CN108402986A - Robot cleaner and its control method - Google Patents

Abstract

The present invention disclose robot cleaner and its control method.The present invention robot cleaner include：Ontology；Driving portion is formed in the ontology, power of the supply for the traveling of the robot cleaner；First rotary part, the second rotary part, it is rotated respectively centered on the first rotary shaft, the second rotary shaft by the power of the driving portion, shifting power source for the traveling of the robot cleaner is provided, can be fixed for the cleaner of wet type dust suction respectively；Cutting load testing portion, according to the traveling of the robot cleaner, detection is respectively to first rotary part and the load of second rotary part application；And control unit controls the rotation of at least one of first rotary part and described second rotary part based on the detected load.

Description

Robot vacuum cleaner and control method thereof

technical field

The present invention relates to a robot vacuum cleaner and a control method thereof, and more specifically, to a robot vacuum cleaner capable of driving automatically and performing wet cleaning and a control method thereof.

Background technique

With the development of industrial technology, various devices are automated. As we all know, even without the operation of the user, the robot vacuum cleaner automatically travels in the area to be cleaned, and removes foreign objects such as dust from the surface to be cleaned, or removes foreign objects from the surface to be cleaned, thereby automatically cleaning the area to be cleaned.

Generally, such a robot cleaner is a vacuum cleaner that uses a power source such as electricity to perform cleaning by suction.

Robot cleaners including the above-mentioned vacuum cleaners cannot remove foreign matter and dust adhering to the surface to be vacuumed. Recently, robot cleaners attach a rag to the robot cleaner to perform wet cleaning.

However, in general, the real-time cleaning method of the robot cleaner is used to attach a rag or the like to the lower part of the conventional vacuum cleaning robot cleaner, so that the foreign matter removal effect is low, and effective wet cleaning cannot be performed.

In particular, in the case of the wet cleaning method of a general robot cleaner, the conventional suction-type vacuum cleaner travels directly using the moving method and the avoiding method for obstacles. etc. It is impossible to simply remove foreign matter etc. adhering to the surface to be cleaned.

In addition, in the case of the mop attachment structure of a general robot cleaner, the friction force with the support surface increases due to the mop surface, and an additional propulsion force is required for moving the tires, thus increasing battery consumption.

Contents of the invention

The present invention was made based on the above-mentioned necessity, and an object of the present invention is to provide a robot that uses the rotational force of a pair of rotating parts as a source of moving force for a robot cleaner, and at the same time performs wet cleaning with a cleaner attached to the rotating parts. A vacuum cleaner and a control method thereof.

Another object of the present invention is to provide a robot cleaner that detects a load applied to a rotating member based on travel of the robot cleaner, and controls travel of the robot cleaner based on the detected load, and a control method thereof.

A method of controlling a robot cleaner using rotational force of a plurality of rotating members as a source of moving force for traveling according to an embodiment of the present invention to achieve the above object includes: A step of rotating at least one of a first rotating member and a second rotating member that rotates around a second rotating shaft to drive the robot cleaner; detecting directions to the first rotating member and the first rotating member based on the traveling the step of each applied load of the second rotating member; and the step of controlling rotation of at least one of the first rotating member and the second rotating member based on the detected load.

Moreover, the step of performing the detection includes: the step of obtaining the first load value applied to the first rotating part and the second load value applied to the second rotating part; a step of calculating a first average load value based on the first load value; and a step of calculating a second average load value based on a second load value obtained within a set time.

Also, the first load value is a load current value of the first motor providing a driving force for driving the first rotating member, and the second load value is providing a driving force for driving the second rotating member. The load current value of the driving force of the second motor.

And, in the step of calculating the average load value, the calculation may be based on a load value acquired in a forward cleaning mode among the plurality of cleaning modes of the robot cleaner.

Moreover, the step of calculating the average load value further includes the step of resetting the load value obtained before the detection of the obstacle in case an obstacle is detected during the driving of the robot cleaner.

And, when the robot vacuum cleaner is in the forward cleaning mode, the control step includes: a step of calculating the difference between the first average load value and the second average load value; a step of comparing the difference with a set value; and in the case that the calculated difference is greater than the set value, adjusting the first rotating member and the second rotating member according to the deviation of the load value The step of the rotational speed of at least one of the rotating components.

Also, the controlling step includes: a step of determining a large average load value among the first average load value and the second average load value; the first load value acquired in real time and the second load value acquired in real time Among them, the step of determining the load value with a large value; the step of calculating the difference between the determined average load value and the determined load value; comparing the calculated difference with the set value and changing to the obstacle avoidance mode when the calculated difference is greater than the set value.

In addition, in the obstacle avoidance mode, the control step includes: a first control step of controlling the rotation of the first rotating member and the second rotating member so that the robot cleaner performs backward running. a second control step of controlling the movement of the first rotating member and the second rotating member so that the robot cleaner rotates on the basis of a rotating member with a smaller load value among the plurality of rotating members and travels backward. rotation; and a third control step of controlling the first rotating member and the second rotating member so that the robot cleaner rotates on the basis of a rotating member having a larger load value among the plurality of rotating members and travels backward. The rotation of the component.

Also, the controlling step includes: a step of determining a large average load value among the first average load value and the second average load value at the current point in time; the first average load value and the second average load value at the previous point in time The step of determining the maximum average load value in the value; the step of calculating the difference between the maximum average load value at the current time point and the maximum average load value at the previous time point; and according to the calculated difference and the set The step of selecting the vacuuming mode by comparing the results between the specified values.

And, in the step of selecting the dust collection mode, if the calculated difference is greater than the first set value and smaller than the second set value, the dust collection mode of the robot vacuum cleaner is set to In the foreign matter concentrated dust collection mode, when the calculated difference is greater than the second set value, the dust collection mode of the robot vacuum cleaner is set to the foreign matter avoidance mode.

