WO2023113137A1

WO2023113137A1 - Robot cleaner for smart farm, and control method therefor

Info

Publication number: WO2023113137A1
Application number: PCT/KR2022/012258
Authority: WO
Inventors: 김용태; 조재훈; 정명규
Original assignee: 한경대학교 산학협력단
Priority date: 2021-12-17
Filing date: 2022-08-17
Publication date: 2023-06-22
Also published as: KR102410452B1; KR102410452B9

Abstract

The present invention provides a robot cleaner for a smart farm and a control method therefor. The present invention includes: an autonomous mobile robot (AMR) that autonomously travels on a rail or a floor surface in a designated section of a smart farm; and a robot cleaning module mounted on the autonomous mobile robot. The robot cleaning module comprises: a main brush module which collects garbage on the floor surface by rotating a rotating shaft that is horizontal to the floor surface while moving forward; a suction nozzle module for suctioning the garbage collected by the rotation of a main brush and moving the garbage to a collection module; left and right side brush modules which have an elevating and descending structure and gather, toward a suction nozzle, garbage that is on the floor surface on the left and right side in the direction of movement of the robot cleaning module; and a robot cleaning module connection member which couples the robot cleaning module to the front side of the autonomous mobile robot or a mobile cart and moves the robot cleaning module up and down. The present invention can detect and collect garbage, fallen leaves, and fallen fruit present in front of and beside the robot cleaner inside the smart farm.

Description

Robot vacuum cleaner for smart farm and its control method

The present invention relates to a robot cleaner, and more particularly, to a robot cleaner for an unmanned smart farm that vacuums fallen leaves, fallen fruits, etc. while moving through a passage of a smart farm, and a control method thereof.

In general, a robot cleaner is a wireless automatic cleaner that checks the cleaning status while autonomously driving using various sensors and cameras, and performs unmanned cleaning. .

However, although these automatic robot cleaners are needed in many industrial fields, they are not widely spread. In particular, in the agricultural and livestock industries, there are limitations in developing and distributing optimized automatic robot cleaners due to various cleaning environments.

1 shows an overall configuration diagram of a cleaning robot 100 according to the prior art. As illustrated in FIG. 1 , the conventional cleaning robot 100 includes a main body 120, a three-wheeled wheel unit 110 formed under the main body and moving in a passage inside a barn, and the main body 120. It is connected to and includes a variable brush 130 that cleans the moving passage along the wheel unit 110 and a power unit 128 that supplies power to the main body 120. The cleaning robot 100 can be set to be automatically charged without the assistance of a manager through the power charging unit 140 formed at a predetermined location in the barn.

Here, the body 120 includes a motor driving unit 121 that drives the wheel unit 110, a wired/wireless communication module 122 that communicates with an external terminal, a temperature sensor 123 that detects temperature, A humidity sensor 124 that detects humidity, a camera 126 that acquires image information, a controller 125 that controls these components, and chicken feathers, dust, garbage, etc. cleaned through the variable brush 130 ( It includes a collection container 127 for collecting garbage (hereinafter, referred to as garbage, etc.).

At this time, the main body 120 is composed of a rectangular lower body 120a and a cylindrical upper body 120b formed on the lower body 120a, and the collection tube 127 is formed on the lower body 120a. The motor drive unit 121, the communication module 122, the

sensor units

123 and 124, the camera 126, and the control unit 125, excluding the collector 127, are in the upper body 120b. can be formed

When the conventional cleaning robot formed as described above is used in individual farms or barns, the width of the brush can be automatically or manually adjusted even when the width of the inner passage is different, and temperature and humidity, which are important factors in an animal breeding environment, can be constantly monitored. Ventilation can be precisely controlled by enabling it, and it contributes to providing quality eggs or meat by improving the breeding environment.

However, in the cleaning robot 100 according to the prior art, although the brush can move left and right, the brush is not adjustable, so when a rail is installed in the moving path, the cleaning robot has a problem in that the rail interferes with cleaning, and the cleaning progresses. When the width of the direction is wide, there was a problem that the garbage in the front center could not be cleaned with only the side brush.

As a conventional prior patent document, Korean Patent Registration No. 10-1685162 (published date 2016.12.12.) can be exemplified.

