WO2016159615A1 - 로봇 청소기 및 그의 제어 방법 - Google Patents

로봇 청소기 및 그의 제어 방법 Download PDF

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Publication number
WO2016159615A1
WO2016159615A1 PCT/KR2016/003150 KR2016003150W WO2016159615A1 WO 2016159615 A1 WO2016159615 A1 WO 2016159615A1 KR 2016003150 W KR2016003150 W KR 2016003150W WO 2016159615 A1 WO2016159615 A1 WO 2016159615A1
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WO
WIPO (PCT)
Prior art keywords
robot cleaner
members
cleaner
prevention member
rotating
Prior art date
Application number
PCT/KR2016/003150
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English (en)
French (fr)
Korean (ko)
Inventor
정우철
Original Assignee
에브리봇 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 에브리봇 주식회사 filed Critical 에브리봇 주식회사
Priority to CN201690000611.9U priority Critical patent/CN208599187U/zh
Publication of WO2016159615A1 publication Critical patent/WO2016159615A1/ko

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • the present invention relates to a robot cleaner and a control method thereof, and more particularly, to a robot cleaner and a control method thereof capable of performing wet cleaning while driving autonomously.
  • a robot cleaner is a device that automatically cleans an area to be cleaned by inhaling foreign substances such as dust from the surface to be cleaned or by wiping off the foreign materials from the surface to be cleaned while driving itself in the area to be cleaned without a user's operation. It is utilized.
  • such a robot cleaner may include a vacuum cleaner that performs cleaning using suction power using a power source such as electricity.
  • 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. .
  • 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.
  • 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.
  • the mop attachment structure of the general robot cleaner the frictional force with the ground by the mop surface is in a state that the additional driving force is required to move the wheel, there is a problem that the battery consumption increases.
  • 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 the robot cleaner, and to allow the cleaner for wet cleaning to the rotating member to be fixed,
  • the present invention provides a robot cleaner capable of driving while cleaning and a control method thereof.
  • Robot cleaner for achieving the above object, the main body, a drive unit provided in the main body for supplying power for the driving of the robot cleaner, the first rotary shaft by the power of the drive unit, Each of the first and second rotary members and the first and second rotary members each of which rotates about two rotary axes to provide a moving force for driving the robot cleaner and is fixed to the cleaner for wet cleaning, respectively. And a preventing member for preventing dirt from entering the vicinity.
  • the robot cleaner may be provided with a frictional force between the cleaning surface and the attached cleaner generated according to the rotational motion of the fixed cleaner. Can be run along
  • the prevention member may include at least one first prevention member protruding from an upper surface of each of the first and second rotation members and at least one second prevention member protruding from a bottom surface of the robot cleaner body.
  • the first and second rotating members when the first and second rotating members rotate in a rotatable manner, the first and second rotating members may rotate in a state spaced apart from the second preventing member by a predetermined distance.
  • the first and second prevention members may be disposed so that a gap formed between an end of the first prevention member and a bottom surface of the main body and a gap formed between an end of the second prevention member and an upper surface of the rotation member are staggered from each other. May be arranged sequentially.
  • the first and second prevention members may be formed of a brush to minimize the gap.
  • the control method of the robot cleaner for achieving the above object, the step of supplying power for the driving of the robot cleaner, by the power to the center of the first rotary shaft, the second rotary shaft Controlling the robot cleaner to travel in a specific direction by controlling the rotational motion of the first and second rotational members that rotate in each direction, and by using the prevention member formed on the robot cleaner, near the first and second rotational shafts. And preventing the dirt from flowing into the robot cleaner, and the robot cleaner may travel by using the rotational motion of the first and second rotation members as a moving force source.
  • the prevention member may include at least one first prevention member protruding from an upper surface of each of the first and second rotation members and at least one second prevention member protruding from a bottom surface of the robot cleaner body.
  • the first prevention member may rotate in a state spaced apart from the second prevention member by a predetermined distance.
