WO2022145650A1

WO2022145650A1 - Robot cleaner

Info

Publication number: WO2022145650A1
Application number: PCT/KR2021/014196
Authority: WO
Inventors: 정우철
Original assignee: 에브리봇 주식회사
Priority date: 2020-12-29
Filing date: 2021-10-14
Publication date: 2022-07-07
Also published as: KR20220094861A; KR102481190B1; US20230255436A1

Abstract

The present invention relates to a robot cleaner. The robot cleaner according to an embodiment of the present invention may comprise: a body; a drive unit which is provided in the body to supply power for traveling of the robot cleaner; and a plurality of rotary members which are rotated about a plurality of rotating shafts by the power from the drive unit respectively and to which cleaners for wet cleaning of a surface to be cleaned can be fixed respectively, wherein the plurality of rotary members are set at predetermined tilt angles and rotation angles to determine the travel direction of the robot cleaner.

Description

robotic vacuum

The present invention relates to a robot vacuum cleaner.

With the development of industrial technology, various devices are being automated. As is well known, a robot vacuum cleaner is a device that automatically cleans the area to be cleaned by wiping foreign substances such as dust from the surface to be cleaned while driving within the area to be cleaned by itself without user's manipulation. is being utilized

In general, such a robot cleaner may include a vacuum cleaner that performs cleaning using a suction force generated from a motor.

Robot cleaners including such vacuum cleaners have a limitation in that they cannot remove foreign substances or dirt adhering to the surface to be cleaned. .

However, the wet cleaning method using a general robot cleaner is only a simple method of attaching a mop to the lower part of the conventional vacuum cleaner, so the effect of removing foreign substances is low and efficient wet cleaning cannot be performed.

In particular, in the case of a wet cleaning method of a general robot vacuum cleaner, it travels using the existing suction type vacuum cleaner movement method and obstacle avoidance method as it is, so even if dust scattered on the surface to be cleaned is removed, foreign substances adhering to the surface to be cleaned are removed. There are problems that cannot be easily eliminated.

In addition, in the case of a mop attachment structure of a general robot cleaner, since friction with the ground is increased by the mop surface, a separate driving force for moving the wheel is required more, there is a problem in that battery consumption increases.

The present invention has been drawn out in accordance with the above-mentioned necessity, and an object of the present invention is to set a predetermined tilting angle and rotational angle of a rotating member, and to variably determine the rotational direction and rotational speed of the rotating member according to the driving environment to provide a robot cleaner. As the driving direction is determined, the present invention is to provide a robot cleaner that is easier to control and reduce manufacturing costs by simplifying the structure of the robot cleaner than in the prior art.

A robot cleaner according to an embodiment of the present invention for achieving the above object includes a main body; a driving unit provided in the main body to supply power for driving of the robot cleaner; and a plurality of rotation members each rotating about a plurality of rotation shafts by the power of the driving unit, respectively, to which a cleaner for wet cleaning of the surface to be cleaned can be fixed; the plurality of rotation members having a predetermined tilting angle and The rotation angle may be set, and the traveling direction of the robot cleaner may be determined.

In addition, the tilting angle may be an angular displacement between a central axis parallel to a vertical axis of the robot cleaner and the tilted rotation axis.

In addition, the rotation angle may be an angular displacement of the rotation shaft rotated on an imaginary plane perpendicular to a central axis parallel to a vertical axis in the tilted displacement angle of the robot cleaner.

In addition, the tilted rotation shaft, the rotation shaft of the rotation member may be inclined downwardly outward with respect to the central axis parallel to the vertical axis of the robot cleaner.

In addition, the rotated shaft may be rotated in a locus of drawing a circle on a virtual plane perpendicular to the central axis parallel to the vertical axis of the robot cleaner at the tilted displacement angle.

In addition, it is possible to travel by using the frictional force between the surface to be cleaned and the fixed cleaner generated according to the rotational motion of the cleaner as a moving force source.

