 is a perspective view showing the inside of the main body of the robot cleaner of one embodiment of the present invention.

5 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention.

6 to 7 are views for explaining the driving operation of the robot cleaner according to an embodiment of the present invention.

8 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present invention.

9 to 11 are flowcharts illustrating a control method of a robot cleaner according to an embodiment of the present invention.

The following merely illustrates the principles of the invention. Therefore, those skilled in the art, although not explicitly described or illustrated herein, can embody the principles of the present invention and invent various devices that fall within the spirit and scope of the present invention. In addition, all conditional terms and embodiments listed herein are in principle clearly intended to be understood only for the purpose of understanding the concept of the invention and are not to be limited to the specifically listed embodiments and states. do.

In addition, it is to be understood that all detailed descriptions, including the principles, aspects, and embodiments of the present invention, as well as listing specific embodiments, are intended to include structural and functional equivalents of these matters. In addition, these equivalents should be understood to include not only equivalents now known, but also equivalents to be developed in the future, that is, all devices invented to perform the same function regardless of structure.

Thus, for example, it should be understood that the block diagrams herein represent a conceptual view of example circuitry embodying the principles of the invention. Similarly, all flowcharts, state transitions, pseudocodes, and the like are understood to represent various processes performed by a computer or processor, whether or not the computer or processor is substantially illustrated on a computer readable medium and whether the computer or processor is clearly shown. Should be.

The functionality of the various elements shown in the figures, including functional blocks represented by a processor or similar concept, can be provided by the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. When provided by a processor, the functionality may be provided by a single dedicated processor, by a single shared processor or by a plurality of individual processors, some of which may be shared.

In addition, the explicit use of terms presented in terms of processor, control, or similar concept should not be interpreted exclusively as a citation to hardware capable of running software, and without limitation, ROM for storing digital signal processor (DSP) hardware, software. (ROM), RAM, and non-volatile memory are to be understood to implicitly include. Other hardware for the governor may also be included.

In the claims of this specification, components expressed as means for carrying out the functions described in the detailed description are intended to include all types of software, including, for example, combinations of circuit elements or firmware / microcode for performing the functions. It is intended to include all methods of performing the functions to include and are combined with appropriate circuitry for executing the software to perform the functions. 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.

The above objects, features, and advantages will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, whereby those skilled in the art may easily implement the technical idea of the present invention. There will be. In addition, in describing the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 to 4 are views for explaining the structure of a robot cleaner according to an embodiment of the present invention. More specifically, Figure 1 is an exploded perspective view of a robot cleaner according to an embodiment of the present invention, Figure 2 is a bottom view of the robot cleaner according to an embodiment of the present invention, Figure 3 is a robot according to an embodiment of the present invention 4 is a front view of the cleaner, and FIG. 4 is a perspective view showing the inside of the main body of the robot cleaner according to one embodiment of the present invention.

1 to 4, the robot cleaner 100 of the present invention structurally forms an exterior of the robot cleaner, and is installed on the body 10 to drive the robot cleaner 100. The first rotating member 110 and the second rotating member 120 which are coupled to the first driving unit 151, the second driving unit 152, and the first and

second driving units

151 and 152, respectively, and rotate in movement. And a power supply unit 190 installed in the main body 10 to supply power, a control unit 170 installed in the main body 10 to control the overall operation of the robot cleaner 100, and the main body 10. A dry cleaning unit 130 installed in the suction chamber to suck free particles located on the surface to be cleaned, and perform a dry cleaning, and a hair member 230, a guide member 240, and

auxiliary wheels

251, 252 installed on the bottom surface of the main body 10. It may be configured to include.

Each of the first driving unit 151 and the second driving unit 152 may be installed inside the main body 10 to be coupled to the first rotating member 110 and the second rotating member 120, and may include a gear assembly. Can be.

The first rotating member 110 is coupled to the first driving unit 151 to transmit power by the first driving unit 151 and to rotate about the first rotation shaft 310 by the power. And may include 111. In addition, the first cleaner 210 for wet cleaning may include a first fixing member 112 that can be fixed.

In addition, the second rotating member 120 is coupled to the second driving unit 152 to transmit power by the second driving unit 152, and a second rotational movement about the second rotating shaft 320 by the power. It may include a transfer member 121. In addition, the second cleaner 220 for wet cleaning may include a second fixing member 122 that can be fixed.

