WO2016036183A1

WO2016036183A1 - Wet cleaning apparatus, robot cleaner and control method therefor

Info

Publication number: WO2016036183A1
Application number: PCT/KR2015/009338
Authority: WO
Inventors: 이상규; 홍성균; 원덕연; 천광배; 박주영
Original assignee: 에브리봇 주식회사
Priority date: 2014-09-05
Filing date: 2015-09-04
Publication date: 2016-03-10
Also published as: KR101578887B1

Abstract

Disclosed is a wet cleaning apparatus. The present wet cleaning apparatus comprises: a liquid storage part for storing liquid for wet cleaning; a driving unit for providing a driving force; first and second rotating members which respectively make a rotational movement about a first rotation axis and a second rotation axis using the driving force and to which cleaners for wet cleaning can be respectively fixed; and rotating valves for supplying the liquid stored in the liquid storage part to the cleaners by making a rotational movement in conjunction with the rotational movement of at least one of the first and second rotating members.

Description

Wet cleaning device, robot cleaner and control method

The present invention relates to a wet cleaning apparatus, a robot cleaner, and a control method thereof, and more particularly, to a wet cleaning apparatus for wet cleaning, and the wet cleaning apparatus to perform dry cleaning and wet cleaning while driving autonomously. It relates to a robot cleaner and a control method thereof.

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 stuck to the surface to be cleaned or when they are stuck. Recently, robot cleaners that can perform wet cleaning by attaching mops to the robot cleaners have emerged. .

However, the wet cleaning method using a conventional robot cleaner is only a simple method of attaching a rag or the like to the lower part of the existing robot cleaner, so that the effect of removing foreign substances is low, and the efficient wet cleaning cannot be performed. There was a problem that the battery consumed when the robot cleaner is increased due to an increase in frictional force with the.

In addition, in the case of the wet cleaning method of the conventional robot cleaner, it runs by using the conventional suction type vacuum cleaner moving method and the avoiding method for obstacles, and so on, even if the dust scattered on the surface to be cleaned is removed, etc. There was a problem that can not be easily removed.

In addition, in the case of the wet cleaning method of the conventional robot cleaner, the liquid supply could not be controlled because the free drop supply method was used when supplying the liquid for wet cleaning, and accordingly, product damages and floor overflow due to product leakage, etc. There was a dangerous issue.

The present invention has been made in accordance with the above-described needs, an object of the present invention is to use the first, second rotary member and the rotary valve to rotate in conjunction with each of the rotary member, respectively, the rotary motion around the axis of rotation, wet The present invention provides a wet cleaning device capable of automatically supplying a liquid for cleaning to a cleaner such as a mop.

In addition, another object of the present invention is to provide a robot cleaner and a control method of the robot cleaner that can be attached to and detached from the wet cleaning apparatus described above.

A wet cleaning apparatus according to an embodiment of the present invention for achieving the above object, a liquid storage unit for storing a liquid for wet cleaning, a drive unit for providing a driving force, the first rotating shaft, the second rotating shaft using the driving force Rotating movement around each of the first and second rotating member and the first and second rotating member and the cleaner for fixing the wet cleaning can be rotated in conjunction with the rotational movement of at least one of the first and second rotating member, respectively, the liquid storage unit And a rotary valve for supplying the liquid stored in the cleaner to the cleaner.

In addition, in the robot cleaner including a wet cleaning device according to an embodiment of the present invention for achieving the above object, the wet cleaning device, a liquid storage unit for storing a liquid for wet cleaning, providing a driving force At least one of the first and second rotating members and the first and second rotating members each of which rotates about a first rotating shaft and a second rotating shaft using the driving force, and to which the cleaner for wet cleaning can be fixed, respectively. It includes a rotary valve for supplying the liquid stored in the liquid storage to the cleaner by rotating in conjunction with one rotational movement.

In addition, the control method of the robot cleaner according to an embodiment of the present invention for achieving the above object, the step of receiving a user input for the robot cleaner to perform a cleaning run, detecting whether the wet cleaning device is mounted Step, if the mounting of the wet cleaning device is detected, the step of supplying power to the power terminal of the wet cleaning device and the step of cleaning by using the wet cleaning device, the wet cleaning device, the wet cleaning device, First and second liquid storage unit for storing a liquid for storing, a driving unit for providing a driving force, each of which rotates about the first and second rotating shafts using the driving force, the cleaner for the wet cleaning can be fixed, respectively The rotary member and the rotary member in conjunction with the rotational movement of at least one of the first and second rotating members to be stored in the liquid storage unit And a rotary valve for supplying a liquid to the cleaner.