On the other hand, a robot cleaner according to an embodiment of the present invention for achieving the above object includes: a body; a driving part formed on the body to supply power for running the robot cleaner; a first rotating member, a second The two rotating components, through the power of the driving part, respectively perform rotational movement around the first rotating shaft and the second rotating shaft to provide a moving force source for the driving of the robot vacuum cleaner, which can be respectively fixed for A wet suction cleaner; a load detection unit that detects loads respectively applied to the first rotating member and the second rotating member based on travel of the robot cleaner; and a control unit that uses the detected load Rotation of at least one of the first rotating member and the second rotating member is controlled based on a load.

Also, the load detection unit acquires a first load value applied to the first rotating member and a second load value applied to the second rotating member, so that the first load value acquired within a set time The first average load value is calculated based on the first average load value, and the second average load value is calculated based on the second load value obtained within the set time.

Also, the first load value is a load current value of the first motor providing a driving force for driving the first rotating member, and the second load value is providing a driving force for driving the second rotating member. The load current value of the driving force of the second motor.

According to various embodiments of the present invention, the robot vacuum cleaner utilizes the friction between the first cleaner and the second cleaner and the surface to be cleaned by rotating the first rotating member and the second rotating member. , More effectively remove foreign matter attached to the vacuumed surface and use it.

And, according to various embodiments of the present invention, the robot vacuum cleaner performs vacuuming while drawing various patterns, and selects a vacuuming pattern conforming to terrain to perform effective wet vacuuming.

Also, according to various embodiments of the present invention, when the robot cleaner is running, the monitoring structure for detecting obstacles is minimized to save manufacturing costs.

Moreover, according to various embodiments of the present invention, at least one of the rotation direction and the rotation speed of the rotation member is controlled according to the magnitude of the load applied to the rotation member, thereby, during the driving of the robot cleaner, when facing a collision In the case of the surface to be vacuumed, foreign matter on the surface to be vacuumed, such as water, which generates a large load on the rotating parts, can be removed, and at the same time, it can be separated from the area where the foreign matter is located.

And, according to various embodiments of the present invention, at least one of the rotation direction and the rotation speed of the rotation member is controlled according to the magnitude of the load applied to the rotation member, thereby, the obstacle that cannot be recognized by the bumper of the robot cleaner can be stuck In the case of , avoid the corresponding obstacles to perform vacuuming.

Also, according to various embodiments of the present invention, at least one of the rotation direction and the rotation speed of the rotation member is controlled according to the magnitude of the load applied to the rotation member, whereby the robot cleaner in the forward cleaning mode can travel accurately.

Description of drawings

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

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

Fig. 3 is a top view of a robot vacuum cleaner according to an embodiment of the present invention.

Fig. 4 is a cross-sectional view of a robot vacuum 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.

FIG. 6 is a table showing a rotation control table of a rotating member for forward travel of the robot cleaner embodying an embodiment of the present invention.

Fig. 7 is a diagram for explaining the forward running operation of the robot cleaner according to the embodiment of the present invention.

Fig. 8 is a flow chart showing a control method of a robot cleaner according to an embodiment of the present invention.

FIG. 9 is a flowchart showing a control method of a robot cleaner according to another embodiment of the present invention.

FIG. 10 is a flowchart illustrating a control method of the robot cleaner in a forward cleaning mode.

FIG. 11 is a diagram illustrating a cleaning travel process of the robot cleaner of FIG. 10 .

12 to 13 are flowcharts showing a control method of the robot cleaner in the case that the robot cleaner gets stuck on an obstacle that cannot be recognized by the buffer.

FIG. 14 is a diagram illustrating a cleaning driving process of the robot cleaner of FIGS. 12 to 13 .

FIG. 15 is a flowchart showing a control method of the robot cleaner when a foreign object on the surface to be vacuumed that generates a large load on the rotating member travels.

FIG. 16 is a diagram illustrating a cleaning travel process of the robot cleaner of FIG. 15 .

Mark description

100: robot vacuum cleaner 10: body

20: buffer 110: first rotating part

120: Second rotating member 130: External impact detection unit

135: Load detection unit 140: Communication unit

150: drive unit 160: storage unit

170: Control part 180: Input part

185: Output part 190: Power supply part

Detailed ways

The following is merely illustrative of the principles of the invention. Therefore, although not explicitly described or illustrated in this specification, those of ordinary skill in the art to which the present invention pertains can embody the principles of the present invention and can invent various devices within the concept and scope of the present invention. In addition, in principle, all terms and examples listed in this specification are for understanding the concept of the present invention, and are not limited to the specifically listed examples and states as described above.

Furthermore, not only the principles, viewpoints, and embodiments of the present invention, but also all detailed descriptions enumerating specific embodiments include structural and functional equivalent technical solutions of such matters. And, such equivalent technical solutions are not only currently known equivalent technical solutions, but include equivalent technical solutions open in the future, that is, all elements of the invention that perform the same function regardless of the structure.

Thus, for example, block diagrams in this specification show schematic views of illustrative circuitry embodying the principles of the invention. Similarly, all flowcharts, state change diagrams, schematic codes, etc. may actually be presented on a computer-readable medium, regardless of whether the computer or processor is explicitly shown, by various processes executed by the computer or processor.

The functions of various elements shown in the diagrams including functional blocks represented by a processor or a concept similar thereto are not only dedicated hardware but hardware capable of executing software in association with software as appropriate. When provided by a processor, the functionality may be provided by a single dedicated processor, a single shared processor, or multiple individual processors, some of which may be shared.

Also, explicit use of the term to suggest a processor, control, or concept similar thereto is not to be construed exclusively in terms of hardware having executing software, and without limitation, provisionally includes signal processing (DSP) hardware, ROM for storing software , RAM and non-volatile memory. Other conventional hardware may be included.

In the claimed scope of the invention in this specification, for example, a structural element represented by a unit for performing a function described in the detailed description includes a combination of circuit elements that perform the function or executes all forms including firmware/microcode, etc. All means of software functions are combined with appropriate circuits for executing said software in order to perform said functions. The invention defined by this claimed scope engages the functions provided by the units enumerated in various ways, in the manner claimed by the claimed scope of the invention, so that any unit that can provide said kinetic energy is as grasped from this specification The content is the same.