Here, the lower end regions of the first transfer member 111 and the second transfer member 112 may be implemented to protrude in the direction to be cleaned when coupled to the main body 10. Alternatively, when the first transfer member 111 and the second transfer member 112 are coupled to the main body 10, the first transfer member 111 and the second transfer member 112 may not be protruded in the direction of the surface to be cleaned.

In addition, when the first fixing member 112 and the second fixing member 122 are coupled to the main body 10, the first fixing member 112 and the second fixing member 122 may be implemented to protrude in the direction of the surface to be cleaned, for example, to protrude in the bottom surface direction. The first cleaner 210 and the second cleaner 220 for cleaning may be formed to be fixed.

The first cleaner 210 and the second cleaner 220 may be a cloth such as a cloth capable of cleaning various surfaces to be cleaned, such as a microfiber cloth, a rag, a nonwoven fabric, and the like, so as to remove the adhered foreign matter from the bottom surface through a rotary motion. It may be made of a fiber material. In addition, a plurality of

brushes

211 and 221 may be formed on the outer circumference of each of the first and

second cleaners

210 and 220 to easily collect free particles such as dust and garbage disposed on the surface to be cleaned in a wide range. Here, the plurality of

brushes

211 and 221 may be made of the same material as the

cleaners

210 and 220 or may be made of different materials. In addition, although the shape of the first cleaner 210 and the second cleaner 220 may be circular as shown in the figure, it may be implemented in various forms without limitation.

In addition, the fixing of each of the first and

second cleaners

210 and 220 may be performed using a method of covering the first fixing member 112 and the second fixing member 122 or using a method of using a separate attachment means. Can be. For example, the first cleaner 210 and the second cleaner 220 may be attached to and fixed to the first fixing member 112 and the second fixing member 122 by Velcro tape or the like.

The robot cleaner 100 according to the embodiment of the present invention as described above, the first cleaner 210 and the second cleaner to rotate by the rotational motion of each of the first rotating member 110 and the second rotating member 120, respectively Through the friction between the surface 220 and the surface to be cleaned, foreign matters adhered to the surface to be cleaned may be driven. Here, the robot cleaner 100 may adjust the traveling speed and the driving direction according to the size and direction in which the force according to the friction acts.

In addition, referring to FIG. 3, the robot cleaner 100 includes the first rotary shaft 310 and the second rotary shaft 320 of each of the first and second

rotary members

110 and 120 by the power of the pair of driving

units

151 and 152. It may be inclined to have a predetermined angle with respect to the central axis 300 corresponding to the vertical axis of the.

Accordingly, when the

cleaners

210 and 220 for wet cleaning are fixed to the first and second

rotating members

110 and 120, respectively, the fixed

cleaners

210 and 220 are inclined of the first and

second rotation shafts

310 and 320, respectively. Accordingly, the inclination may be inclined downward with respect to the central axis 330.

Here, the central axis 300 may mean a vertical direction with respect to the surface to be cleaned of the robot cleaner 100. For example, assuming that the robot cleaner 100 runs and cleans the XY plane formed by the X and Y axes during the cleaning operation, the central axis 300 is perpendicular to the surface to be cleaned of the robot cleaner 100. It can mean the Z axis.

The predetermined angle may include a first angle (a degree) and a main body 10 corresponding to an angle at which the first rotational axis 310 is inclined with respect to the central axis 300-1 parallel to the side surface of the main body 10. It may include a second angle (b degree) corresponding to the inclination angle of the second rotation axis 320 with respect to the central axis 300-2 moved in parallel to the side. Here, the first angle and the second angle may be the same or different from each other.

In addition, each of the first and second angles may be selected from an angle range capable of optimally maintaining the obstacle climbing ability, the wet cleaning ability, and the running speed of the robot cleaner 100.