The wet cleaning apparatus according to various embodiments of the present disclosure may automatically supply a liquid for wet cleaning to each of the first cleaner and the second cleaner by the rotational motion of each of the first and second rotating members. Accordingly, the user who wants to perform the wet cleaning can eliminate the operation of wetting the mop or the like with the liquid, and the user's convenience can be achieved.

In addition, the wet cleaning apparatus according to various embodiments of the present disclosure may be applied to the surface to be cleaned by friction between the first cleaner and the second cleaner and the surface to be cleaned, respectively, by the rotational motion of each of the first and second rotating members. The foreign matter stuck to it can be removed more effectively.

In addition, the robot cleaner according to various embodiments of the present disclosure may provide a frictional force between the first cleaner, the second cleaner, and the surface to be cleaned, which are rotated by the respective rotary motions of the first and second rotary members. It can be used to improve battery efficiency.

1 is a three-dimensional view showing a wet cleaning apparatus according to an embodiment of the present invention with respect to an upper surface thereof.

2 is a three-dimensional view showing a wet cleaning apparatus according to an embodiment of the present invention with respect to its bottom.

3 is an exploded perspective view showing a wet cleaning apparatus according to an embodiment of the present invention.

Figure 4 is a three-dimensional view showing the wet cleaning apparatus in a state of removing the body frame and the liquid storage unit according to an embodiment of the present invention.

5 is a plan view showing the interior of the liquid storage unit according to an embodiment of the present invention.

6 is a perspective view showing the interior of the liquid storage unit according to an embodiment of the present invention.

7 is a view showing a liquid supply process according to an embodiment of the present invention.

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

9 is a flowchart illustrating a method of controlling 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 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.

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 is a three-dimensional view showing a wet cleaning apparatus according to an embodiment of the present invention with respect to an upper surface thereof. 2 is a three-dimensional view showing a wet cleaning apparatus according to an embodiment of the present invention with respect to its bottom. 3 is an exploded perspective view showing a wet cleaning apparatus according to an embodiment of the present invention.

1 to 3, the wet cleaning apparatus 100 according to an embodiment of the present invention may perform a wet cleaning to remove the foreign matter adhered to the surface to be cleaned using a liquid such as water, detergent. The wet cleaning apparatus 100 includes a liquid storage unit 110 for storing a liquid for wet cleaning, a main body frame 120 forming an appearance capable of supporting various components, and a driving unit 130 providing a driving force. The first and second

rotary members

151 and 152 and the first and second

rotary members

151 and 162 may respectively be rotatable about the first and second rotary shafts using the driving force of the driving unit 130, and the

cleaners

161 and 162 for wet cleaning may be fixed, respectively. And

rotation valves

171 and 172 which rotate in association with at least one rotational motion of the

second rotation members

151 and 152 to supply the liquids stored in the liquid storage unit 110 to the

cleaners

161 and 162.

Here, the liquid storage unit 110 may be a liquid for wet cleaning, for example, a liquid such as 'water' or 'a mixture of water with at least one of soap, solvent, fragrance, disinfectant, emulsifier, desiccant, and abrasive particles'. It can be stored, the liquid container cover 111 to form a top and the liquid container body 112 to form a bottom may be formed by mutual coupling.

The driving unit 130 may be installed at one side of the main body frame 120 to provide a driving force, and may include a motor assembly 132 and / or a gear assembly 132 for reducing and transmitting the driving force of the motor.

The first rotating member 151 may rotate in rotation about the first rotation axis according to the driving force of the driving unit 130, and fix the first cleaner 161 for wet cleaning.

The second rotating member 152 may be connected to the first rotating member 151 in gear so that when the first rotating member 151 rotates, the second rotating member 152 may rotate in rotation with respect to the second rotating shaft. In addition, the second rotating member 152 may fix the second cleaner 162 for wet cleaning.