In order to improve the problems of the prior art, the present invention provides a main brush for front garbage collection and a side brush for side garbage collection in a cleaning module mounted on an autonomous mobile robot or mobile cart, and detects fallen leaves as well as fallen fruits. And the purpose is to provide a smart farm robot cleaner and its control method to collect.

A robot cleaner for a smart farm for achieving the object of the present invention is composed of an autonomous mobile robot (AMR) and a robot cleaner mounted on the autonomous mobile robot (AMR) or a mobile cart, and the robot cleaner is a workspace of a smart farm. In a robot cleaner for a smart farm that autonomously travels along the floor and sucks garbage or fallen fruit on the floor, the robot cleaner includes a collection module mounted on the autonomous mobile robot (AMR) or mobile cart, and a power supply module for supplying electric energy And, at the front of the autonomous mobile robot or mobile cart, a robot cleaning module connecting member for coupling the robot cleaning module, and a robot cleaning module for sucking garbage from the floor while moving at the front of the autonomous mobile robot or mobile cart, The robot cleaning module includes a main brush module that collects garbage on the floor by rotating a rotating shaft horizontal to the floor while moving to the front; a suction nozzle module for sucking in the garbage collected by the rotation of the main brush and moving it to the cleaning module; and left and right side brush modules to collect garbage on the left and right bottom surfaces of the robot cleaner toward the suction nozzle.

Here, the collection module and the power supply module are detachably mounted on the top of the autonomous mobile robot, and the collection module includes a suction motor generating a suction force to the suction nozzle; and a dust collection container for loading the garbage collected by the suction force as the suction motor drives.

In addition, the robot cleaning module further includes an elevating member for elevating and descending from the front of the autonomous mobile robot (ARM) or the mobile cart, and the main brush module includes a brush member having a plurality of brushes around a rotation axis; and a main brush motor module for rotating the brush member.

In addition to the robot cleaner, a vision inspection unit for detecting a fallen fruit; further comprising, when a fallen fruit is detected through the vision inspection unit, raises and lowers the inlet, moves left and right to the position of the fallen fruit, and moves forward at a predetermined angle to suck the fallen fruit. characterized by rotation.

The left and right side brush modules include L-shaped arms fixed to both sides of the cleaner module; A side brush rotating in a vertical axis at the lower end of the L-shaped arm; and a side brush motor for rotating the side brush.

In order to achieve the object according to the present invention, a method for controlling a robot cleaner for a smart farm is such that an autonomous mobile robot (AMR) or a robot cleaner mounted on a mobile cart autonomously travels along the workspace of a smart farm while sucking garbage or fallen fruits on the floor. In the robot cleaner control method for a smart farm for driving and controlling the position of a suction motor, main brush, side brush or suction nozzle of a robot cleaning module by a cleaning control module, the cleaning control module is a first step of lowering the robot cleaning module. ; A second process of lowering the side brush to the bottom surface; a third process of driving and controlling a suction motor, a main brush, and a side brush according to the amount and state of the fallen leaves and whether or not the fallen leaves are detected; and a fourth step of adjusting the position of the suction duct according to the amount and condition of fallen leaves and whether or not the fallen leaves are detected.

Here, if there is a rail for moving the autonomous mobile robot (AMR) or mobile cart, driving the side brush position control unit to move the side brush to the outside of the rail at a set unfolding angle, and then lowering the side brush. It is characterized by further including.

In addition, the third process may include step 11 of acquiring an image of a front cleaning area through a camera fixed to an upper portion of the autonomous mobile robot or robot cleaning module; Step 12 of analyzing the obtained image through a vision module to determine the amount, condition, and fallen fruit of fallen leaves; and step 13 of controlling the rotation speed of the main brush and the side brush and the position and suction power of the suction nozzle according to the determination result in step 12.

In addition, step 21 of detecting the location of the fallen fruit when it is determined in step 12; step 22 of moving the position of the suction nozzle to the position detected in step 21; and a step 23 of adjusting the suction force by controlling the suction motor after moving the suction nozzle to the falling position.

The robot cleaner control device and method for smart farms according to the present invention is mounted on an autonomous mobile robot (AMR) or a mobile cart and drives autonomously, cleaning garbage such as fallen leaves and fallen fruits on the floor along the work path of the smart farm, so the required time Alternatively, 24-hour automatic cleaning is possible, and the amount of fallen leaves and wetness are detected using a vision system, and the suction power is automatically adjusted accordingly, which not only increases energy efficiency, but also adjusts the suction power and nozzle position when the fallen leaves are detected. It has the effect of being easily inhaled through.