  • the first and second prevention members may be disposed so that a gap formed between an end of the first prevention member and a bottom surface of the main body and a gap formed between an end of the second prevention member and an upper surface of the rotation member are staggered from each other. May be arranged sequentially.
  • the robot cleaner may travel while performing wet cleaning using the rotational force of the pair of rotating members as a moving power source.
  • the robot cleaner may improve battery efficiency by using rotational force of a pair of rotating members as a moving force source.
  • the robot cleaner may be applied to the surface to be cleaned by friction between the first cleaner and the second cleaner, which are rotated by the respective rotary motions of the first and second rotary members.
  • the foreign matter stuck to it can be removed more effectively.
  • FIG. 1 is an exploded perspective view of a robot cleaner according to an embodiment of the present invention.
  • FIG. 2 is a bottom view of the robot cleaner according to the embodiment of the present invention.
  • FIG. 3 is a front view of the robot cleaner according to an embodiment of the present invention.
  • FIG. 4 is a cross-sectional view of the robot cleaner according to an embodiment of the present invention.
  • FIG. 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.
  • FIG. 8 is a cross-sectional view of the robot cleaner in detail showing the prevention member according to an exemplary embodiment.
  • FIG. 9 is a perspective view showing in detail the prevention member formed on the rotating member according to an embodiment of the present invention.
  • FIG. 10 is a cross-sectional view showing a gap between the preventing member and the component according to an embodiment of the present invention.
  • FIG. 11 is a cross-sectional view of a robot cleaner specifically showing a preventing member according to another embodiment of the present invention.
  • FIG. 12 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention.
  • components expressed as means for performing the functions described in the detailed description include all types of software including, for example, a combination of circuit elements or firmware / microcode, etc. that perform the functions. It is intended to include all methods of performing a function which are combined with appropriate circuitry for executing the software to perform the function.
  • the invention, as defined by these claims, is equivalent to what is understood from this specification, as any means capable of providing such functionality, as the functionality provided by the various enumerated means are combined, and in any manner required by the claims. It should be understood that.
  • FIG. 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 a robot cleaner according to an embodiment of the present invention, Figure 3 is according to an embodiment of the present invention 4 is a front view of the robot cleaner, and FIG. 4 is a cross-sectional view corresponding to the front view of FIG. 3.
  • the robot cleaner 100 of the present invention is structurally formed on the outer periphery of the main body 10 and the outer periphery of the main body 10 to form the exterior of the robot cleaner 100.
  • a bumper 20 to protect the 10 a sensing unit 130 for detecting an external shock applied to the bumper 20, and a driving unit installed at the main body 10 to supply power to drive the robot cleaner 100.
  • 150, a first rotating member 110 coupled to the driving unit 150, and a second rotating member 120, and a power supply unit 190 installed inside the main body 10, may be configured to include the driving unit 150. have.
  • the robot cleaner 100 may travel while performing wet cleaning using the cleaners 210 and 220 for wet cleaning.
  • the wet cleaning may mean cleaning cleaning the surface to be cleaned using the cleaners 210 and 220, and may include, for example, cleaning using a dry mop or the like.
  • the driving unit 150 is installed inside the main body 10 to be coupled to the first driving unit 151 and the first rotating member 110, and installed inside the main body 10 to couple with the second rotating member 120. It may include a first driver 152.
  • the driving unit 150 may be implemented including a motor, a gear assembly, and the like.
  • the first rotating member 110 is coupled to the first driving unit 151 to transmit power by the first driving unit 151, and a first transmission that rotates about the first rotating shaft 310 by the power.
  • the member 111 may be included.
  • the first cleaner 210 for wet cleaning may include a first fixing member 112 that can be fixed.
  • the second rotating member 120 is coupled to the second driving unit 152 to transmit power by the second driving unit 152, and rotates about the second rotation shaft 320 by the power.
  • 2 may include a transmission member 121.
  • the second cleaner 220 for wet cleaning may include a second fixing member 122 that can be fixed.
  • 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.