The first cleaner 161 and the second cleaner 162 are fibers such as a cloth for cleaning the surface to be cleaned, such as a microfiber cloth, a rag, a nonwoven fabric, and the like, so that the adhered foreign matter on the bottom surface can be removed through a rotary motion. It can be made of a material. In addition, a plurality of brushes may be formed on the outer circumferential surface of each of the first and

second cleaners

161 and 162 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 may be made of the same material as the

cleaners

161 and 162 or may be made of different materials. In addition, although the shape of the first cleaner 161 and the second cleaner 162 may be circular as shown in the figure, it may be implemented in various forms without limitation.

The fixing of each of the first and

second cleaners

161 and 162 may be performed by covering the first rotating member 151 and the second rotating member 152 or by using a separate attachment means. For example, the first cleaner 161 and the second cleaner 162 may be attached and fixed to the first rotating member 151 and the second rotating member 152 by Velcro tape or the like.

The driving unit 130, the first and second

rotating members

151 and 152 may be coupled to the body frame 120 inward or outward and supported by the body frame 120.

Here, when the first rotating member 151 and the second rotating member 152 are supported by the main body frame 120, the lower regions of each of the first rotating member 151 and the second rotating member 152 may be It may be implemented to protrude toward the surface to be cleaned. Accordingly, the user may fix the first and

second cleaners

161 and 162 to the protruding regions of the first and

second rotation members

151 and 152, respectively.

On the other hand, each of the above-mentioned body frame 120 and the liquid storage unit 110 may be removable and mounted to each other.

The wet cleaning apparatus 100 according to an embodiment of the present invention rotates in conjunction with a rotational movement of at least one of the first and second

rotational members

151 and 152 to clean the liquid stored in the liquid storage unit 110. It may include a rotary valve (171, 172) for supplying to 161,162. This will be described later with reference to FIGS. 4 to 7.

The first rotation valve 171 passes through the first through hole 121 formed in the body frame 120 and is connected to the first rotation member 151, and the second rotation valve 172 is the body frame 120. It may be connected to the second rotating member 152 through the second through hole 122 formed in the).

Figure 4 is a three-dimensional view showing the wet cleaning apparatus in a state of removing the body frame and the liquid storage unit according to an embodiment of the present invention. Referring to FIG. 4, the first rotating member 151 rotates about the first rotating shaft 151-1 according to the driving force of the driving unit 130, and the second rotating member 152 is the first rotating member ( Geared to 151, when the first rotary member 151 rotates in rotation can be rotated about the second rotation axis (152-1) in conjunction with this. Here, gears are formed on the outer circumferential surfaces of each of the first rotating member 151 and the second rotating member 152 to be connected to each other, and may rotate in opposite directions according to the gear connection. For example, when the first rotation member 151 rotates clockwise, the second rotation member 152 may rotate in a counterclockwise direction, and the first rotation member 151 rotates in a counterclockwise direction. When in motion, the second rotation member 152 may rotate in a clockwise direction.

In addition, each of the first rotating member 151 and the second rotating member 152 is formed to be spaced apart from the inner circumferential surface by a predetermined distance, so that each of the first rotating member 151 and the second rotating member 152 may be a first rotating valve ( The first connection part 151-2 and the second connection part 152-2 may be connected to the 171 and the second rotary valve 172, respectively.

Accordingly, the first rotating valve 171 is connected to the first connecting portion 151-2 of the first rotating member 151, and the second rotating valve 172 is the second connecting portion of the second rotating member 152. 152-2. The first rotary valve 171 rotates about the third rotary shaft 171-1 according to the rotary motion of the first rotary member 151, and the second rotary valve 172 is the second rotary member ( According to the rotational movement, the rotational movement may be performed about the fourth rotational axis 172-1.

Meanwhile, an opening may be formed within a predetermined distance from the outer circumferential surface of each of the first connecting portion 151-1 and the second connecting portion 152-2 toward the outside and from the inner circumferential surface toward the rotation axis. Through the openings, the

rotary valves

171 and 172 may supply liquid to the

cleaners

161 and 162.

5 is a plan view showing the interior of the liquid storage unit according to an embodiment of the present invention. 6 is a perspective view showing the interior of the liquid storage unit according to an embodiment of the present invention. 5 to 6, the liquid storage box body 112 forming the lower end of the liquid storage unit 110 may include a first accommodation unit 113 and a second accommodation unit 114 spaced apart from each other.