The above objects, features, and advantages will be clarified by the following detailed description related to the accompanying drawings, so that those skilled in the art to which the present invention pertains can easily implement the technical idea of the present invention. Also, in describing the present invention, when it is judged that the detailed description of the known technology related to the present invention makes the gist of the present invention unclear, the detailed description thereof will be omitted.

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

1 to 4 are diagrams illustrating the structure of a robot cleaner according to an embodiment of the present invention. Specifically, FIG. 1 is an exploded perspective view of a robot vacuum cleaner according to an embodiment of the present invention. Fig. 2 is a bottom view of the robot vacuum cleaner according to the embodiment of the present invention. Fig. 3 is a top view of a robot vacuum cleaner according to an embodiment of the present invention. Fig. 4 is a cross-sectional view of a robot vacuum cleaner according to an embodiment of the present invention.

1 to 4, the robot vacuum cleaner 100 of the present invention may include: a body 10 forming the appearance of the robot vacuum cleaner 100; a buffer 20 formed around the outer side of the body 10 to protect the body 10 from external impact; an external impact detection part 130 , to detect the external impact applied to the buffer 20; the driving part 150 is arranged on the main body 10 to provide power for driving the robot vacuum cleaner 100; the first rotating part 110 is combined with the driving part 150 to perform rotational movement; The second rotating member 120 ; and the power supply part 190 are disposed inside the main body 10 .

Such a robot cleaner 100 performs wet cleaning and travels using cleaners 210 and 220 for wet cleaning. Wherein, the wet vacuuming uses the cleaners 210 and 220 to wipe and sweep the surface of the quilt, for example, may include vacuuming with a dry rag, vacuuming with a wet rag, and the like.

The driving part 150 may include: a first driving part 151 disposed inside the body 10 and combined with the first rotating part 110 ; and a second driving part 152 disposed inside the body 10 and combined with the second rotating part 120 . Wherein, the driving part 150 may include a motor, a gear assembly and the like.

The first rotating member 110 may include a first transmission member 111 that transmits power based on the first driving unit 151 in combination with the first driving unit 151 and rotates around a first rotating shaft 310 based on the power. And, the first cleaner 210 for wet cleaning may include the first fixing part 112 which can be fixed.

Furthermore, the second rotating member 120 may include a second transmission member 121 that is combined with the second driving unit 152 to transmit the power based on the second driving unit 152 and rotate around the second rotating shaft 320 based on the power. . And, the second cleaner 220 for wet cleaning may include a second fixing part 122 that can be fixed.

Wherein, when the lower end regions of the first transmission member 111 and the second transmission member 121 are combined with the main body 10, they can protrude toward the surface to be vacuumed. Alternatively, when the first transmission member 111 and the second transmission member 121 are combined with the main body 10, they do not protrude toward the surface to be vacuumed.

Moreover, when the first fixing part 112 and the second fixing part 122 are combined with the main body 10, they can protrude toward the surface to be vacuumed, for example, protrude toward the bottom surface, and are used for the first cleaner for wet vacuuming. 210 and the second cleaner 220 may be fixed.

Such as microfiber cloths, mops, non-woven fabrics, brushes, etc., the first cleaner 210 and the second cleaner 220 can remove the foreign matter attached to the bottom surface by rotating, such as wiping off a variety of vacuumed objects. The fiber material of the cloth for the surface is formed. Moreover, as shown in FIG. 1 , the shapes of the first cleaner 210 and the second cleaner 220 may be circular, but not limited thereto.

Also, the first cleaner 210 and the second cleaner 220 are fixed by covering the first fixing member 112 and the second fixing member 122 , but may be performed by using an additional attachment unit. For example, the first cleaner 210 and the second cleaner 220 can be attached and fixed to the first fixing member 112 and the second fixing member 122 by Velcro or the like.

The robot vacuum cleaner 100 according to the embodiment of the present invention rotates with the first cleaner 210 and the second cleaner 220 through the rotational movement of the first rotating member 110 and the second rotating member 120, and through the friction with the surface to be vacuumed, To remove foreign matter attached to the bottom, etc. In addition, if a frictional force is generated between the cleaners 210 and 220 and the surface to be vacuumed, the frictional force is a source of moving force for the robot cleaner 100 .

More specifically, with the rotation of the first rotating part 110 and the second rotating part 120 in the robot vacuum cleaner 100 according to an embodiment of the present invention, frictional force occurs between the cleaners 210, 220 and the surface to be vacuumed. Adjust the size and direction of the robot cleaner 100 to adjust the speed and direction of travel.

In particular, referring to FIGS. 3 to 4 , the first rotating shaft 310 and the second rotating shaft 320 of the first rotating member 110 and the second rotating member 120 based on the power of the pair of driving parts 151 and 152 are relative to the robot. The central axis 300 corresponding to the vertical axis of the cleaner 100 is inclined at a predetermined angle. In this case, the first rotating member 110 and the second rotating member 120 are inclined outward and downward based on the central axis. That is, among the regions of the first rotation shaft 310 and the second rotation shaft 320, the region located farther from the central axis 300 than the region closer to the central axis 300 can be strongly bonded.

Wherein, the central axis 300 is an axis perpendicular to the vacuumed surface of the robot cleaner 100 . For example, when the robot vacuum cleaner 100 is cleaning dust while traveling on the X-Y plane formed by the X-axis and the Y-axis for cleaning, the central axis 300 is a direction perpendicular to the vacuumed surface of the robot vacuum cleaner 100. The Z axis of the axis.

On the other hand, the specified angle may include: a first angle (a degree), relative to the central axis 300, an angle inclined to the first rotation axis 310; and a second angle (b degree), relative to the The central axis 300 corresponds to the angle at which the second rotation axis 320 is inclined. Wherein, the first angle and the second angle can be the same or different.

Furthermore, preferably, the first angle and the second angle are respectively in the range of 1 degree or more and 3 degrees or less. Wherein, as shown in Table 1, the angle range may be a range for optimally maintaining the wet cleaning capability, driving speed, and driving performance of the robot vacuum cleaner 100 .