  • the first transfer member 111 and the second transfer member 112 may not be protruded in the direction of the surface to be cleaned.
  • first fixing member 112 and the second fixing member 122 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 for cleaning various cleaning surfaces, such as a microfiber cloth, a rag, a nonwoven fabric, a brush, and the like, so that the foreign matter adhered to the bottom surface can be removed through a rotary motion. It may be composed of the same fiber material.
  • the first cleaner 210 and the second cleaner 220 may have a circular shape as shown in FIG. 1, but may be implemented in various forms without any limitation.
  • the fixing of the first and second cleaners 210 and 220 may be performed by covering the first fixing member 112 and the second fixing member 122 or by using a separate attaching means.
  • 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 rotates the first cleaner 210 and the second cleaner 220 by the rotational movement of the first rotating member 110 and the second rotating member 120.
  • the frictional force may be used as a moving force source of the robot cleaner 100.
  • the moving speed and direction of the robot cleaner 100 may be adjusted.
  • the first and second rotary shafts 310 and 320 of the first and second rotary members 110 and 120 by the power of the pair of driving units 151 and 152 may be robot cleaners. It may be tilted to have a predetermined angle with respect to the central axis 300 corresponding to the vertical axis of the (100). In this case, the first and second rotating members 110 and 120 may be inclined downward to the outside based on the central axis. That is, the region located far from the central axis 300 among the regions of the first and second rotating members 110 and 120 may be in close contact with the surface to be cleaned than the region located closer to the central axis 300.
  • the central axis 300 may mean a vertical direction with respect to the surface to be cleaned of the robot cleaner 100.
  • 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) corresponding to an angle at which the first rotation axis 310 is inclined with respect to the central axis 300 and the second rotation axis 320 with respect to the central axis 300. It may include a second angle (b degree) corresponding to the inclined angle.
  • the first angle and the second angle may be the same or different from each other.
  • each of the first angle and the second angle may be an angle within an angle range of preferably 1 degree or more and 3 degrees or less.
  • the above-described angle range may be a range capable of optimally maintaining the wet cleaning ability, the traveling speed, and the running performance of the robot cleaner 100.
  • Tilted angle Cleaning ability (three points indication) Travel speed (three points) Less than 1 degree All cleaning surfaces that rub against the cleaner can be cleaned (3) Very slow (0) 1 degree All cleaning surfaces that rub against the cleaner can be cleaned (3) Slow (1) 1.85 degrees All cleaning surfaces that rub against the cleaner can be cleaned except for a portion near the central axis (2) Medium (2) 3 degree All cleaning surfaces rubbed with the cleaner can be cleaned except for a part near the central axis (1) Fast (3) Greater than 3 degrees Cleaning is possible except for most areas near the central axis of the cleaning surface which rubs against the cleaner (0) Fast (3)
  • 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. And cleaning ability.
  • the predetermined angle in the range of 1 degree or more and 3 degrees or less, the wet cleaning ability and running speed of the robot cleaner can be optimally maintained.
  • various embodiments of the present disclosure may not be limited to the above-described angle range.
  • the moving speed and the direction of the robot cleaner 100 may be controlled by the relative friction force generated by controlling the rotation of the pair of rotating members 110 and 120, respectively.
  • the movement speed and the direction control of the robot cleaner 100 will be described later.
  • the robot cleaner 100 may collide with various obstacles existing on the surface to be cleaned.
  • the obstacle may include various obstacles that hinder the cleaning of the robot cleaner 100 such as low obstacles such as thresholds, carpets, obstacles floating on a certain height such as sofas or beds, and high obstacles such as walls.
  • the bumper 20 formed on the outer circumference of the main body 10 of the robot cleaner 100 may protect the main body 10 from an external shock due to a collision with an obstacle and may absorb an external shock.
  • the sensing unit 130 installed in the main body 10 may detect an impact applied to the bumper 10.
  • the bumper 20 includes a first bumper 21 formed around the first outer circumference of the body 10 and a second bumper 22 formed around the second outer circumference of the body 10 separately from the first bumper 21. can do.