1 is an overall external view of a house cleaning robot according to the prior art;

2 is an overall external configuration diagram of a robot cleaner for a smart farm according to an embodiment of the present invention;

3 is a block diagram of a robot cleaner for a smart farm according to an embodiment of the present invention;

4 is a configuration diagram of the combination of the autonomous mobile robot and the robot cleaning module in FIG. 2;

5 is a planar perspective view of the robot cleaning module in FIG. 2;

6 is a side and plan view of the side brush in FIG. 2;

7 is a side perspective view of the suction nozzle in FIG. 2;

8 is a configuration diagram for explanation of the vision module in FIG. 3;

9 is a flowchart of a manufacturing process of a robot cleaner for a smart farm according to an embodiment of the present invention.

The features and effects of the present invention will become more apparent through the following detailed description in conjunction with the accompanying drawings, and accordingly, those skilled in the art to which the present invention belongs can easily implement the technical idea of the present invention. will be.

Since the present invention can have various changes and various forms, specific embodiments are exemplified and described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, and it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention.

A robot cleaner for a smart farm and a control method thereof according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

2 and 3 show the overall configuration of the robot cleaner for smart farm according to an embodiment of the present invention. The robot cleaner for smart farm according to the present invention is for supplying power to an autonomous mobile robot (AMR) 200 that autonomously travels on a rail or floor in a designated section of a smart farm and a structure mounted on the autonomous mobile robot 200. A power supply unit 210 including a battery, a garbage collection module 220 for sucking and loading trash by a suction motor driving unit 223, and a robot cleaning module 300 on the front of the autonomous mobile robot 200 It includes a robot cleaning module connecting member 230 that is coupled, and the robot cleaning module 300 performs a function of sucking in garbage on the floor while moving the room of the smart farm, and the movement of the robot cleaning module 300 It consists of a moving wheel 304 attached to the lower bottom surface for the robot cleaning module 300 and an auxiliary wheel 305 having elasticity to prevent lifting of the floor material (not shown) on the floor surface at the lower front of the robot cleaning module 300. do.

Here, as a moving means for moving the robot cleaning module 300 by mounting or connecting to the front and rear, it can be replaced with various types of mobile bogies as well as the autonomous mobile robot 200.

Hereinafter, the robot cleaning module 300 coupled to the autonomous mobile robot (ARM) as a preferred embodiment of the present invention will be described as an example.

The robot cleaning module 300 is coupled to the autonomous mobile robot 200 by a robot cleaning module connecting member 230, and rotates a rotating shaft horizontal to the floor while moving forward to clean the garbage on the floor. A collecting main brush module 310, a suction nozzle module 330 for sucking in garbage collected by rotation of the main brush module 310 and moving it to the collection module 220, and the robot cleaning module 300 It includes left and right side brush modules 320 that collect trash on the left and right bottom surfaces in the direction of travel toward the suction nozzle module 330.

Referring to FIG. 4, the robot cleaning module connection member 230 includes a sliding connection portion 231 configured to fix the robot cleaning module 300 to the front of the autonomous mobile robot 200 and to move up and down, and It is composed of a shock absorber 232 fixed to the front of the autonomous mobile robot or mobile bogie 200 to raise and lower the sliding connecting portion 231, and the sliding connecting portion 231 and shock absorber 232 are various An ascending and descending structure is possible.

The main brush module 310 includes a main brush 311 in which a brush is radially fixed to a rotating shaft, a main brush driving motor 312 for rotating the main brush 311, and the main brush driving motor 312. It consists of a belt 313 that transmits the power of the main brush 311.

Referring to FIG. 5 , the suction nozzle module 330 is located in front of the main brush 311 and includes at least one suction nozzle 331 for sucking garbage on the floor, and through the suction nozzle 331 It consists of a suction pipe 333 that moves the sucked garbage to the collection module 220, and left and right side brush modules 320 are connected to both sides of the robot cleaning module 300, and the left and right sides The brush module 320 is composed of an L-shaped arm 321 for fixing the side brush 322.