Table 1

That is, referring to the above Table 1, the pair of rotating shafts 310 and 320 of the robot cleaner 100 are inclined at a predetermined angle with respect to the central axis 300, and the traveling speed and cleaning capability of the robot cleaner 100 can be adjusted. In particular, the predetermined angle is maintained in the range of 1 degree to 3 degrees, which can optimally maintain the wet cleaning ability and driving speed of the robot vacuum cleaner. However, various embodiments of the present invention are not limited to the angle range.

On the other hand, when the pair of rotating members 110, 120 rotate according to a predetermined angle, the relative frictional force that occurs between the surface to be vacuumed and the cleaners 210, 220 is stronger at the periphery than at the center of the body 10. big. Therefore, the traveling speed and traveling direction of the Kongzi robot cleaner 100 can be controlled by means of the relative frictional force generated as the rotations of the pair of rotating members 110 and 120 are respectively controlled. According to the embodiment of the present invention, the control of the traveling speed and traveling direction of the robot cleaner 100 will be described later.

On the other hand, through the above operation, when the robot cleaner 100 is traveling, the robot cleaner 100 can collide with various obstacles existing on the surface to be cleaned. Among them, such as low obstacles such as door sills and carpets, obstacles with a predetermined height such as sofas or windows, high obstacles such as walls, and obstacles such as landing positions, the obstacles may include obstacles that hinder the robot cleaner 100. Vacuums various obstacles for driving.

In this case, the bumper 20 formed around the outer side of the body 10 of the robot cleaner 100 protects the body 10 from external impact based on a collision with an obstacle while absorbing the external impact. Also, the external impact detection part 130 provided inside the body 10 can detect an impact applied to the shock absorber 10 .

The bumper 20 may include a first bumper 21 formed around a first outer side of the body 10 and a second bumper 22 formed around a second outer side of the body 10 separately from the first bumper 21 . Wherein, the buffers 20 can be respectively formed around the left side and the right side of the main body 10 based on the direction F facing the front of the robot cleaner 10 . As an example, referring to FIGS. 1 to 4 , the first buffer 21 can be formed around the left side of the main body 10 based on the direction F facing the front of the robot cleaner 10, and the second buffer 22 can be formed around the left side of the main body 10 with the direction F facing the front as Datums may be formed around the right side of the body 10 .

Wherein, the first buffer 21 and the second buffer 22 may be physically embodied as different buffers. Thus, the robot vacuum cleaner can be operated independently. That is, during the running of the robot cleaner 100, when the first buffer 21 collides with an obstacle, the first buffer 21 absorbs the external impact, and sends a signal to the first external impact detection part corresponding to the first buffer 21. Transfer absorbs external shocks. However, the second shock absorber 22 is different from the first shock absorber 21 in that it does not receive the impact, and the second external shock detection part corresponding to the second shock absorber 22 does not receive external shock.

On the other hand, according to an embodiment of the present invention, the heights of the upper end and the lower end of the buffer 20 meet specified conditions, so that the robot cleaner 100 can detect various obstacles faced during driving. This will be specifically described with reference to FIG. 4 .

Referring to FIG. 4 , the lower ends of the first buffer 21 and the second buffer 22 are closest to the vacuumed surface to the greatest extent. Specifically, the distance between the lower end of the first buffer 21 and the second buffer 22 and the surface to be sucked is the same as or smaller than the thickness of the cleaners 210 and 220 . Thus, the first bumper 21 and the second bumper 22 collide with a low obstacle such as a thin door sill or a carpet, and the robot cleaner 100 can detect and avoid the low obstacle.

In addition, the upper ends of the first bumper 21 and the second bumper 22 prevent obstacles from colliding with the bumpers 21 and 22, but only being stuck on the main body 10. Specifically, the heights of the upper ends of the first buffer 21 and the second buffer 22 are the same as or greater than the height of the body 10 . Thus, it is possible to prevent the first bumper 21 and the second bumper 22 from colliding with an obstacle having a predetermined height such as a sofa or a bed, and only being stuck on the main body 10 without hitting the bumpers 21 and 22 .

On the other hand, according to an embodiment of the present invention, the robot vacuum cleaner 100 may further include guide parts 113 , 123 for fixing the cleaners 210 , 220 at optimal positions.

If the cleaners 210, 220 are not fixed at the optimal position, according to the rotation of the first rotating member 110 and the second rotating member 120, the parts where the cleaners 210, 220 contact with the surface to be vacuumed will be different, which will cause relative In the unbalanced state of a pair of cleaners 210,220. In this case, the robot cleaner 100 cannot perform required running. For example, the robot cleaner 100 in the forward cleaning mode cannot perform forward running, and may run curvedly.

Therefore, according to an embodiment of the present invention, the lower surfaces of the first rotating component 110 and the second rotating component 120 may include fixed cleaners 210, 220 protruding along the edges of the lower surfaces toward the surface to be vacuumed, so that The cleaners 210, 220 are fixed to the guides 113, 123 at optimum positions. Thus, the user of the robot cleaner 100 can fix the cleaners 210, 220 at an optimal position.

On the other hand, the external impact detection unit 130 may detect an external impact applied to the shock absorber 20 . Wherein, the external impact detection unit 130 may include a plurality of external impact detection units disposed at positions corresponding to the plurality of bumpers. As an example, in the case of two buffers 21, 22, the external impact detection unit 130 may include at least one first external impact detection unit corresponding to the first buffer 21 and at least one corresponding to the second buffer 22. The at least one second external impact detection part can be embodied as a contact sensor, a light sensor, or the like. Such an external impact detection unit 130 may transmit a detection result to the control unit 170 .

Moreover, the control unit 170 uses the monitoring result of the external impact detection unit 130 to determine the collision position with the obstacle in the area of the bumper 20, and based on this, controls the first driving unit 151 and the second driving unit 151 to avoid the obstacle. Two driving parts 152 .