Table 1

Tilted angle	Obstacle climbing ability at 4.7mm height (three points)	Wet cleaning ability (three points)	Travel speed (three points)
Less than 1 degree	Can't climb all cleaners (0)	All cleaning surfaces that rub against the cleaner can be cleaned (3)	Very slow (0)
1 degree	Some cleaners climbed (1)	All cleaning surfaces that rub against the cleaner can be cleaned (3)	Slow (1)
1.85 degrees	Some cleaners climbed (2)	All of the cleaning surfaces rubbed with the cleaner can be cleaned except for a part of the cleaning surface that is far away from the central axis 300 (2)	Medium (2)
3 degree	All Cleaners Climbing (3)	Possible to clean all but a part of the cleaning surface that is far from the central axis 300 among the cleaning surfaces rubbing with the cleaner (1)	Fast (3)
Greater than 3 degrees	All Cleaners Climbing (3)	Cleaning is possible except for the majority of the cleaning surfaces that are far away from the central axis 300 of the cleaning surfaces that rub against the cleaner (0)	Fast (3)

That is, referring to Table 1 described above, the pair of

rotary shafts

310 and 320 of the robot cleaner 100 has a structure inclined so as to have a predetermined angle with respect to the central axis 300, so that the traveling speed of the robot cleaner 100 is reduced. When the first obstacle having a predetermined height, such as a threshold, is located on the driving path of the robot cleaner 100, the wet cleaning may be performed while climbing by driving the first obstacle. In particular, by maintaining the predetermined angle in the range of 1 degree or more and 3 degrees or less, it is possible to optimally maintain the first obstacle climbing ability, wet cleaning ability and running speed of the robot cleaner.

However, various embodiments of the present disclosure may not be limited to the above-described angle range.

On the other hand, when the pair of rotating

members

110 and 120 rotates in accordance with the inclination of the

rotating shafts

310 and 320, the relative frictional force generated between the surface to be cleaned and the

cleaners

210 and 220 is more central than the outside of the main body 10. It can occur largely around 300. Therefore, the traveling speed and direction of the robot cleaner 100 may be controlled by the relative frictional force generated by controlling the rotation of the pair of rotating

members

110 and 120, respectively.

On the other hand, the robot cleaner 100 according to an embodiment of the present invention may simultaneously perform wet cleaning and dry cleaning while driving the surface to be cleaned.

In this case, each of the first rotating member 110 and the second rotating member 120 has free particles located on the surface to be cleaned near the suction port 131 located at the rear end of the first rotating member 110 and the second rotating member 120. Can be rotated to collect.

That is, as shown in FIG. 2, the front end of each of the first and second

rotating members

110 and 120 may rotate in an outer direction from the outside in the forward direction F of the robot cleaner 100.

More specifically, the first rotating member 110 located on the left side of the robot cleaner 100 rotates clockwise based on the perspective view, and the second rotating member 120 located on the right side of the robot cleaner 100 is half Can rotate clockwise.

In this case, the robot cleaner 100 may perform the forward traveling F and the wet cleaning by the friction force between the

cleaners

210 and 220 and the surface to be cleaned, and each of the first rotating member 110 and the second rotating member 120, respectively. According to the rotational motion of the free particles located on the surface to be cleaned can be collected near the inlet 131.

On the other hand, the robot cleaner 100 according to an embodiment of the present invention may include a hair member 230 formed between the first rotating member 110 and the second rotating member 120 on the bottom surface of the main body 10. have. The hair member 230 is formed on the outer circumference of each of the first and

second cleaners

210 and 220 when the first and

second cleaners

210 and 220 rotate in response to the rotation of the first and

second rotation members

110 and 120. The free particles collected by the plurality of

brushes

211 and 221 in contact with the plurality of

brushes

211 and 221 may be shaken out toward the suction port 131.

In addition, the robot cleaner 100 according to an embodiment of the present invention may include a guide member 240 formed at the rear end of the first and second

rotating members

110 and 120 and the hair member 230 on the bottom of the main body. The guide member 240 may extend toward the side end of the main body 10, and the lower end may be formed to be close to the surface to be cleaned while the robot cleaner 100 is running. Accordingly, the guide member 240 may guide the free particles shaken by the hair member 230 to be collected near the suction port 131.

In addition, the robot cleaner 100 according to an embodiment of the present invention is formed at the rear end of the main body 10, and the air inlet 131 for suctioning the free particles, the blower 132 for generating a suction force to the suction port 131 It may include a dry cleaning unit 130 including a dust collector 133 for collecting dust introduced into the suction port by the blower.