  • the bumper 20 may be formed around the left and right sides of the main body 10 based on the direction F toward which the front side of the robot cleaner 10 faces.
  • the first bumper 21 may be formed at the left circumference of the main body 10 based on the direction F toward which the front side of the robot cleaner 10 faces
  • the second bumper Reference numeral 22 may be formed at the right circumference of the main body 10 with respect to the direction F facing the front side.
  • the first bumper 21 and the second bumper 22 may be implemented as physically separate different bumpers. Accordingly, the bumpers of the robot cleaner can operate separately from each other. That is, when the first bumper 21 collides with an obstacle while the robot cleaner 100 runs, the first bumper 21 absorbs the external shock and the absorbed external shock corresponds to the first bumper 21. 1 can be delivered to the detector. However, since the second bumper 22 is implemented as a physically separate bumper from the first bumper 21, the second bumper 22 is not affected by the collision, and the second sensing unit installed in correspondence with the second bumper 22 may receive an external shock. It may not be delivered.
  • the robot cleaner 100 can detect a variety of obstacles encountered while driving. This will be described in detail with reference to FIG. 4.
  • lower ends of the first bumper 21 and the second bumper 22 may be formed to be as close as possible to the surface to be cleaned.
  • the distance between the lower ends of the first bumpers 21 and the second bumpers 22 and the surface to be cleaned may be the same as or smaller than the thickness of the cleaners 210 and 220. Accordingly, the first bumper 21 and the second bumper 22 also collide with a low obstacle such as a shallow threshold, a carpet, and the like, and the robot cleaner 100 may detect and avoid the low obstacle.
  • the upper ends of the first bumper 21 and the second bumper 22 may be formed to prevent the obstacle from being caught only by the main body 10 without colliding with the bumpers 21 and 22.
  • the heights of the upper ends of the first bumper 21 and the second bumper 22 may be the same as the height of the main body 10 or higher than the height of the main body 10. Accordingly, the first bumper 21 and the second bumper 22 also collide with an obstacle floating on a predetermined height such as a sofa or a bed, so that only the main body 10 does not collide with the bumpers 21 and 22. It can prevent the jam.
  • the robot cleaner 100 may include guide parts 113 and 123 for guiding the cleaners 210 and 220 to be fixed at an optimal position.
  • the robot cleaner 100 may not perform a desired driving.
  • the robot cleaner 100 in the straight driving mode may not perform the straight driving, and may be curved to travel.
  • the guides 113 and 123 may be formed to guide the cleaners 210 and 220 to be fixed at optimal positions. Accordingly, the user of the robot cleaner 100 may fix the cleaners 210 and 220 at an optimal position.
  • the sensing unit 130 may detect an external shock applied to the bumper 10.
  • the sensing unit 130 may include a plurality of sensing units installed at positions corresponding to each of the plurality of bumpers.
  • the detector 130 may include at least one first detector and a second bumper 22 installed corresponding to the first bumper 21. It may include a second sensing unit of, may be implemented as a contact sensor, an optical sensor.
  • the detection unit 130 may transmit the detection result to the control unit 170.
  • the controller 170 determines a collision location in which a collision with an obstacle occurs in the bumper 20 area by using the detection result of the detection unit 130, and based on the first driving unit 151, the first driver to avoid the obstacle.
  • the two driver 152 may be controlled.
  • the robot cleaner 100 may be configured to drive the sensing unit 130, the communication unit 140, the first rotating member 110, and the second rotating member 120.
  • the driving unit 150 may include a driving unit 150, a storage unit 160, a control unit 170, an input unit 180, an output unit 185, and a power supply unit 190.
  • the detector 130 may detect various information necessary for the operation of the robot cleaner 100 and transmit a detection signal to the controller 170.
  • the detector 130 may include an external shock detector 131.
  • the external shock detector 131 may detect an external shock applied to the bumper 20 and transmit a detection signal to the controller 170.
  • the external shock detection unit may be implemented as a contact sensor, an optical sensor, or the like.