In addition, at least one of a rotation direction and a rotation speed of the plurality of rotation members may be controlled.

In addition, a tilt angle and a rotation angle of the plurality of rotation members may be set, and at least one of a rotation direction and a rotation speed of the plurality of rotation members may be variably determined according to a driving environment.

In addition, a tilt angle and a rotation angle of the plurality of rotation members are set, so that the robot cleaner can travel in a straight line.

In addition, a tilt angle and a rotation angle of the plurality of rotation members are set, so that the robot cleaner can travel along a trajectory including a curve having a predetermined radius of curvature.

In addition, independent tilt angles and rotation angles may be set between the plurality of cleaners.

In addition, the plurality of rotation members may include a first rotation member, a second rotation member, and a third rotation member.

According to the present invention, the rotational member has a predetermined tilting angle and rotational angle set to determine the traveling direction, and the rotational direction and rotational speed of the rotating member are variably determined according to the driving environment, thereby simplifying the structure of the robot cleaner than in the prior art. This reduces the manufacturing cost and has the advantage of easy control.

1 and 2 are a perspective view and a front view illustrating an external appearance of a robot cleaner according to an embodiment of the present invention.

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

4 is a view showing a running operation of a robot cleaner according to an embodiment of the present invention.

5 and 6 are diagrams illustrating the configuration of a driving unit according to an embodiment of the present invention.

7 is a view showing a cleaner according to the tilting of the rotating member of the robot cleaner according to an embodiment of the present invention.

8 is a view illustrating a cleaner according to rotation after tilting of the rotating member of the robot cleaner according to an embodiment of the present invention.

9 is a view showing the trajectory of the position of the rotational axis of the cleaner after the rotating member of the robot cleaner sequentially tilts and rotates according to an embodiment of the present invention based on the plane formed by the x-axis and the y-axis.

10 is a view illustrating a trajectory in which the first rotational shaft can be positioned when the first rotational shaft is rotated after tilting.

11 is a view illustrating a plurality of cleaners having mutually different trajectories of rotation as the tilt angles and rotation angles of the plurality of rotation members are independently set according to an embodiment of the present invention.

The following is merely illustrative of the principles of the invention. Therefore, those skilled in the art will be able to devise various devices that, although not explicitly described or shown herein, embody the principles of the present invention and are included within the spirit and scope of the present invention. In addition, all conditional terms and examples listed herein are, in principle, expressly intended only for the purpose of understanding the concept of the present invention, and it should be understood that they are not limited to the specifically enumerated embodiments and states as such. do.

Moreover, it is to be understood that all detailed description reciting specific embodiments, as well as principles, aspects, and embodiments of the invention, are intended to include structural and functional equivalents of such matters. It should also be understood that such equivalents include not only currently known equivalents, but also equivalents developed in the future, i.e., all devices invented to perform the same function, regardless of structure.

Thus, for example, the block diagrams herein are to be understood as representing conceptual views of illustrative circuitry embodying the principles of the present invention. Similarly, all flowcharts, state transition diagrams, pseudo code, etc. may be tangibly embodied on computer-readable media and be understood to represent various processes performed by a computer or processor, whether or not a computer or processor is explicitly shown. should be

The functions of the various elements shown in the figures including a processor or functional blocks represented by similar concepts may be provided by the use of dedicated hardware as well as hardware having the ability to execute software in association with appropriate software. When provided by a processor, the functionality may be provided by a single dedicated processor, a single shared processor, or a plurality of separate processors, some of which may be shared.

In addition, the clear use of terms presented as processor, control, or similar concepts should not be construed as exclusively referring to hardware having the ability to execute software, and without limitation, digital signal processor (DSP) hardware, ROM for storing software. It should be understood to implicitly include (ROM), RAM (RAM) and non-volatile memory. Other common hardware may also be included.