Here, the suction port 131 may be formed in parallel with the front end, the rear end of the guide member or the guide member to easily suck the free particles guided by the guide member 240. When the suction port 131 is formed at the rear end of the guide member, a hole may be formed in the guide member to allow free particles to be sucked into the suction port 131. In addition, when the inlet 131 is formed in parallel with the guide member, the guide member 131 may be separated into two and formed at both side ends based on the inlet 131.

In addition, the robot cleaner 100 according to an embodiment of the present invention may include

auxiliary wheels

251 and 252 formed at the rear end of the bottom surface of the robot cleaner 100. The

auxiliary wheels

251 and 252 may support the main body of the robot cleaner 100, minimize friction with the bottom surface (cleaned surface), and smoothly run the robot cleaner 100. Here, the

auxiliary wheels

251 and 252 may be implemented as casters to rotate in accordance with the driving direction of the robot cleaner 100 to maintain the body in a stable posture.

On the other hand, the robot cleaner 100 according to an embodiment of the present invention further includes a plurality of sensor units (not shown) formed in a predetermined area in the main body 10 to detect a second obstacle that cannot be climbed such as a wall. Can be. Accordingly, the robot cleaner 100 may detect the front second obstacle based on the information sensed by the sensor unit based on the traveling direction, and may perform the cleaning driving by avoiding the second obstacle.

5 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention. Referring to FIG. 5, the robot cleaner 100 according to an embodiment of the present invention includes a rotating

member

110 and 120, a dry cleaning unit 130, a communication unit 140, a driving unit 150, a storage unit 160, and a control unit ( 170, the tilt adjusting unit 175, the input unit 180, the output unit 185 and the power supply unit 190, and may include all or part of the sensor unit 195.

The tilt adjusting unit 175 may adjust an angle at which at least one of the first and second rotation axes 310 and 320 is inclined with respect to the central axis 300 corresponding to the vertical axis of the robot cleaner 100.

The sensor unit 195 may include one or more sensors provided on the side of the main body 10 to detect a second obstacle that cannot be climbed such as a wall.

In addition, the sensor unit 195 may include one or more sensors positioned at the bottom of the front and / or rear surface of the main body 10 to detect a first obstacle having a predetermined height such as a threshold. Here, the first and second obstacle sensing sensors may be implemented as, for example, 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.

In addition, the sensor unit 195 may include a sensor for detecting a driving state such as a driving distance, a traveling speed, a driving acceleration, and the like of the robot cleaner 100, for example, an acceleration sensor.

On the other hand, the sensor unit 195 may transmit the sensing signal to the control unit 170.

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. For example, 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 may supply power for rotating the first and second

rotating members

110 and 120 under the control of the controller 170. Here, the driving unit 150 may include a first driving unit and a second driving unit, and may be implemented by including a motor and / or a gear assembly.

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 may receive a user input for operating the robot cleaner 100. In particular, the input unit 180 is a user for adjusting an inclination angle of at least one of the first and second rotation axes 310 and 320 with respect to the central axis 300 corresponding to the vertical axis of the robot cleaner 100. An input can be received. In addition, the input unit 180 may receive a user input for selecting a cleaning mode such as a wet cleaning mode, a wet and dry cleaning mode, an automatic cleaning mode, and the like.

The input unit 180 may include a key pad dome switch, a touch pad (static pressure / 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. Although not illustrated, the output unit 185 may include a display unit, a sound output module, an alarm unit, and the like.

The display unit displays (outputs) information processed by the robot cleaner 100. For example, when the robot cleaner is being cleaned, a UI (User Interface) or a Graphical User Interface (GUI) displaying a cleaning time, a cleaning method, a cleaning area, and the like related to the cleaning mode may be displayed.

The controller 170 typically controls the overall operation of the robot cleaner 100. In detail, the controller 170 may control the driving unit 150 to rotate the at least one of the first rotating member 110 and the second rotating member 120 to drive the robot cleaner 100 in a predetermined direction. .