Figure 6 (a) shows a side view of the side brush module 320, Figure 6 (b) is a plan view of the side brush module 320, showing the case where the side brushes 322 on both sides run in parallel, Figure 6 ( c) is a plan view of the side brush module 320, showing a case where the side brushes 322 on both sides progress while forming a predetermined unfolding angle (about 80) with each other. 6(a) to 6(c), the left and right side brush modules 320 drive the side brushes 322 provided at the lower end of the L-arm 321. It consists of a motor 323 and a side brush elevating member 324 that raises and lowers the side brush 322, and the L-arm 321 moves at a certain angle to the left and right under the control of the cleaning control module 301 to be described later. It is composed of a rotating side brush rotating member 325.

Here, the L-shaped arm 321 is configured to be rotatable around the side brush rotating member 325 from 0 ° to 180 ° in an unfolding angle.

Referring to FIG. 7, the suction nozzle module 330 includes a suction nozzle 331 that sucks garbage on the floor by air suction force, and a suction nozzle that raises and lowers the suction nozzle 331 and rotates it forward and backward at a predetermined angle. It consists of a position control unit 332, and the suction nozzle position control unit 332 can be manually or automatically controlled.

Referring to FIG. 8 , a camera 302 fixed to the top of the autonomous mobile robot 200 or the top of the robot cleaning module 300 captures a floor cleaning area, and images collected through the camera 302 It is composed of a vision module 303 that analyzes the amount of garbage, the distribution state, the wet state, and whether or not the fruit falls.

The operation process of the smart farm robot cleaner configured as described above will be described in detail with reference to FIGS. 2 to 9 attached.

First, the present invention mounts the robot cleaning module 300 on the autonomous mobile robot 200 in the designated cleaning area of the smart farm, automatically detects garbage that has fallen on the floor while autonomously moving by receiving battery power, and cleans by inhaling it. will do

9 is a flowchart of a control process of a robot cleaner for a smart farm according to an embodiment of the present invention, wherein the autonomous mobile robot 200 moves on a rail or moves on a floor without a rail according to the environment of a cleaning area of a smart farm. You can clean while doing it.

In the present invention, an embodiment of cleaning fallen leaves or fallen fruits in a designated cleaning area while autonomously driving on a rail in a smart farm will be described in detail.

When power is turned on to the robot cleaning module 300 mounted in the autonomous mobile robot 200 and the cleaning mode starts, the cleaning control module 301 moves the shock absorber 232 through the robot cleaning module elevating driving unit 233. ) is driven, the robot cleaning module 300 connected to the sliding connection part 231 descends to the cleaning floor.

Next, the position control of the side brush 322 will be described in detail with reference to FIG. 6.

After the robot cleaning module 300 descends, the side brush position controller 326 is driven to rotate the left and right side brushes 322 left and right outward with the rail 201 as the center at a certain angle. ( see Figure 6C)

Here, since the rail 201 is raised from the floor to a certain height (about 200 mm), the left and right side brushes 322 rotate outward at an angle of spread (about 80°) avoiding the rail 201.

That is, the side brush position control unit 326 drives the side brush rotating member 325 to rotate the L-shaped arm 321 left and right outward at a predetermined angle, and the spreading angle is the position of the rail 201 And the spread angle is adjusted according to the outer cleaning area of the rail 201 .

After the L-arm 321 is rotated and unfolded to the outside of the rail 201, the side brush elevating member 324 is driven down to move the side brush 322 up to about 4 cm above the floor.

When the preparation for cleaning is completed through this process, the autonomous mobile robot 200 and the robot cleaning module 300 start cleaning while moving.

That is, the cleaning control module 301 generates a suction force by rotating the suction motor driving unit 223 at a set speed, and is interlocked with the belt 313 by driving the main brush driving motor 312. The main brush 311 rotates, and the side brush driving motor 323 is driven to rotate the side brush 322 .

Here, the rotation direction of the main brush 311 is rotated counterclockwise so that the fallen leaves are sent to the suction nozzle 331 located on the front side, so that the fallen leaves are sucked into the suction nozzle 331, and the side brush As for the direction of rotation of 322, the left and right side brushes 322 are rotated symmetrically so that fallen leaves are gathered inward.