  • the communication unit 140 may include one or more modules that enable wireless communication between the robot cleaner 100 and another wireless terminal or between the robot cleaner 100 and a network in which the other wireless terminal is located.
  • the communication unit 140 may communicate with a wireless terminal as a remote control device, and may include a short range communication module or a wireless internet module for this purpose.
  • the robot cleaner 100 may control an operation state or an operation method by the control signal received by the communication unit 140.
  • the terminal for controlling the robot cleaner 100 may include, for example, a smartphone, a tablet, a personal computer, a remote controller (remote control device), and the like, which can communicate with the robot cleaner 100.
  • the driving unit 150 may supply power for rotating the first and second rotating members 110 and 120 under the control of the controller 170.
  • the driving unit 150 may include a first driving unit 151 and a second driving unit 152, and may be implemented to include 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.
  • the input unit 180 may receive a user input for selecting an operation mode of the robot cleaner 100.
  • 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.
  • 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.
  • a UI User Interface
  • GUI Graphical User Interface
  • the power supply unit 190 supplies power to the robot cleaner 100.
  • the power supply unit 190 supplies power to each of the functional units constituting the robot cleaner 100, and when the remaining power is insufficient, the power supply unit 190 may be charged by receiving a charging current.
  • the power supply unit 190 may be implemented as a rechargeable battery.
  • the controller 170 typically controls the overall operation of the robot cleaner 100.
  • 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 so that the robot cleaner 100 travels in a specific travel direction. .
  • the robot cleaner 100 may perform a rotational motion in place.
  • the robot cleaner 100 may rotate in place according to the speed at which the first rotating member 110 and the second rotating member 120 rotate.
  • the frictional force acting on the robot cleaner 100 may act as a rotational force with respect to the robot cleaner 100 while being opposite to each other.
  • the controller 170 may control the first rotation member 110 and the second rotation member 120 to rotate in different directions and at the same speed.
  • the direction in which one end moves with respect to the surface to be cleaned by the frictional force of the first rotating member 110 based on the body 10 of the robot cleaner 100 is the surface to be cleaned by the frictional force of the second rotating member 110. It may be the same as the direction in which the other end with respect to. Accordingly, the robot cleaner 100 may travel straight in a specific direction. This will be described in detail with reference to FIGS. 6 to 7.
  • 6 to 7 are views for explaining the driving operation of the robot cleaner according to an embodiment of the present invention.
  • 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 movement mode. As shown in FIG. 6, 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.
  • the rotation direction of the rotating member may be described based on the direction viewed from the top of the robot cleaner 100.
  • the first direction may refer to a direction in which the robot cleaner 100 rotates counterclockwise in a state viewed from the top with the traveling direction 300 at 12 o'clock.
  • the second direction may be a direction different from the first direction, and may mean a direction in which the traveling direction 300 is rotated clockwise at 12 o'clock.
  • the robot cleaner 100 may travel straight as shown in FIG. 7.
  • the robot cleaner 100 according to an embodiment of the present invention rotates the first rotating member 110 in a first direction, and makes the second rotating member 120 different from the first direction. By rotating in two directions, it is possible to generate a relative moving force in accordance with the frictional force and to carry out a straight run in the travel direction.
  • the inclination directions of the rotation shafts 310 and 320 in FIGS. 1 to 7 are just examples, and may be implemented by inclining in different directions according to embodiments.
  • the first rotation axis 310 and the second rotation axis 320 of each of the first and second rotation members 110 and 120 may have a central axis 300 corresponding to a vertical axis of the robot cleaner 100. It may be inclined at an angle as opposed to the case of FIGS. In this case, the first and second rotating members 110 and 120 may be inclined upwardly based on the central axis 300.
  • a region located closer to the center axis 300 among the regions of the first and second rotating members 110 and 120 may be in close contact with the surface to be cleaned than the region positioned far from the central axis 300.
  • the relative frictional force generated between the surface to be cleaned may be greater at the center of the body 10 than at the outside.