Here, the first accommodating part 113 may accommodate a portion of the first rotary valve 171 and support the third rotary shaft 171-1 of the first rotary valve 171. In this case, the first rotary valve 171 may be rotatable about the third rotary shaft 171-1 supported by the first accommodating part 113. In addition, the remaining unaccommodated area of the first rotary valve 171 may be connected to the first rotating member 151 through the first through hole 121 of the body frame 120.

In addition, the second accommodating part 114 may accommodate a portion of the second rotary valve 172 and support the fourth rotary shaft 172-1 of the second rotary valve 172. In this case, the second rotary valve 172 may be rotatable about the fourth rotary shaft 172-1 supported by the second receiving unit 114. In addition, the remaining unaccommodated area of the second rotary valve 172 may be connected to the second rotating member 152 through the second through hole 122 of the body frame 120.

Here, the first accommodating part 113 and the second accommodating part 114 supply the liquid stored in the liquid storage part 110 to the first rotary valve 171 and the second rotary valve 172 accommodated therein, respectively. It may include openings 113-1 and 114-1.

Hereinafter, a liquid supply process according to an exemplary embodiment of the present invention will be described with reference to FIG. 7. However, for convenience of description, the first accommodating part 111 and the first rotary valve 171 will be described as an example.

Referring to FIG. 7A, the first rotary valve 171 may include a plurality of holes passing through or not through the valve, and the first rotary valve 171 rotates the first rotary member 151. When the rotary motion is rotated about the third rotation shaft 171-1 in conjunction with the, the first hole 171-2 of the plurality of holes of the first rotation valve 171 is the opening 113 of the first accommodating portion 113. It can be located at -1). Accordingly, the liquid stored in the liquid storage part 110 may be filled in the first hole 171-2.

In addition, referring to FIG. 7B, when the first rotation valve 171 rotates about the third rotation shaft 171-1 in conjunction with the rotation movement of the first rotation member 151, the liquid is filled. The first hole 171-2 may be located in an area that is not accommodated by the first accommodating part 111, for example, the first through hole 121. In this case, the liquid filled in the first hole 171-2 may be discharged to the outside of the hole, and the discharged liquid may be discharged from the outer circumferential surface of each of the first connection part 151-1 and the second connection part 152-2. The first and

second cleaners

161 and 162 may be supplied to the first and

second cleaners

161 and 162 through openings formed within a predetermined distance toward the rotation axis from the inner circumferential surface.

Such a wet cleaning apparatus 100 according to an embodiment of the present invention is the first cleaner 161, the second cleaner 162 by the rotational movement of each of the first rotating member 151 and the second rotating member 152. Each can automatically supply liquid for wet cleaning. Accordingly, the user who wants to perform the wet cleaning can eliminate the operation of wetting the mop or the like with the liquid, and the user's convenience can be achieved.

In addition, the wet cleaning apparatus 100 according to an embodiment of the present invention is the first cleaner 161 and the first rotating member by the rotary motion of each of the first rotating member 151 and the second rotating member 152, respectively, 2 Through the friction between the cleaner 162 and the surface to be cleaned, the foreign matter adhered to the surface to be cleaned can be efficiently driven.

In addition, when the wet cleaning apparatus 100 according to various embodiments of the present disclosure is mounted to the robot cleaner 200, the robot cleaner 200 rotates each of the first rotating member 151 and the second rotating member 152. The battery efficiency may be improved by using the friction force between the first cleaner 161 and the second cleaner 162 and the surface to be cleaned as the movement force of the robot cleaner 200, respectively.

Meanwhile, according to an embodiment of the present disclosure, the wet cleaning apparatus 100 may further include a power terminal (not shown) for receiving power from the robot cleaner 200. Accordingly, when the wet cleaning apparatus 100 is mounted on the robot cleaner 200, a power terminal (not shown) may receive power from the power supply unit 160 of the robot cleaner 200.

In addition, according to the above-described example, the second rotating member 152 is connected to the first rotating member 151 is described as a rotational movement in conjunction with the rotational movement of the first rotating member 151, but is not limited thereto. It is not. According to another example of the present invention, the wet cleaning apparatus 100 may include a first driving unit providing a driving force to a first rotating member and a second driving unit providing a driving force to a second rotating member, such that the rotating members are mutually connected. It can be implemented to be rotatable even if the gear is not connected.