FIG. 5 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention. 5, the robot vacuum cleaner 100 of the embodiment of the present invention may include an external impact detection unit 130, a load detection unit 135, a communication unit 140, a driving unit 150 for driving the first rotating member 110 and the second rotating member 120, and a storage unit 160. , the control unit 170, the input unit 180, the output unit 185 and the power supply unit.

The external impact detection part 130 may include an external impact detection part that detects an impact applied to the shock absorber 20 and transmits a detection signal to the control part 170 . Such an external impact detection section may be a touch sensor, a photo sensor, or the like.

Moreover, the control unit 170 uses the monitoring result of the external impact detection unit 130 to determine the collision position with the obstacle in the area of the bumper 20, and based on this, controls the first driving unit 151 and the second driving unit 151 to avoid the obstacle. Two driving parts 152 .

On the other hand, the load detection part 135 detects the load applied to the 1st rotation member 110 and the 2nd rotation member 120 according to the traveling of the robot cleaner 100. As shown in FIG. As an example, when the first cleaner 210 of the robot cleaner 100 is located on the surface to be cleaned while the robot cleaner 100 is running, if it comes into contact with a foreign object such as water, the first rotation of the first cleaner 210 will be attached. Component 110 can experience large loads. As another example, when the second cleaner 220 of the robot cleaner 100 is located on the surface to be cleaned while the robot cleaner 100 is running, if it comes into contact with foreign matter such as water, the second rotating member of the second cleaner 220 will 120 can produce a large load. That is, the load detection unit 135 detects loads applied to the first rotating member 110 and the second rotating member 120 according to the traveling of the robot cleaner 100 in order to cope with various cleaning environments generated during wet cleaning driving of the robot cleaner 100 .

Such a load detecting unit 135 may include a first load detecting unit that acquires a first load value applied to the first rotating member 110 and a second load detecting unit that acquires a second load value applied to the second rotating member 120 . Wherein, the first load value is the load current value of the first motor that provides the driving force for driving the first rotating component 110 , and the second load value is the driving current value that provides the driving force for driving the second rotating component 120 . Force the load current value of the second motor. That is, the load detection unit 135 may be a means for detecting a load current value of the motor.

However, this is only an embodiment of the present invention, and the load detection unit 135 uses other data to calculate the load value instead of the load current value applied to the motor. Specifically, according to another embodiment of the present invention, the load detection unit 135 compares the difference between the requested rotation speed of the rotating components 110, 120 and the actual output rotation speed of the rotating components 110, 120 according to the control signal of the control unit 170. Calculate the load value.

On the other hand, the load detection unit 135 calculates the first average composite value based on the first load value acquired within the set time, and calculates the first average composite value based on the second load value acquired within the set time. 2. Average load value. As an example, the load detection unit 135 calculates the load current value based on 30-50 load current values collected in the past with the current time point as a reference.

Wherein, the load detection unit 135 calculates the average load value based on the load value obtained in the forward cleaning mode among the plurality of cleaning modes of the robot cleaner 100 . As an example, the load value that is indispensable when the robot cleaner 100 is not running forward (for example, the load value obtained by running in a pattern such as an S-shaped pattern) is not the load value applied to the rotating member due to the characteristics of the driving pattern. precise. Thereby, the load detection part 135 calculates an average load value based on the load value acquired while the robot cleaner 100 was traveling forward.

Also, when an obstacle is detected while the robot cleaner 100 is running, the load detection unit 135 resets the load value acquired before detecting the obstacle, and calculates an average load value based on the newly acquired load value. As an example, the robot cleaner 100 may collide with a low obstacle such as a door sill or a carpet, an obstacle having a predetermined height such as a sofa or a window, a high obstacle such as a wall, or an obstacle such as a landing position during driving. Various obstacles that hinder the vacuuming driving of the robot vacuum cleaner 100 . The load value obtained when an obstacle is detected is disturbed by the obstacle, and the value of the load applied to the rotating part becomes inaccurate. Thus, when an obstacle is detected while robot cleaner 100 is running, load detection unit 135 resets the load value acquired before detecting the obstacle, and calculates an average load value based on the newly acquired load value.

On the other hand, the control unit 170 controls the rotation of at least one of the first rotating member 110 and the second rotating member 120 based on the load detected by the load detecting unit 135 . The control operation of such a control unit 170 will be described with reference to FIGS. 9 to 16 .

On the other hand, the communication part 140 may include one or more modules for wireless communication between the robot cleaner 100 and other wireless terminals or between the network where the robot cleaner 100 and other wireless terminals are located. For example, the communication unit 140 may communicate with a wireless terminal as a remote control device, and for this purpose, may include a short-range communication module or a wireless network module.

The robot cleaner 100 controls the operation state, operation mode, etc. through the control signal received by the communication unit 140 . The terminal for controlling the robot cleaner 100 includes, for example, a smartphone, a tablet computer, a personal computer, a remote controller (remote control device), and the like that can communicate with the robot cleaner 100 .

The driving unit 150 provides power to rotate the first rotating member 110 and the second rotating member 120 according to the control of the control unit 170 . Wherein, the driving part 150 may include a first driving part 151 and a second driving part 152, and may include a motor and/or a gear assembly.

On the other hand, the storage unit 160 can store a program for the operation of the control unit 170 and can temporarily store input and output data. Storage unit 160 flash memory type (flash memory type), hard disk type (hard disk type), multimedia card micro (multimedia card micro type), card-type memory (for example, SD or XD memory, etc.), random access memory (Random Access Memory) Memory, RAM), Static Random Access Memory (SRAM, Static Random AccessMemory), Read-Only Memory (Read-Only Memory, ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory) , at least one type of storage medium selected from Programmable Read-Only Memory (PROM, Programmable Read-Only Memory), magnetic memory, magnetic disk, and optical disk.