  • the moving speed and the direction of the robot cleaner 100 may be controlled by controlling the rotation of the pair of rotating members 110 and 120, respectively.
  • the robot cleaner 100 rotates the first rotating member 110 in a second direction and rotates the second rotating member 120 in a first direction different from the second direction, thereby moving relative to the frictional force. Force can be generated and a straight run in the direction of travel can be performed.
  • the prevention member 400 includes a first prevention member 410 and a robot cleaner 100 main body protruding from an upper surface of each of the first rotation member 110 and the second rotation member 120.
  • the second prevention member 420 protruding from the bottom of the 10 may be included.
  • the first prevention member 410 may be implemented with at least one or more protruding members, for example, may be implemented with two protruding members as shown in FIGS. 8 to 9. More specifically, referring to FIG. 9, the first prevention member 410 may include a protruding member 411 and a second shaft centering on the rotation shaft 310 protruding around the first circle centering on the rotation shaft 310. It may include a protruding member 412 protruding around the circle.
  • the diameter of the first circle may be larger than the diameter of the second circle.
  • the first prevention member 410 may be made of the same material as the rotating members 110 and 120, for example, plastic.
  • the second prevention member 420 may be implemented with at least one or more protruding members, and for example, may be implemented with two protruding members as shown in FIG. 8. More specifically, the second prevention member 420 protrudes around the fourth member centered on the rotation axis 310 and the protruding member 421 protruded around the third circle centering on the rotation axis 310. It may include a protruding member 422. Here, the diameter of the third circle may be larger than the diameter of the fourth circle.
  • the second prevention member 420 may be made of the same material as the main body 10, for example, plastic.
  • the first prevention member 410 is spaced apart from the second prevention member 420 by a predetermined distance.
  • the second prevention member 420 formed on the bottom surface of the main body 10 of the robot cleaner 100 is fixed only to the first prevention member 410 formed on the rotation members 110 and 120 to rotate the rotation members 110 and 120. Can be rotated accordingly.
  • the prevention member 400 may prevent the inflow of dirt near the rotation shafts 310 and 320 by reducing a gap into which dirt, such as hair or silage, may be introduced.
  • dirt, such as hair or silage is rolled up by the rotational motion of the rotating members 110 and 120 and wound around the rotating shaft. Coiling may occur. If this winding occurs, the possibility of failure due to the motor overload is not only increased, but also may cause a problem that the cleaning efficiency is lowered.
  • the robot cleaner 100 according to the embodiment of the present invention may prevent the winding phenomenon by providing the prevention member 400, thereby preventing failure and deterioration of the cleaning efficiency due to the motor overload and the robot cleaner 100. Stable running can be achieved.
  • the first prevention member 410 and the second prevention member 420 may be sequentially disposed in order to more effectively prevent the inflow of dirt near the rotation shafts 310 and 320.
  • the robot cleaner 100 includes two protruding members 411 and 412 on the top surfaces of the rotating members 110 and 120, and two protruding members 421 and 422 on the bottom surface of the main body 10.
  • the protruding member 421, the protruding member 411, the protruding member 422, and the protruding member 412 may be disposed in the order from the outer side of the rotary shaft 310 toward the central rotary shaft 310.
  • the gap 430 formed between the end of the first prevention member 410 and the bottom surface of the main body 10 and the gap formed between the end of the second prevention member 420 and the upper surfaces of the rotating members 110 and 120 may be alternately formed. More specifically, referring to FIG. 10, a gap 430 formed between the end of the first prevention member 410 and the bottom of the main body 10 is formed near the bottom of the main body 10, and the second prevention member A gap 440 formed between the end of the 420 and the upper surfaces of the rotating members 110 and 120 may be formed near the rotating members 110 and 120.
  • the gaps 430 and 440 between the parts may not be completely blocked for the rotational movement of the first and second rotating members 110 and 120 of the robot cleaner 100, the gaps 430 and 440 may be minimized.