In addition, according to the above-described example, the wet cleaning apparatus 100 has been described as being able to be mounted and used in the robot cleaner 200 which performs autonomous driving and is not limited thereto. According to another example of the present invention, the wet cleaning device 100 may be embodied as a robot cleaner capable of wet cleaning by autonomous movement by itself. In this case, the wet cleaning apparatus 100 may include the first cleaner 161 and the second cleaner 162 and the first cleaner 161 and the second cleaner 162 which are rotated by the rotational movement of each of the first and second

rotational members

151 and 152. It is possible to travel in a predetermined direction and a predetermined speed through the friction of the cleaning surface, and it is possible to travel by avoiding obstacles with an obstacle detecting sensor, a control module, and the like.

8 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention. Referring to FIG. 8, the robot cleaner 200 may include a main body, an input / output unit 210, a driving unit 220, a cleaning unit 230, a driving unit 240, and a storage unit 250 forming an appearance of the robot cleaner 200. ), The power supply unit 260, the sensor unit 270, the communication unit 280, and all or part of the control unit 290. Here, the main body of the robot cleaner 200 may be provided with an accommodating part for the wet cleaning device 100 on one side, and the wet cleaning device 100 may be detachable and mounted to the robot cleaner 200 through the accommodating part. . If the wet cleaning apparatus 100 is mounted on the robot cleaner 200, the robot cleaner 200 may perform a wet cleaning to remove foreign substances stuck to the surface to be cleaned using a liquid such as water or a detergent.

The input / output unit 210 includes an input unit for receiving a user input for operating the robot cleaner and an output unit for outputting robot cleaner related information. In detail, the input unit may receive various user inputs such as a user input for manipulating on / off of the robot cleaner power, a user input for manipulating a cleaning mode of the robot cleaner, a user input for manipulating an operation or stop of the robot cleaner, and the like. The input unit 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 may output robot cleaner related information such as a battery state of the robot cleaner, a cleaning mode of the robot cleaner, and the like, and the output unit may be visually recognized and an audio output unit that outputs audible data. It may include a display unit for outputting data. Here, the audio output unit may be implemented as a speaker. In addition, the display unit includes a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. It may be implemented by including at least one of a field emission display (FED), a 3D display, a transparent display.

The driving unit 220 may provide a driving force for driving each of the cleaning unit 230 and the driving unit 240. Specifically, the driving unit 220 may include a motor that rotates the main wheels of the driving unit 240 to drive the robot cleaner by driving the motor. Each motor is connected to the main wheels so that the main wheels rotate, and the motors operate independently of each other and can rotate in both directions. In addition, the driving unit 220 includes a motor for rotating each of the main brush assembly and the side brush assembly, and the robot cleaner 200 sucks and removes free particles such as dust existing on the surface to be cleaned by driving the motor. Can be done.

The driving unit 240 drives the robot cleaner 200 according to the driving of the driving unit 220. Here, the driving unit 240 may include a main wheel for enabling the moving operation such as forward, backward, and rotation driving in the process of cleaning the robot cleaner 200 according to the driving of the driving unit 220.

In addition, the driving unit 240 may include an auxiliary wheel. Here, the auxiliary wheel may support the main body of the robot cleaner 200, minimize friction with the bottom surface (cleaned surface), and smoothly run the robot cleaner 200. Here, the auxiliary wheel may be implemented as a caster to rotate in accordance with the driving direction of the robot cleaner 200 to maintain the body in a stable posture.

The cleaning unit 230 cleans the cleaning area. Here, the cleaning unit 230 includes a main brush assembly for sweeping free particles such as dust present on a cleaning surface, such as a bottom surface, and guides them to a suction port, and a side brush assembly for cleaning wall adjacent portions and corners.

On the other hand, although not shown in the drawings, the cleaning unit 130 is a suction unit (not shown) to generate a suction force in the suction port so that the free particles induced in the suction port is sucked in the suction port, to collect the dust introduced into the suction port by the suction unit It may include a dust collector (not shown). Here, the suction unit may be implemented as, for example, a suction motor.

The storage unit 250 stores various programs and data for the operation of the robot cleaner 200. In detail, the storage unit 250 may store the robot cleaner at least one of a cleaning map and a cleaning area.