In the claims of the present specification, a component expressed as a means for performing the function described in the detailed description includes, for example, a combination of circuit elements that perform the function or software in any form including firmware/microcode, etc. It is intended to include all methods of performing the functions of the device, coupled with suitable circuitry for executing the software to perform the functions. Since the present invention defined by these claims is combined with the functions provided by the various enumerated means and in a manner required by the claims, any means capable of providing the functions are equivalent to those contemplated from the present specification. should be understood as

The above objects, features and advantages will become more apparent through the following detailed description in relation to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains can easily implement the technical idea of the present invention. There will be. In addition, in the description of the present invention, if it is determined that a detailed description of a 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 and 2 are a perspective view and a front view illustrating an external appearance of a robot cleaner according to an embodiment of the present invention, and FIG. 3 is a block diagram showing the robot cleaner according to an embodiment of the present invention.

1 to 3 , the robot cleaner 100 according to an embodiment of the present invention includes a main body 10 , a driving unit 150 , a first rotating member 110 , and a second rotating member 120 . , the third rotation member 130 and the control unit 170 may be included.

Also, referring to FIG. 3 , the robot cleaner 100 according to an embodiment of the present invention includes a sensing unit 145 , a communication unit 140 , a storage unit 160 , an input unit 180 , an output unit 185 , and a power supply. It may be configured to further include at least one of the supply unit 190 .

The body 10 may be structurally configured to form the exterior of the robot cleaner 100 .

According to an embodiment of the present invention, a bumper (not shown) for protecting the main body 10 from external impact may be formed around the outer periphery of the main body 10 .

The driving unit 150 may be provided in the main body 10 to supply power for the driving of the robot cleaner 100 .

Each of the first rotation member 110 , the second rotation member 120 , and the third rotation member 130 is a first rotation axis 310 by the power of the driving unit 150 , the second rotation axis Rotation Axis) 320 and a third rotation axis (Rotation Axis) 330 may be rotated about each other. Here, rotation in a clockwise direction (CW) or a counterclockwise direction (CCW) with respect to the rotation axis may be selected.

The driving unit 150 may be configured to drive the first rotation member 110 , the second rotation member 120 , and the third rotation member 130 . More specifically, the driving unit 150 may supply power for rotating the first rotating member 110 , the second rotating member 120 , and the third rotating member 130 under the control of the controller 170 . Here, the driving unit 150 includes a first driving unit 151 for driving each of the first rotating member 110 , the second rotating member 120 , and the third rotating member 130 as shown in FIGS. 5 and 6 , and the second The driving unit 152 and the third driving unit 153 may be included, and may be implemented including a motor and/or a gear assembly.

Each of the first rotation member 110 , the second rotation member 120 , and the third rotation member 130 includes a first cleaner 210 , a second cleaner 220 and a second cleaner 210 for wet cleaning of the surface to be cleaned 900 . 3 The cleaner 230 may be fixed.

The robot cleaner 100 may run while performing wet cleaning using the

cleaners

210 , 220 , and 230 . Here, wet cleaning may mean cleaning the surface to be cleaned 900 using the

cleaners

210, 220, 230, and for example, cleaning using a dry cloth, cleaning using a wet cloth, etc. can include all of them.

The first cleaner 210 , the second cleaner 220 , and the third cleaner 230 include microfiber cloths, rags, non-woven fabrics, brushes (brush), etc. , may be composed of a material capable of wiping various surfaces to be cleaned. In addition, the first cleaner 210 , the second cleaner 220 , and the third cleaner 230 may have a circular shape as shown in FIGS. 1 and 2 , but may be implemented in various shapes without limitation in shape.

The cleaner rotates in a clockwise direction (CW) or in a counterclockwise direction (CCW) in response to the rotation direction of the rotating member.

In addition, the first, second, and

third cleaners

210 , 220 , and 230 are fixed using a method of covering each of the

corresponding rotation members

110 , 120 , 130 or using a method using a separate attachment means. can be performed. For example, the first cleaner 210 , the second cleaner 220 , and the third cleaner 230 may be attached to and fixed to a fixing member using a Velcro tape or the like.