The input unit 180 can receive an input from a user who operates the robot cleaner 100 . In particular, the input unit 180 may receive a user's input for selecting a cleaning mode of the robot cleaner 100 . Among them, the dust collection mode may include the centralized dust collection mode for performing centralized vacuuming on the surrounding space based on the current position of the robot vacuum cleaner 100, the straddle cleaning mode for driving along the wall and performing dust collection, and the direction key for the user. Manual vacuum mode for driving and vacuuming in the direction corresponding to the input value, S-shaped vacuum mode for driving and vacuuming in an S-shaped pattern, Y-shaped vacuuming mode for driving in a Y-shaped pattern and vacuuming, forward The forward cleaning mode that cleans while driving, and the automatic cleaning mode that automatically selects the cleaning mode that matches the driving situation of the load robot cleaner among multiple modes and performs cleaning.

Such an input unit 180 may be composed of a key pad, a dome switch, a touch pad (static pressure/electrostatic), a scroll wheel, a scroll switch, a remote controller, and the like.

The output unit 185 is used to generate output related to vision and hearing, and although not shown in the figure, may include a display unit, an audio output module, a reminder unit, and the like.

The display unit displays (outputs) information processed by the robot cleaner 100 . For example, in the process of vacuuming by a robot vacuum cleaner, a user interface (UI, User Interface) or a graphical user interface (GUI, Graphic User Interface) that displays the vacuuming time, vacuuming method, and vacuuming area related to the vacuuming mode ).

The power supply unit 190 supplies power to the robot cleaner 100 . Specifically, the power supply unit 190 supplies power to each functional component constituting the robot cleaner 100, and can receive a charging current for charging if the remaining power supply is insufficient. Wherein, the power supply unit 190 may be a rechargeable battery.

The control unit 170 generally controls the entire operation of the robot cleaner 100 . Specifically, the control unit 170 rotates at least one of the first rotating member 110 and the second rotating member 120 to drive the robot cleaner 100 in a specific forward direction.

As an example, if the first rotating member 110 and the second rotating member 120 rotate in the same direction at the same speed, the robot cleaner 100 can rotate at the original position. That is, the robot cleaner 100 rotates on the spot according to the speed at which the first rotating member 110 and the second rotating member 120 rotate.

Specifically, if the first rotating member 110 and the second rotating member 120 rotate in the same direction and at the same speed, the center of the main body 10 of the robot cleaner 100 is used as a reference, and the one end and the other end on the opposite side are relatively opposite to the vacuumed object. The dust surface moves in the opposite direction. That is, the movement direction of the end of the robot cleaner 100 on the opposite side to the first rotating member 110 relative to the surface to be vacuumed by the rotation of the first rotating member 110 and the movement direction of the end of the robot cleaner 100 on the opposite side to the first rotating member 110 by the rotation of the second rotating member 120 relative to the surface to be vacuumed. On the opposite side of the second rotating part 120 of the robot cleaner 100, the movement direction of the other end is opposite.

Therefore, the sum of the frictional forces acting on the robot cleaner 100 is reversed, and the rotational force acts on the robot cleaner 100 , so that the robot cleaner 100 can rotate on the spot.

As another example, the control unit 170 controls the drive unit 150 to rotate the first rotating member 110 and the second rotating member 120 in different directions and at the same speed. In this case, with the main body 10 of the robot cleaner 100 as a reference, the frictional force of the first rotating member 110 can move one end relative to the surface to be vacuumed by the frictional force of the second rotating member 110 . The surface being vacuumed, the other end moves in the same direction. Thus, the robot cleaner 100 can travel forward. This will be specifically described with reference to FIGS. 6 to 7 .

FIG. 6 is a table showing a rotation control table of a rotating member for forward travel of the robot cleaner embodying an embodiment of the present invention. The control unit 170 controls the drive unit 150 based on the rotation control table value stored in the storage unit 160, whereby the rotation control of the respective rotating members 110, 120 can be executed. The rotation control table may include at least one of a direction value, a speed value, and a time value assigned to each rotation member 110, 120 of each cleaning mode. As shown in FIG. 6 , the rotation direction of the first rotation member 110 is different from the rotation direction of the second rotation member 120 . In addition, the rotational speed and time of the respective rotating members 110 and 120 may be the same.

The rotating direction of the rotating member and the traveling direction of the robot cleaner 100 in an embodiment of the present invention can be described based on the direction in which the robot cleaner 100 is viewed from the top. For example, the first direction is a direction in which the robot cleaner 100 rotates counterclockwise in a state viewed from above with the forward direction 300 of the robot cleaner 100 as 12 o'clock. In addition, the second direction is opposite to the first direction, and the advancing direction 300 is 12 o'clock, which is a clockwise rotation direction. Also, the traveling direction of the robot cleaner 100 is the direction in which the front of the robot cleaner 100 moves.

When the rotating members 110 and 120 rotate based on the control table shown in FIG. 6 , the robot cleaner 100 can advance as shown in FIG. 7 . Referring to 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 the second rotating member 120 rotates in a second direction different from the first direction, thereby generating relative friction based on friction. Move the force and perform a forward drive in the direction of travel.

On the other hand, in the above-mentioned FIGS. 1 to 7 , the inclination directions of the rotating shafts 310 and 320 are an example, and they incline in different directions according to examples. As an example, the first rotating shaft 310 and the second rotating shaft 320 of the first rotating member 110 and the second rotating member 120 are the same as those shown in FIGS. The situation is tilted at the opposite angle. In this case, the first rotating member 110 and the second rotating member 120 are inclined outward and upward based on the central axis 300 . That is, among the regions of the first rotating member 110 and the second rotating member 120 , the region closer to the central axis 300 is more strongly bonded than the region farther from the central axis 300 . In this case, when the pair of rotating members 110 and 120 rotate, the relative frictional force generated between the center of the main body 10 and the surface to be vacuumed is greater than that at the periphery.

Therefore, contrary to the case of FIGS. 1 to 7 , the rotations of the pair of rotating members 110 and 120 are individually controlled, whereby the moving speed and direction of the robot cleaner 100 can be controlled. Specifically, the robot cleaner 100 rotates the first rotating member 110 in the second direction, and the second rotating member 120 rotates in the first direction different from the second direction, thereby generating a relative moving force based on frictional force, and Perform forward travel in the forward direction.