The storage unit 250 may include a random access memory (RAM), a flash memory, a read only memory (ROM), an erasable programmable ROM (EPROM), an electronically erasable and programmable ROM (EPROM), a register, a hard disk, a removable disk, In addition to the built-in type of storage such as a memory card, the Universal Subscriber Identity Module (USIM) and the like, as well as a removable type of storage such as USB memory.

The power supply unit 260 supplies power to the robot cleaner 200. Specifically, the power supply unit 260 supplies driving power to each of the functional units constituting the robot cleaner 100 and operating power according to whether the robot cleaner runs or performs cleaning, and when the remaining power is insufficient, the power supply unit 260 moves to the charging station to charge it. It can be charged with current. Here, the power supply unit 260 may be implemented as a rechargeable battery. In addition, when the wet cleaning apparatus 100 is mounted on the robot cleaner 200, the power supply unit 260 may supply power to the power terminal of the wet cleaning apparatus 100.

The sensor unit 270 may sense various information about the cleaning driving of the robot cleaner 200. Specifically, the sensor unit 270 may include one or more sensors provided on the side of the main body of the robot cleaner 200 described above to detect a second obstacle that cannot be climbed such as a wall. In addition, the sensor unit 270 may include one or more sensors positioned at the bottom of the front and / or rear of the main body of the robot cleaner 200 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 270 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 200, for example, an acceleration sensor.

In addition, the sensor unit 270 may detect whether the wet cleaning device 100 is mounted in the accommodation unit of the main body of the robot cleaner 200.

The sensor unit 270 may transmit the sensing signal to the control unit 290.

The communication unit 280 may include one or more modules that enable wireless communication between the robot cleaner 200 and another wireless terminal or between the robot cleaner 200 and a network in which the other wireless terminal is located. For example, the communication unit 280 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 200 may control an operation state or an operation method by the control signal received by the communication unit 280. The terminal for controlling the robot cleaner 200 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 200.

The controller 290 controls the overall operation of the robot cleaner 200. In detail, the control unit 290 includes the input / output unit 210, the driving unit 220, the cleaning unit 230, the driving unit 240, the storage unit 250, the power supply unit 260, the sensor unit 270, and the communication unit 280. You can control all or part of.

In particular, when a user input for allowing the robot cleaner 200 to perform a cleaning run is received through the input / output unit 210, the controller 290 may detect whether the wet cleaning device is mounted through the sensor unit 270. . Here, the user input for performing the cleaning driving may be a user input for selecting a wet cleaning mode among a plurality of cleaning modes. For example, an automatic cleaning mode, an intensive cleaning mode, a manual cleaning mode, a corner cleaning mode, a bed The user input may include a user input for selecting a cleaning mode for performing cleaning, including wet cleaning, such as a user input for selecting a bottom cleaning mode and a wet cleaning mode. However, a cleaning mode in which the robot cleaner 200 performs only dry cleaning without performing wet cleaning may be excluded from a mode related to wet cleaning among the plurality of cleaning modes.

When the mounting of the wet cleaning device 100 is detected through the sensor unit 270, the power supply unit 260 may be controlled to supply power to the power terminal of the wet cleaning device 100.

In this case, the robot cleaner 200 may run by cleaning using the mounted wet cleaning device 100.

9 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention. Referring to FIG. 9, first, the robot cleaner 200 may receive a user input for performing a cleaning run (S101). Here, the user input may be a user input for selecting a mode related to wet cleaning among the plurality of cleaning modes.

In this case, the robot cleaner 200 may detect whether the wet cleaning device is mounted. For example, a sensor 270 may be installed in the accommodation portion of the main body of the robot cleaner 200 to detect whether the wet cleaning device 100 is mounted, and the controller 290 may be based on a detection result of the sensor 270. It is possible to determine whether the wet cleaning device is installed.

Then, when the mounting of the wet cleaning device of the robot cleaner 200 is detected, power may be supplied to the power terminal of the wet cleaning device (S103). Specifically, when the mounting of the wet cleaning apparatus 100 is detected, the controller 290 may control the power supply unit 260 to supply power to the power terminal of the wet cleaning apparatus.

In addition, a cleaning run may be performed using the wet cleaning device of the robot cleaner 100 (S104). For example, when a cleaning mode for performing both dry cleaning and wet cleaning is selected, the robot cleaner 100 performs a wet cleaning using the mounted wet cleaning device 100 and at the same time performs a dry cleaning using a main brush assembly and a side brush assembly. Cleaning can be performed.