As described above, the robot cleaner 100 according to an embodiment of the present invention includes a first cleaner 210, a first cleaner 210, As the second cleaner 220 and the third rotating member 230 rotate, foreign substances adhering to the floor may be removed through friction with the surface to be cleaned 900 .

In addition, when frictional force between the

cleaners

210 , 220 , 230 and the surface to be cleaned 900 is generated, the frictional force may be used as a moving force source of the robot cleaner 100 .

In addition, since the first rotation member 110, the second rotation member 120, and the third rotation member 130 form a predetermined angle with the surface to be cleaned 900, the cleaner coupled to each rotation member and the surface to be cleaned ( A frictional force is generated between the 900 , so that the robot cleaner 100 can move and the surface to be cleaned 900 can be cleaned at the same time.

The controller 170 controls rotation directions (CW, CCW) and rotation speeds of the plurality of rotation members. This will be described later in detail.

The sensing unit 145 may detect various pieces of information necessary for the operation of the robot cleaner 100 and transmit a detection signal to the control unit 170 .

Meanwhile, 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 have an operation state or an operation method controlled by a control signal received by the communication unit 140 as described above. 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), etc. capable of communicating with the robot cleaner 100 .

Meanwhile, the storage unit 160 may store a program for the operation of the control unit 170 and may temporarily store input/output data. Storage unit 160 is a flash memory type (flash memory type), hard disk type (hard disk type), multimedia card micro type (multimedia card micro type), card type memory (for example, SD or XD memory, etc.), 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 at least one type of storage medium among a magnetic disk and an optical disk.

The input unit 180 may receive a user input for operating the robot cleaner 100 . In particular, the input unit 180 may receive a user input for selecting an operation mode of the robot cleaner 100 .

Here, the input unit 180 may include a keypad, a dome switch, a touch pad (static pressure/capacitance), a jog wheel, a jog switch, and the like.

The output unit 185 is for generating outputs related to sight and hearing, and although not shown in the drawings, a display unit, a sound output module, an alarm unit, and the like may be included.

The display unit displays (outputs) information processed by the robot cleaner 100 . For example, when the robot vacuum cleaner is cleaning, a user interface (UI) or a graphic user interface (GUI) that displays a cleaning time, a cleaning method, a cleaning area, etc. related to a cleaning mode may be displayed.

The power supply unit 190 supplies power to the robot cleaner 100 . Specifically, the power supply unit 190 supplies power to each functional unit 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 from an external charger. Here, the power supply 190 may be implemented as a rechargeable battery.

4 , the first rotating member 110 and the second rotating member 120 are disposed at the front, and the third rotating member 130 is disposed at the rear, so that the robot cleaner 100 can travel in a straight line forward. . Also, in another embodiment, the third rotation member 130 may be disposed in the front, and the first rotation member 110 and the second rotation member 120 may be disposed in the rear, so that forward straight travel may be possible. In addition, it is also possible to travel backward in the opposite direction to the forward travel.

In addition, linear travel is possible and at the same time, under the control of the controller 170, curved travel may be performed along a trajectory including a curve having a predetermined radius of curvature.

7 is a view showing the cleaner when the rotating member of the robot cleaner is tilted according to an embodiment of the present invention.

Here, the tilting of the rotating member has been described with reference to FIG. 7 to show what kind of trajectory the tilting is performed, and the tilting and rotation are already progressed when the robot cleaner according to the present invention is manufactured, so that the traveling direction is determined. That is, the tilt angle and the rotation angle are already set according to the design.

In addition, for clarity of description, the first rotation member 110 , the first cleaner 210 , and the first rotation shaft 310 will be described as the basis.