For example, when the cleaning mode of the robot cleaner 100 is a wet and dry cleaning mode that performs both wet cleaning and dry cleaning, the controller 170 may be configured based on a first direction F of the robot cleaner 100. In addition, each of the first driver 151 and the second driver 152 may be controlled such that the front end of each of the

second rotation members

110 and 120 rotates from the outside to the inside. That is, the controller 170 rotates the first rotating member 110 positioned on the left side of the robot cleaner 100 in a clockwise direction with respect to the perspective view, and the second rotating member 120 positioned on the right side of the robot cleaner 100. ) May control each of the first driver 151 and the second driver 152 to rotate in a counterclockwise direction.

In addition, when a second obstacle that cannot be climbed such as a wall is detected through the sensor unit 195 during the cleaning driving, the controller 170 may control the driving unit 150 to travel by avoiding the second obstacle. For example, when the second obstacle is detected, the controller 170 controls the driving unit 150 to adjust the rotation direction, the rotation speed, and the time of each of the first and second

rotational members

110 and 120. When the cleaner 100 is rotated in place and the second obstacle is avoided according to the rotation of the robot cleaner 100 in place, the driving unit 150 may be controlled to travel in the forward direction F. FIG.

Hereinafter, a driving operation of the robot cleaner according to an exemplary embodiment of the present disclosure will be described with reference to FIGS. 6 to 7.

The rotation direction of the rotating member according to an embodiment of the present invention may be described based on the direction viewed from the top of the robot cleaner 100. That is, referring to FIG. 6, the first rotating member 110 positioned on the left side of the robot cleaner 100 rotates clockwise, and the second rotating member 120 positioned on the right side of the robot cleaner 100 Can rotate in the counterclockwise direction.

cleaners

7 shows a rotation control table for implementing such a forward driving. The controller 170 may control the driving unit 150 based on the rotation control table value stored in the storage 160 to perform rotation control of each of the

rotating members

110 and 120. The rotation control table may include at least one of a direction value, a speed value, and a time value assigned to each of the

rotation members

110 and 120 for each driving mode such as forward and backward rotation. As shown in FIG. 7, the rotation direction of the first rotation member 110 and the rotation direction of the second rotation member 120 may be different. In addition, the rotation speed and time of each of the

rotating members

110 and 120 may have the same value. In this case, the robot cleaner 100 may travel in the forward direction F. FIG.

In addition, the controller 170 may generate a control signal for controlling the tilt controller 175. In more detail, the controller 170 may generate a control signal for adjusting an inclination angle of at least one of the first and

second rotation shafts

310 and 320 with respect to the central axis 300, and transmit the generated control signal to the tilt adjustment unit 175. .

For example, the controller 170 receives a sensing signal from the sensor unit 130 for detecting a driving state such as a driving distance, a traveling speed, a driving acceleration, and the like of the robot cleaner 100, and based on the received sensing signal, the robot The driving state of the cleaner 100 may be determined. For example, when the robot cleaner 100 may not travel due to a first obstacle having a predetermined height such as a threshold, the driving distance, the traveling speed, the driving acceleration, and the like may be lower than a preset value, and the controller 170 may have a driving state. You can judge that it is not smooth.

In this case, the controller 170 may generate a control signal for increasing an angle at which at least one of the first and

second rotation shafts

310 and 320 is inclined with respect to the central axis 300 and transmit the generated control signal to the tilt adjusting unit 175. have. Accordingly, the obstacle climbing ability of the robot cleaner 100 may be improved, and the driving speed may also be increased.

However, when it is determined that the driving state is smooth, the controller 170 may generate a control signal for maintaining or decreasing the current tilt angle and transmit the generated control signal to the tilt adjuster 175. Accordingly, the cleaning capability of the robot cleaner 100 may be improved.

As another example, the controller 170 is located at the bottom of the front and / or rear of the main body 10 to receive the sensing signal from the sensor unit 130 facing the surface to be cleaned to be cleaned by the robot cleaner 100 after the, and received Based on the sensing signal, the robot cleaner 100 may determine whether a first obstacle having a predetermined height, such as a threshold, is positioned on a driving path after the robot cleaner 100. If it is determined that the first obstacle is located, the controller 170 generates a control signal for increasing an angle at which at least one of the first and

second rotation shafts

310 and 320 is inclined with respect to the central axis 300 to adjust the inclination controller. Transmit to 175. Accordingly, the obstacle climbing ability of the robot cleaner 100 may be improved, and the driving speed may also be increased.