  • FIG. 11 is a cross-sectional view of a robot cleaner specifically showing a preventing member according to another embodiment of the present invention.
  • at least one protrusion member 411 and 412 included in the first prevention member 410 and at least one protrusion member 421 and 422 included in the second prevention member 420 may be formed of a brush. .
  • the flexible member of the brush brush may be bent even when contacted with a counterpart, thereby preventing the rotational movement of the rotation members 110 and 120, and at the same time, forming a wall to create a gap. It can completely block the space to remove the dirt.
  • dirt collects in the brush only the brush can be cleaned and reused, thereby promoting user convenience.
  • the robot cleaner 100 may supply power for driving (S101).
  • the robot cleaner 100 may control the robot cleaner to travel in a specific direction by controlling the rotational motion of the first and second rotational members that rotate about the first rotational axis and the second rotational axis by power. There is (S102). More specifically, the robot cleaner 100 may rotate at least one of the first rotating member 110 or the second rotating member 120 according to the driving mode to travel in a specific travel direction.
  • the driving mode may include various modes such as a straight driving mode, a backward driving mode, a concentrated cleaning mode, and an S-shaped driving mode.
  • the robot cleaner 100 may prevent dirt from flowing into the vicinity of the first rotation shaft 310 and the second rotation shaft 320 by using the prevention member formed at the robot cleaner (S103).
  • the preventing member may be implemented with the preventing member described with reference to FIGS. 8 to 11.
  • the controller 170 determines a bumper collided with an obstacle among the plurality of bumpers 20 based on the detection result of the detector 130. And, based on this, at least one of the first driving unit 151 and the second driving unit 152 may be controlled to travel by avoiding obstacles.
  • the preventing member 400 is implemented as a total of four protruding members has been described as an example, but is not limited thereto.
  • the outermost protruding member is formed on the bottom surface of the main body 10 as an example.
  • the member may be formed.
  • control method 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.
  • a non-transitory readable medium such as a CD, a DVD, a hard disk, a Blu-ray disk, a USB, a memory card, a ROM, or the like.

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Manipulator (AREA)
PCT/KR2016/003150 2015-03-27 2016-03-28 로봇 청소기 및 그의 제어 방법 WO2016159615A1 (ko)

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KR10-2015-0043072 2015-03-27
KR1020150043072A KR102274465B1 (ko) 2015-03-27 2015-03-27 로봇 청소기 및 그의 제어 방법

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KR (1) KR102274465B1 (zh)
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09266871A (ja) * 1996-04-03 1997-10-14 Fuji Heavy Ind Ltd 清掃ロボットの制御方法
KR20010113287A (ko) * 2000-06-19 2001-12-28 이충전 진공청소기
KR20030049484A (ko) * 2001-12-15 2003-06-25 신동헌 전방향으로 자체추진되는 원격제어식 바닥 폴리싱 장치
US7636982B2 (en) * 2002-01-03 2009-12-29 Irobot Corporation Autonomous floor cleaning robot
KR20110108760A (ko) * 2010-03-29 2011-10-06 주식회사 유진로봇 브러쉬가 장착된 보조 휠 어셈블리 및 이를 구비한 이동 로봇

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09266871A (ja) * 1996-04-03 1997-10-14 Fuji Heavy Ind Ltd 清掃ロボットの制御方法
KR20010113287A (ko) * 2000-06-19 2001-12-28 이충전 진공청소기
KR20030049484A (ko) * 2001-12-15 2003-06-25 신동헌 전방향으로 자체추진되는 원격제어식 바닥 폴리싱 장치
US7636982B2 (en) * 2002-01-03 2009-12-29 Irobot Corporation Autonomous floor cleaning robot
KR20110108760A (ko) * 2010-03-29 2011-10-06 주식회사 유진로봇 브러쉬가 장착된 보조 휠 어셈블리 및 이를 구비한 이동 로봇

Also Published As

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CN208599187U (zh) 2019-03-15
KR20160115424A (ko) 2016-10-06
KR102274465B1 (ko) 2021-07-07

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