In addition, in the initial state before the tilting of the rotating member in FIG. 7 , it is assumed that the plane formed by the x-axis and the y-axis and the surface to be cleaned 900 are the same plane, and the center parallel to the vertical axis of the robot cleaner 100 It is assumed that the shaft 300 and the rotational axis of the rotating member are positioned on the same line.

In FIG. 7 , the central axis 300 and the first rotation axis 310 parallel to the vertical axis of the robot cleaner 100 are positioned on the same line, and the first cleaner 210 is the surface to be cleaned 900 and the x-axis and y-axis. It is positioned so as to be parallel to the plane formed by the axis. The initial state is expressed as a dotted line state.

Here, the meaning of 'side by side' and 'side by side' may mean 'substantially or side by side within an error range' and 'substantially side by side or within an error range'.

When tilting, the first rotating member 110 is rotated with respect to the central axis 300 such that the first rotating shaft 310 is inclined downwardly outward with respect to the central axis 300 parallel to the vertical axis of the robot cleaner 100 . It is tilted (or tilted) to have a predetermined angular displacement θ1. In the present invention, this predetermined angular displacement θ1 is referred to as a 'tilting angle'.

In addition, in FIG. 7 , the first rotating member 110 is tilted to have a tilting angle θ1 on the z-axis. For convenience, the first rotational axis after tilting is denoted by a reference numeral '310a'.

The first cleaner 210 shares the first rotation shaft 310a with the first rotation member 110 , and in response thereto, the first cleaner 210 is also tilted as shown in FIG. 7 .

In FIG. 7 , a point of the first cleaner 210 in contact with the x-axis in the initial state is referred to as 'A1', and another point of the first cleaner 210 in contact with the x-axis is referred to as 'B1'. At this time, when the first rotation member 110 is tilted, a point 'A1' moves up and down in the z-axis direction while drawing a curved trajectory. However, since the other point 'B1' must be in contact with the surface to be cleaned (for movement of the robot cleaner 100 and cleaning of the surface to be cleaned), it is fixed at the corresponding position.

One point after such tilting is called 'A2', and the other point is called 'B2'. Therefore, after tilting, 'A1' and 'A2' are not the same, and 'B1' and 'B2' are the same.

As described above, according to the tilting of the first rotating member 110 , the first cleaner 210 generates frictional force with the surface to be cleaned 900 to be movable, and the surface to be cleaned may be cleaned.

8 is a view showing the cleaner when the rotating member of the robot cleaner is rotated after tilting according to an embodiment of the present invention.

Here, the rotation of the rotating member has been described with reference to FIG. 8 in order to show what trajectory it is rotated on, and the tilting and rotation are already progressed when the robot cleaner according to the present invention is manufactured, so that the traveling direction is determined. That is, the tilt angle and the rotation angle are already set according to the design.

9 is a view showing the trajectory of the position of the rotational axis of the cleaner after the rotating member of the robot cleaner sequentially tilts and rotates according to an embodiment of the present invention based on the plane formed by the x-axis and the y-axis. Here, for clarity of description, the first rotation member 110 , the first cleaner 210 , and the first rotation shaft 310 will be described as the basis.

Hereinafter, rotation of the rotating member will be described with reference to FIGS. 8 and 9 .

The rotation of the first rotating member 110 is made by rotating based on the central axis 300 parallel to the vertical axis of the robot cleaner 100 . That is, with the central axis 300 parallel to the vertical axis of the robot cleaner 100 as the center, the first rotating member 110 is tilted and the tilting angle θ1 is fixed to rotate. The reference numeral of the first rotation shaft after the tilting and rotation is expressed as '310b' for convenience.

8, when the position of one point of the first cleaner 210 after the tilting is 'A2' and the position of the other point is 'B2', as described above, the first rotating member 110 is When rotated, the point 'A2' moves while drawing a curved trajectory on the plane formed by the x-axis and the y-axis without changing in the z-axis direction, as shown in FIG. 9 . In addition, the other point 'B2' also moves while drawing a curved trajectory without a change in the z-axis direction on the plane formed by the x-axis and the y-axis, unlike the tilting operation. More specifically, 'B2' moves on the surface to be cleaned 900 (for movement of the robot cleaner 100 and cleaning of the surface to be cleaned) while drawing a curved trajectory without change in the z-axis direction.