On the other hand, when the fallen leaves are sucked in through the suction nozzle 331, the floor covering (non-woven fabric) applied to the floor surface is lifted, causing damage to the floor covering or reducing cleaning efficiency by affecting suction power. In order to prevent this, a moving wheel fixed to the front surface of the suction nozzle 331 with an elastic leaf spring is provided, so that the moving wheel presses the floor surface with an elastic force, so that the floor material does not lift due to the suction force.

As the robot cleaning module starts cleaning, the vision module 303 analyzes the floor image of the cleaning area acquired through the camera 302 in real time to determine the amount of fallen leaves, distribution state, and wet state, and the suction motor By controlling the driving unit 223, the main brush driving motor 312, and the side brush driving motor 323, the suction force of the suction nozzle 331, the rotational speed of the main brush 311 and the rotational speed of the side brush 322 In addition to controlling, the position of the suction nozzle 331 is also controlled to rise and fall to increase optimal cleaning efficiency.

The method for recognizing the state of the fallen leaves is recognized using an RGB-D camera and deep learning technology. For example, as a result of the vision image analysis, when the amount of fallen leaves is large or when the fallen leaves are wet, the rotational force of the suction motor is increased through the suction motor driving unit 223 to increase the suction force, and the main brush 311 And the rotational speed of the side brush 322 is increased.

In addition, when there are many fallen leaves, the height of the suction nozzle 331 is increased, the suction power is increased, the rotational force of the main brush 311 is increased, and when the distribution of fallen leaves is wide, the side brush 322 ) widens the spread angle.

As a result, power consumption of the battery can be reduced by efficiently managing power consumption, and accordingly, operating time can be increased.

If a fallen fruit is detected as a result of the vision image analysis, the location, direction and distance of the fallen fruit are calculated, and the robot cleaning module 200 moves to the calculated distance so that the suction nozzle 331 arrives at the fallen fruit position. Then, the suction nozzle position control unit 332 is driven under the control of the cleaning control module 301 to move the position of the suction nozzle 331 left and right to come to the center of the suction port having the strongest suction power, and the suction After rotating the suction port of the nozzle 331 at a predetermined angle to face forward, the suction motor 222 is controlled to increase the suction force to suck in the fallen fruits. At this time, if necessary, the suction nozzle 331 is raised or lowered to a certain height to match the height of the fallen fruit to increase the suction efficiency (see FIG. 7).

After the fallen fruit is removed through the fallen fruit treatment process, the suction nozzle 331 and the suction force are returned to the floor cleaning mode to start cleaning the fallen leaves.

In this way, when the cleaning is completed through the process of cleaning leaves and handling fallen fruits, the cleaning is terminated.

As described above, although the robot cleaner for smart farm and its control method according to an embodiment of the present invention have been described with limited embodiments and drawings, they are not limited by this embodiment, and conventional knowledge in the art to which the present invention belongs Various modifications and variations are possible, of course, within the technical spirit of the present invention and the equivalent scope of the claims to be described below by those who have it.

The present invention relates to a robot cleaner that can be used in a smart farm.

Claims

In a robot cleaner for a smart farm in which an autonomous mobile robot (AMR) or a robot cleaner mounted on a mobile cart autonomously travels along the workspace of a smart farm and sucks garbage or fallen fruit from the floor,

The robot cleaner includes a collection module and a power supply module mounted on the autonomous mobile robot (AMR) or mobile cart, and a robot cleaning module that sucks garbage from the floor while moving from the front of the autonomous mobile robot or mobile cart, there is,

At this time, the robot cleaning module includes a main brush module that collects garbage on the floor by rotating a rotating shaft horizontal to the floor while moving to the front;

a suction nozzle module for sucking in the garbage collected by the rotation of the main brush and moving it to the collection module;

Left and right side brush modules having an elevating structure for collecting garbage on the left and right bottom surfaces in the direction of movement of the robot cleaner toward the suction nozzle;

A robot cleaning module connecting member coupled to the robot cleaning module and moving the robot cleaning module up and down on the front side of the autonomous mobile robot or mobile cart; contains,

The robot cleaning module connection member comprises a sliding connection part for fixing the robot cleaning module and lifting and lowering, and a shock absorber fixed to the front of the autonomous mobile robot or moving cart to raise and lower the sliding connection part. vacuum cleaner.
According to claim 1,

The collection module and the power supply module are detachably mounted on the top of the autonomous mobile robot,