On the other hand, the robot vacuum cleaner 100 according to an embodiment of the present invention may include multiple cleaning modes. Among them, the dust collection mode may include the centralized dust collection mode for performing centralized vacuuming on the surrounding space based on the current position of the robot vacuum cleaner 100, the straddle cleaning mode for driving along the wall and performing dust collection, and the direction key for the user. Manual vacuum mode for driving and vacuuming in the direction corresponding to the input value, S-shaped vacuum mode for driving in an S-shaped pattern and vacuuming, Y-shaped vacuuming mode for driving in a Y-shaped pattern and vacuuming, forward The forward cleaning mode that cleans while driving, and the automatic cleaning mode that automatically selects the cleaning mode that matches the driving situation of the load robot cleaner among multiple modes and performs cleaning.

In this case, the control unit 170 controls the driving unit 150 to select at least one of a plurality of cleaning modes of the robot cleaner 100 and perform cleaning according to the selected cleaning mode.

As an example, when a user input for selecting a cleaning mode of the robot cleaner 100 is received through the input unit 180, the control unit 170 determines the cleaning mode corresponding to the user input as the robot cleaner among the plurality of cleaning modes. 100 vacuum modes.

As an example, the control unit 170 determines whether there is an obstacle in the traveling direction of the robot cleaner 100 during cleaning travel, and if there is no obstacle, determines one of the plurality of cleaning modes of the robot cleaner 100 . This will be specifically described with reference to FIG. 8 .

Referring to FIG. 8 , first, the robot cleaner 100 rotates at least one of the first rotating member 110 and the second rotating member 120 that rotate around the first rotating shaft 310 and the second rotating shaft 320 to move to a specific direction to vacuum (step S101).

Also, the robot cleaner 100 may determine whether there is an obstacle in the traveling direction (step S102). As an example, the monitoring unit 130 of the robot cleaner 100 may include a plurality of obstacle detection sensors, and the control unit 170 determines whether there is an obstacle in the traveling direction based on detection signals of the obstacle detection sensors. Among them, the obstacle detection sensor may include a monitoring sensor or a camera sensor that sends infrared or ultrasonic signals to the outside and receives signals reflected from obstacles.

As another example, the control unit 170 controls the driving unit 150 so that the robot cleaner 100 operates within a set distance or time, and determines whether an external impact is detected from the detection unit 130 while the robot cleaner 100 is moving forward. If the detection unit 130 does not detect an external impact because the bumper 20 does not collide with the obstacle, the control unit 170 determines that there is no obstacle in the traveling direction of the robot cleaner 100 . In this case, the robot cleaner 100 minimizes a sensor structure for detecting an obstacle while traveling to save manufacturing cost.

When it is judged that the obstacle does not exist (step S102: N), the robot vacuum cleaner 100 determines a dust collection mode among a plurality of dust collection modes (step S103), and can travel by the determined dust collection mode (step S104) . In this case, the control unit 170 controls at least one of the rotation direction and the rotation speed of the first rotating member 110 and the second rotating member 120 to travel in a certain cleaning mode.

However, when it is determined that an obstacle exists (step S102: Y), the robot cleaner 100 switches to a direction avoiding the obstacle (step S105), travels in the switched direction, and determines whether an obstacle exists (step S102). In this case, the control unit 170 controls the rotation of at least one of the first rotating member 110 and the second rotating member 120 to avoid obstacles located in the reverse direction of the robot cleaner 100 and perform traveling.

Among them, there are several modes of rotation control in which the control unit 170 switches to the direction of avoiding the obstacle. For example, the control unit 170 similarly controls the rotation direction and the rotation speed of the first rotating member 110 and the second rotating member 120 to rotate in place for a predetermined time in a direction away from the obstacle detection direction.

Moreover, when the obstacle is relatively close to a specific component in the detection direction, for example, the first rotating component 110, the control unit 170 makes the first rotating component 110 rotate in a state where the second rotating component 110 is interrupted. Rotate in the direction opposite to the current direction for a predetermined time, so that you can rotate in a direction away from obstacles.

In addition, when the obstacle is detected in front of both the first rotating member 110 and the second rotating member 120, the control unit 170 makes the rotating direction of the first rotating member 110 and the second rotating member 120 be different from the current one. The direction is rotated, whereby the forward direction can be switched.

Then, the control unit 170 selects a specific direction other than the direction in which the obstacle is detected, and resets the traveling direction. In this case, the specific direction is a random direction other than the direction in which the obstacle is detected according to the direction conversion result, or a direction determined by the predetermined moving path.

On the other hand, according to an embodiment of the present invention, the control unit 170 rotates at least one of the first rotating member 110 and the second rotating member 120 based on the load detected by the load detecting unit 135 . An embodiment of the present invention will be described in more detail with reference to FIGS. 9 to 16 . In FIGS. 9 to 16 , the gray shaded rotating part is the first rotating part 110 , and the rotating part not in the gray shaded part is the second rotating part 120 .

FIG. 9 is a flowchart showing a control method of a robot cleaner according to another embodiment of the present invention. Referring to FIG. 9 , first, at least one of the first rotating member 110 rotating around the first rotating shaft and the second rotating member 120 rotating about the second rotating shaft is rotated to make the robot cleaner 100 rotate. Travel in a specific direction (step S201). As an example, when only one of the first rotating member 110 of the first rotating member 110 and the second rotating member 120 rotates, the area of the robot cleaner 100 where the first rotating member 110 is installed moves, and the second rotating member 120 is set. The area of the robot cleaner 100 of the part 120 is moved, whereby the robot cleaner 100 travels in a specific direction. As another example, when the first rotating member 110 rotates in a first direction and the second rotating member 120 rotates in a second direction opposite to the first direction, the robot cleaner 100 advances in a specific direction.

On the other hand, the load detection part 135 detects the load applied to the 1st rotating member 110 and the 2nd rotating member 120 based on traveling of the robot cleaner 100 (step S202). More specifically, the load detection unit 135 may acquire a first load value applied to the first rotating member 110 and a second load value applied to the second rotating member 120 . Wherein, the first load value and the second load value can be measured by 20ms unit.