One point after this rotation is called 'A3', and the other point is called 'B3'. Therefore, 'A2' after rotation is not the same as 'A3', and 'B2' is not the same as 'B3'.

Referring to FIG. 9 , due to the rotation of the first rotating member 110 on a plane formed by the x-axis and the y-axis, the central axis 300 parallel to the vertical axis of the robot cleaner 100 and the first rotation axis after tilting A predetermined angular displacement (θ2) between the virtual straight line connecting the 310a and the virtual straight line connecting the central axis 300 parallel to the vertical axis of the robot cleaner 100 and the first rotating shaft 310b after tilting and rotating ) occurs. In the present invention, such a predetermined angular displacement θ2 is referred to as a 'rotation angle'.

The above-described tilt angle θ1 and rotation angle θ2 are both independent between the plurality of rotation members and may have different tilt angles θ1 and rotation angles θ2 from each other. By setting the tilting angle θ1 and the rotation angle θ2, the traveling direction of the robot cleaner 100 can be determined according to the design.

10 is a view illustrating a rotatable trajectory of a first rotation shaft that has undergone tilting.

Here, the 'rotatable trajectory of the first rotational axis' refers to an imaginary plane perpendicular to the central axis 300 parallel to the first rotational axis 310b and the vertical axis of the robot cleaner 100 when setting the rotation angle (here , is a trajectory formed on an imaginary plane at a point where the plane formed by the x1 axis and the y1 axis parallel to the plane formed by the x and y axes meet). Through this, it can be confirmed in what range the first rotation shaft 310b can move during rotation. At this time, this trajectory is not the trajectory of the first cleaner 210 , and according to an embodiment of the present invention, the first rotation shaft 310b may rotate in a circular trajectory as shown in FIG. 10 on a virtual plane.

11 is a view illustrating a plurality of

cleaners

210, 220, and 230 having mutually different rotational trajectories as the plurality of rotation members are each independently tilted and rotated according to an embodiment of the present invention. For convenience of explanation, a plurality of

cleaners

210 , 220 , and 230 are expressed on a plane formed by the x-axis and the y-axis.

As described above, the tilt angle θ1 and the rotation angle θ2 are already set according to the design. The plurality of rotation members (110, 120, 130) have a tilt angle θ1 of d°, e°, f°, respectively, and at the same time have a rotation angle θ2 of a°, b°, c°, respectively do.

Rotation directions (CW, CCW) of the plurality of rotation members (110, 120, 130) may be determined based on the changed rotation axis, respectively, and the rotation speed (v1, v2, v3) may be determined based on the changed rotation axis can Accordingly, the traveling speed of the robot cleaner 100 is determined. The rotation direction and speed may be variably determined by the controller 170 .

That is, the tilt angle θ1 and the rotation angle θ2 are fixed and constant, and the robot cleaner 100 is driven by using the rotation direction and rotation speed as variables.

When the robot vacuum cleaner runs in a straight line in the forward direction, travels in a straight line in the reverse direction, turns left or right in a straight line in the forward direction, turns left or right in a straight line in the reverse direction, or turns left or right in place , precise control of moving or rotating by the distance and angle set by the user is very important.

In order to supply a moving power source to the robot cleaner only with a cleaner without wheels and to clean at the same time, if an even number (two or four) of cleaners is provided, it is easy to perform precise control as above because of symmetry.

However, in the case of an odd number of cleaners as in the present invention, since the rotational force cannot be maintained at 1:1, the axial force is generated and the robot vacuum cleaner is inclined to one side when running in a straight line. It is difficult to precisely control the robot vacuum cleaner to move.