Meanwhile, the above-described control method according to various embodiments of the present disclosure may be implemented as a program and provided to a server or devices. Accordingly, each device can access the server or device where the program is stored and download the program.

In addition, the control method according to various embodiments of the present disclosure described above may be implemented as a program and stored and provided in various non-transitory computer readable media. 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 wet cleaning apparatus,

A liquid storage unit for storing liquid for wet cleaning;

A driving unit providing a driving force;

First and second rotatable members, each of which rotates about a first rotational axis and a second rotational axis by using the driving force, and the cleaners for wet cleaning are respectively fixed; And

And a rotary valve which rotates in association with at least one of the first and second rotary members to supply the liquid stored in the liquid storage part to the cleaner.
The method of claim 1,

The rotary valve,

A first rotation valve connected to the first rotation member to rotate about a third rotation axis according to a rotation motion of the first rotation member; And

And a second rotary valve connected to the second rotary member and configured to rotate about a fourth rotary shaft according to the rotary motion of the second rotary member.
The method of claim 2,

The liquid storage unit,

At least one opening for supplying the liquid, each of which includes a first accommodating portion and a second accommodating portion for accommodating each of the first and second rotary valves,

The third rotary shaft of the first rotary valve is supported in the first receiving portion,

The fourth cleaning shaft of the second rotary valve is supported by the second receiving portion, characterized in that the wet cleaning device.
The method of claim 3,

And a main body frame supporting the driving unit and the first and second rotating members.

The first rotating member is rotated in accordance with the driving force of the drive unit,

The second rotating member is gear-connected with the first rotating member, the wet cleaning device, characterized in that the rotational movement in conjunction with the rotational movement of the first rotating member.
The method of claim 4, wherein

Wet cleaning device, characterized in that the main body frame and each of the liquid storage portion is removable and mounted to each other.
The method of claim 5,

The body frame,

A first through hole and a second through hole spaced apart from each other,

The first rotary valve is connected to the first rotary member through the first through hole,

And the second rotary valve is connected to the second rotary member through the second through hole.
The method of claim 6,

Each of the first and second rotary valves includes at least one hole,

When the openings of the first accommodating part and the second accommodating part and the holes of each of the first and the second rotating valves form a flow path according to the rotation of the first and second rotary valves, the liquid storage part Wet cleaning device, characterized in that the stored liquid is supplied to the cleaner.
The method of claim 6,

And a power terminal configured to receive power from the power supply unit of the robot cleaner when the wet cleaner is mounted on the robot cleaner that performs autonomous driving and cleaning.
In the robot cleaner comprising a wet cleaning device,

The wet cleaning device,

A liquid storage unit for storing liquid for wet cleaning;

A driving unit providing a driving force;

First and second rotatable members, each of which rotates about a first rotational axis and a second rotational axis by using the driving force, and the cleaners for wet cleaning are respectively fixed; And

And a rotary valve which rotates in association with at least one of the first and second rotary members to supply the liquid stored in the liquid storage part to the cleaner.
The method of claim 9,

Forming the appearance of the robot cleaner, the main body provided with a receiving portion on one side;

The wet cleaning device,

Robot cleaner, characterized in that the removable and mounted to the robot cleaning device through the receiving portion.
The method of claim 9,

A sensor unit detecting whether the wet cleaning device is mounted; And

And a power supply unit supplying power to a power terminal of the wet cleaning device when the mounting of the wet cleaning device is detected by the sensor unit.
In the control method of the robot cleaner,

Receiving a user input for the robot cleaner to perform a cleaning run;

Detecting whether a wet cleaning device is mounted;

Supplying power to a power terminal of the wet cleaning device when the mounting of the wet cleaning device is detected; And

And cleaning the vehicle by using the wet cleaning device.

The wet cleaning device,

A liquid storage unit for storing liquid for wet cleaning;

A driving unit providing a driving force;

First and second rotatable members, each of which rotates about a first rotational axis and a second rotational axis by using the driving force, and the cleaners for wet cleaning are respectively fixed; And

And a rotary valve which rotates in association with at least one rotary motion of the first and second rotary members to supply the liquid stored in the liquid storage part to the cleaner.