However, when it is determined that the first obstacle is not located, the controller 170 may generate a control signal for maintaining or decreasing the current tilt angle and transmit the generated control signal to the tilt adjuster 175. Accordingly, the cleaning capability of the robot cleaner 100 may be improved.

On the other hand, according to the above-described example, when a predetermined time elapses after the inclination angle is increased, the controller 170 may generate a control signal for reducing the inclination angle and transmit it to the inclination controller 175. Accordingly, the cleaning capability of the robot cleaner 100 that has completed the climbing of the first obstacle may be improved.

Accordingly, the cleaning capability of the robot cleaner 100 may be improved.

On the other hand, when receiving a user input for adjusting the inclination angle from the input unit 180, the control unit 170 is the first and second rotation axis with respect to the central axis 300 at an angle corresponding to the received user input A control signal may be generated and transmitted to the inclination controller 175 to adjust the inclination angle of at least one of the rotation axes 310 and 320.

On the other hand, the power supply unit 190 receives the external power and the internal power under the control of the controller 170 to supply the power required for the operation of each component.

8 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present invention. Referring to FIG. 8, first, at least one of the first and

second rotation members

110 and 120 that rotates around the first rotation shaft 310 and the second rotation shaft 320 may be rotated so as to rotate the robot cleaner 100. May be driven in a predetermined direction (S801).

In operation S802, the robot cleaner 100 may suck free particles collected from the surface to be cleaned according to the rotational motion of the first and second

rotating members

110 and 120.

9 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present invention. Referring to FIG. 9, first, the first rotating member 110 is rotated in a clockwise direction so that free particles located on the surface to be cleaned are collected near the suction port 131 while the robot cleaner 100 is running, and the second rotating member is rotated. 120 may move the robot cleaner forward by rotating in the counterclockwise direction (S901).

In addition, the free particles collected according to the friction between the

cleaners

210 and 220 and the surface to be cleaned may be shaken off by the

cleaners

210 and 220 during the forward driving (S902).

And, the free particles can be guided to be collected near the suction port 131 (S903).

Then, the collected free particles can be sucked (S904).

10 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present invention. First, the robot cleaner 100 may be driven in a predetermined direction by rotating at least one of the first and second

rotating members

110 and 120, which respectively rotate about the first and second

rotating shafts

310 and 320. There is (S1001).

In addition, an angle at which at least one of the first and second rotation axes 310 and 320 is inclined with respect to the central axis 300 corresponding to the vertical axis of the robot cleaner 100 while the robot cleaner 100 is running is measured. Can be adjusted (S1002).

11 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present invention. First, the robot cleaner 100 may be driven in a predetermined direction by rotating at least one of the first and second

rotating members

110 and 120, which respectively rotate about the first and second

rotating shafts

310 and 320. There is (S1101).

In operation S1102, the robot cleaner 100 may detect a driving state or a first obstacle having a predetermined height or more.

In operation S1103, the robot cleaner 100 may adjust an inclination angle of at least one of the first and second rotation axes 310 and 320 with respect to the central axis 300 based on the detection result.

Meanwhile, the above-described control method according to various embodiments of the present disclosure may be implemented in program code and provided to each server or devices in a state of being stored in various non-transitory computer readable mediums.

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. Specifically, the various applications or programs described above may be stored and provided in 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.

In addition, although the preferred embodiment of the present invention has been shown and described above, the present invention is not limited to the specific embodiments described above, but the technical field to which the invention belongs without departing from the spirit of the invention claimed in the claims. Of course, various modifications can be made by those skilled in the art, and these modifications should not be individually understood from the technical spirit or the prospect of the present invention.