In order to solve this problem, there is room for changing the angle of the cleaner by providing a separate actuator on the rotating shaft, but there are problems in that the manufacturing cost is increased, the manufacturing time of the robot cleaner is excessively required, and the control is not easy.

However, according to the present invention, the driving direction is determined by setting the tilting angle and the rotation angle of the rotating member according to the design, and the rotational direction and the rotational speed of the rotating member are variably determined according to the driving environment. The structure is simplified to reduce manufacturing cost and has the advantage of easy control.

Meanwhile, the above-described control method according to various embodiments of the present invention may be implemented as a program code and stored in various non-transitory computer readable media, and may be provided to each server or device.

The non-transitory readable medium refers to a medium that stores data semi-permanently, rather than a medium that stores data for a short moment, such as a register, cache, memory, and the like, and can be read by a device. Specifically, the above-described various applications or programs may be provided by being stored in a non-transitory readable medium such as a CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, and the like.

In addition, although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention as claimed in the claims In addition, various modifications are possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

The present invention was drawn out according to the above necessity, and an object of the present invention is to set a predetermined tilting angle and rotational angle of a rotating member, and to variably determine the rotational direction and rotational speed of the rotating member according to the driving environment to provide a robot cleaner. As the driving direction is determined, it is to simplify the structure of the robot cleaner compared to the prior art to reduce manufacturing costs and to provide a robot cleaner with easy control.

Claims

In the robot vacuum cleaner,

main body;

a driving unit provided on the main body to supply power for driving of the robot cleaner; and

A plurality of rotation members each rotating about a plurality of rotation shafts by the power of the driving unit, and a cleaner for wet cleaning of the surface to be cleaned can be fixed, respectively;

The plurality of rotation members are set to a predetermined tilt angle and rotation angle, the robot cleaner, characterized in that the traveling direction of the robot cleaner is determined.
According to claim 1,

The tilt angle is

The robot cleaner, characterized in that the angular displacement between a central axis parallel to the vertical axis of the robot cleaner and the tilted rotational axis.
3. The method of claim 2,

The rotation angle is

The robot cleaner, characterized in that at the tilted displacement angle of the robot cleaner, is the angular displacement of the rotating shaft rotated on an imaginary plane perpendicular to the central axis parallel to the vertical axis.
3. The method of claim 2,

The tilted rotation axis,

The rotating shaft of the rotating member is a robot cleaner, characterized in that it is downwardly inclined outward with respect to the central axis parallel to the vertical axis of the robot cleaner.
4. The method of claim 3,

The rotating shaft is rotated,

The rotating shaft of the rotating member is rotated in a trajectory of drawing a circle on an imaginary plane perpendicular to the central axis parallel to the vertical axis of the robot cleaner at the tilted displacement angle.
According to claim 1,

The robot cleaner, characterized in that it travels by using the frictional force between the surface to be cleaned and the fixed cleaner generated according to the rotational movement of the cleaner as a moving force source.
According to claim 1,

A robot cleaner, characterized in that for controlling at least one of a rotation direction and a rotation speed of the plurality of rotation members.
8. The method of claim 7,

A tilt angle and a rotation angle of the plurality of rotating members are set,

A robot cleaner, characterized in that at least one of a rotation direction and a rotation speed of the plurality of rotation members is variably determined according to a driving environment.
The method of claim 1,

A tilt angle and a rotation angle of the plurality of rotating members are set, so that the robot cleaner travels in a straight line.
The method of claim 1,

A tilt angle and a rotation angle of the plurality of rotating members are set, so that the robot cleaner travels along a trajectory including a curve having a predetermined radius of curvature.
The method of claim 1,

A robot cleaner, characterized in that independent tilt angles and rotation angles are set between the plurality of cleaners.
The method of claim 1,

The plurality of rotation members may include a first rotation member, a second rotation member, and a third rotation member.