The collection module may include a suction motor generating suction force to the suction nozzle; and

A robot cleaner for a smart farm, characterized in that it comprises a; dust collection container for loading the garbage collected by the suction force as the suction motor drives.
According to claim 1,

The main brush is located at the rear of the suction nozzle, and the robot cleaner for smart farm, characterized in that for sending the garbage to the suction nozzle side through counterclockwise rotation of the main brush.
According to claim 1,

The main brush module includes a brush member in which a plurality of brushes are formed around a rotating shaft; and

Robot cleaner for smart farm, characterized in that configured to include; main brush drive module for rotating the brush member.
According to claim 1,

The suction nozzle is capable of moving up and down or the left and right of the suction port according to the type of garbage, and is formed to be rotated at a certain angle in the forward and backward directions around the vertical axis, but is configured to be manually or automatically adjustable Robot cleaner for smart farms.
According to claim 5,

In addition to the robot cleaner, a vision inspection unit for detecting dropped fruit; further comprising,

Robot cleaner for smart farm, characterized in that when the drop is detected through the vision inspection unit, the inlet is lifted, moved left and right to the position of the drop, and rotated forward at a predetermined angle to suck the drop.
According to claim 1,

The left and right side brush modules include L-arms fixed to both sides of the robot cleaning module;

A side brush rotating in a vertical axis at the lower end of the L-shaped arm; and

Robot cleaner for smart farm, characterized in that configured to include; side brush motor for rotating the side brush.
According to claim 7,

The left and right side brush modules are formed so that the L-shaped arm opens at a predetermined angle through left and right rotation around the connection part fixed to the robot cleaning module,

The side brush connected to the end of the L-arm (arm) is a robot cleaner for smart farm, characterized in that formed in a lifting structure to the floor.
According to claim 7,

The side brush is a robot cleaner for smart farm, characterized in that for varying the speed depending on the amount of leaves or the presence of fallen leaves.
According to claim 1,

Robot cleaner for smart farm, characterized in that it further comprises a moving wheel for preventing lifting of the flooring by the suction force in front of the suction nozzle.
The suction motor, main brush, side of the robot cleaning module by the cleaning control module so that the autonomous mobile robot (AMR) or robot vacuum cleaner mounted on the mobile cart autonomously travels along the workspace of the smart farm and sucks in garbage or fallen fruits on the floor. In the control method for a smart farm robot cleaner for driving and controlling the position of a brush or suction nozzle,

The cleaning control module may include a first process of lowering the robot cleaning module;

A second process of lowering the side brush to the bottom surface;

A third process of driving and controlling a suction motor, a main brush, and a side brush according to the amount and condition of the trash and whether or not falling fruit is detected; and

a fourth process of adjusting the position of the suction duct according to the amount and condition of the garbage and whether or not the fallen object is detected;

Robot cleaner control method for smart farm, characterized in that comprising a.
According to claim 11,

The second process, if there is a rail for moving the autonomous mobile robot (AMR), moving the side brush to the outside of the rail at a set unfolding angle and then lowering the side brush; smart characterized in that it further comprises A method for controlling a robot vacuum cleaner for a farm.
According to claim 11,

The third process may include step 11 of acquiring an image of a front cleaning area through a camera fixed on an upper part of the autonomous mobile robot or robot cleaning module;

Step 12 of analyzing the obtained image through a vision module to determine the amount, condition, and fall of garbage; and

Step 13 of controlling the rotation speed of the main brush and the side brush and the position and suction force of the suction nozzle according to the determination result in step 12; Robot cleaner control method for smart farm, characterized in that it comprises.
According to claim 13,

Robot cleaner control method for smart farm, characterized in that for driving the rotational speed of the main brush and side brush step by step in step 13 according to the amount of garbage and the dry or wet state as a result of the determination in step 12.
According to claim 13,

Step 21 of detecting the location of a fallen fruit if it is determined in step 12;

step 22 of moving the position of the suction nozzle to the position detected in step 21; and

Step 23 of controlling the suction force by controlling the suction motor after moving to the drop position of the suction nozzle; Robot cleaner control method for smart farm, characterized in that it comprises a.
According to claim 15,

In addition to the step 22, controlling a certain height and angle of the suction nozzle; Robot cleaner control method for a smart farm, characterized in that it further comprises.