Claims

In the robot cleaner,

A drive unit for providing power;

First and second rotating members each rotatable about a first rotating shaft and a second rotating shaft driven by the power of the driving unit, and capable of fixing a cleaner for wet cleaning;

A controller configured to control the driving unit to rotate at least one of the first and second rotating members to move the robot cleaner in a predetermined direction; And

And a dry cleaning part including a suction port for sucking free particles collected from a surface to be cleaned while the robot cleaner is driven in accordance with a rotational motion of the first and second rotating members.
The method of claim 1,

The robot cleaner,

And when the cleaners are fixed to the first and second rotating members, respectively, the robot cleaner can run according to a frictional force with the surface to be cleaned generated according to the rotational motion of each of the fixed cleaners.
The method of claim 2,

The first and second rotation shafts,

Inclined to have a predetermined angle with respect to the central axis corresponding to the vertical axis of the robot cleaner,

When the cleaners for wet cleaning are fixed to the first and second rotating members, respectively, the fixed cleaners are inclined downward inward with respect to the central axis as the first and second rotating shafts are inclined. Robot cleaner, characterized in that.
The method of claim 3,

The control unit,

A robot cleaner which controls the driving unit to rotate the front end of the first and second rotating members from outside to inside so that free particles located on the surface to be cleaned are collected near the suction port while the robot cleaner is running. .
The method of claim 3,

The first rotating member is formed on the left side of the robot cleaner, the second rotating member is formed on the right side of the robot cleaner,

The control unit,

While driving the robot cleaner, the first rotating member is rotated in a clockwise direction by controlling the driving unit so that free particles located on the surface to be cleaned are collected near the suction port, and the second rotating member is rotated in a counterclockwise direction. Robot cleaner characterized in that to exercise.
The method of claim 1,

The outer circumference of the cleaner is formed with a plurality of brushes for collecting the free particles,

And a hair member contacting the plurality of brushes to shake off the free particles collected in the plurality of brushes.
The method of claim 6,

And a guide member for guiding the free particles shaken by the hairs member near the suction port.
The method of claim 3,

And a tilt controller configured to adjust an inclination angle of at least one of the first and second rotary shafts with respect to the central axis corresponding to the vertical axis of the robot cleaner.
In the robot cleaner,

A main body forming an exterior of the robot cleaner;

First and second rotating members formed at a front end of the bottom of the main body and each of which can be fixed with a cleaner for wet cleaning;

At the bottom of the main body, free particles collected from the surface to be cleaned are formed near the suction port according to the rotational motion of the first and second rotating members formed at the rear end of the first and second rotating members. A guide member which guides to lose; And

And a suction port formed at the bottom of the main body near the guide member and sucking the collected free particles.
The method of claim 9,

The guide member,

Extending toward the side end of the main body, wherein the lower end of the guide member is formed to be close to the surface to be cleaned while the robot cleaner is running.
The method of claim 9,

The suction port,

Robot cleaner, characterized in that formed in parallel with the front end, the rear end of the guide member or the guide member.
The method of claim 9,

The outer circumference of the cleaner is formed with a plurality of brushes for collecting the free particles,

And a hair member formed between the first and second rotating members on the bottom surface of the main body and contacting the plurality of brushes to shake off the free particles collected by the plurality of brushes.
In the control method of the robot cleaner,

Driving the robot cleaner in a predetermined direction by rotating at least one of the first and second rotating members respectively rotating around the first and second rotating shafts; And

And sucking the free particles collected from the surface to be cleaned according to the rotational motions of the first and second rotating members while the robot cleaner is running.
The method of claim 13,

The robot cleaner,

And when the cleaners are fixed to the first and second rotating members, respectively, the cleaner can be driven in accordance with a frictional force with the surface to be cleaned generated according to the rotational motion of the fixed cleaners.
The method of claim 14,

The first and second rotation shafts,

The control method characterized in that the inclined downward inward with respect to the central axis corresponding to the vertical axis of the robot cleaner.
The method of claim 15,

The first rotating member is formed on the left side of the robot cleaner, the second rotating member is formed on the right side of the robot cleaner,

The driving step,

The first rotary member rotates in a clockwise direction and the second rotary member rotates in a counterclockwise direction so that free particles located on the surface to be cleaned are collected near the suction port while the robot cleaner is running. Controlling the vehicle in a predetermined direction.
The method of claim 14,

The suctioning step,

Shaking off the free particles collected according to the friction between the cleaner and the surface to be cleaned from the cleaner;

Guiding the blown free particles to collect near a suction port; And

And inhaling the collected free particles.
The method of claim 15,

And adjusting an inclination angle of at least one of the first and second rotary shafts with respect to the central axis corresponding to the vertical axis of the robot cleaner.