Also, the first load value is the load current value of the first motor that provides the driving force for driving the first rotating member 110 , and the second load value is the driving current value providing the driving force for driving the second rotating member 120 . Force the load current value of the second motor.

On the other hand, the detection step S202 may include the step of calculating the first average load value based on the first load value obtained within the set time and the second load value obtained within the set time Steps for basic calculation of the second average load value. As the pressure, the load detection unit 135 calculates an average load current value based on 30 to 50 load current values collected in the past based on the current time point.

Wherein, in the step of calculating the average load value, in the plurality of cleaning modes of the robot vacuum cleaner 100, the average load value is calculated based on the load values obtained in the cleaning modes. Also, the step of calculating the average load value includes the step of resetting the load value acquired before the obstacle is detected and the load value acquired after resetting in the event of an obstacle being detected during the running of the robot cleaner 100. Steps to calculate the average load value for the basis.

On the other hand, the control unit 170 controls the rotation of at least one of the first rotating member 110 and the second rotating member 120 based on the load detected by the load detecting unit 135 (step S203 ). As an example, the control unit 170 controls at least one of the rotation direction and the rotation speed of the rotation members 110 and 120 according to the magnitude of the load applied to the rotation members, thereby eliminating the vacuumed dust that may be faced during the running of the robot cleaner 100 . Rotating parts such as foreign objects on the surface and water generate a large load on the surface to be vacuumed and control the area where the foreign objects are separated. As another example, the control unit 170 controls at least one of the rotation direction and the rotation speed of the rotation members 110, 120 according to the magnitude of the load applied to the rotation members, so that when the robot cleaner 100 is stuck on an obstacle that is not recognized by the buffer of the robot cleaner 100 In the case of , avoid the corresponding obstacles to perform wet cleaning. As another example, the control unit 170 controls at least one of the rotation direction and the rotation speed of the rotation members 110 and 120 according to the magnitude of the load applied to the rotation members, so that the robot cleaner 100 in the forward mode can travel accurately.

FIG. 10 is a flowchart illustrating a control method of the robot cleaner in a forward cleaning mode. FIG. 11 is a diagram illustrating a cleaning travel process of the robot cleaner of FIG. 10 .

If the rotation of the rotating members 110, 120 is not controlled according to the load applied to the rotating members 110, 120 during the forward travel of the robot cleaner 100, the robot cleaner 100 may be driven by a load deviation between the rotating members 110, 120 of the robot cleaner 100. The vacuum cleaner 100 cannot perform forward travel, and travels while tilting to the left or right.

According to the present invention, the control unit 170 can solve this problem by controlling at least one of the rotation direction and the rotation speed of the rotation members 110 and 120 according to the magnitude of the load applied to the rotation members.

More specifically, referring to FIGS. 10 to 11 , in the forward cleaning mode, the control unit 170 controls the first rotating member 110 that rotates around the first rotating shaft and the first rotating member 110 that rotates around the second rotating shaft. The rotation of the rotating part 120 moves the robot cleaner 100 forward (step S301). As an example, as shown in 1101 of FIG. 11 , the robot cleaner 100 can move forward.

Furthermore, the load detection unit 135 may acquire the first load value applied to the first rotating member 110 and the second load value applied to the second rotating member 120 (step S302 ).

Furthermore, the load detection unit 135 calculates the first average load value based on the first load value acquired within the set time, and calculates the second average load based on the second load value acquired within the set time. value (step S303).

Furthermore, the control unit 170 calculates a difference between the first average load value and the second average load value, and compares the calculated difference between the first average load value and the second average load value with a preset value (step S304 ).

When the calculated difference is greater than the set value (step S304: Y), as shown in 1102 and 1104 of FIG. Unable to move forward, instead driving banked to the left or right.

Therefore, when the calculated difference is greater than the set value (step S304: Y), according to the deviation of the average load value, at least one of the first rotating part 110 and the second rotating part 120 can be adjusted. rotation speed (step S305). As an example, when the average load value of the first rotating member 110 is greater than the average load value of the second rotating member 120, the deviation of the average load value is considered to increase the rotational speed of the first rotating member 110, and the second rotating member 120 The rotation speed is maintained at the previous speed. As another example, when the average load value for the first rotating member 110 is greater than the average load value for the second load value 120, the rotation speed of the second rotating member 120 is reduced in consideration of the deviation in the average load value, and the first rotating member 120 The rotation speed of the component 110 is maintained at the conventional speed. As yet another example, when the average load value on the first rotating member 110 is greater than the average load value on the second rotating member 120, considering the deviation in the average load value, the rotation speed of the first rotating member 110 is increased, and the second rotating member is decreased. The rotational speed of the rotating member 120. In this case, as shown in 1103, 1105 of FIG. 11, the robot cleaner 100 can advance accurately.

However, when the calculated difference is smaller than the set value (step S304: N), the load detection unit 135 repeats execution from step S302.

According to the present invention, the rotational speed of at least one of the first rotating member 110 and the second rotating member 120 is controlled in consideration of the load deviation between the rotating members 110, 120, whereby the robot cleaner in the forward cleaning mode can accurately drive.

12 to 13 are flowcharts showing a control method of the robot cleaner in the case that the robot cleaner gets stuck on an obstacle that cannot be recognized by the buffer. FIG. 14 is a diagram illustrating a cleaning driving process of the robot cleaner of FIGS. 12 to 13 .

When the robot cleaner 100 gets stuck on an obstacle that is not recognized by the bumper while the robot cleaner 100 is traveling, the robot cleaner 100 cannot recognize that there is an obstacle on the travel path, but keeps pushing the obstacle.

However, according to the present invention, according to the magnitude of the load applied to the rotating member, at least one of the rotating direction and the rotating speed of the member is controlled, thereby avoiding the obstacle in the event of getting stuck on an obstacle that cannot be recognized by the buffer of the robot cleaner. Open the corresponding obstacles to perform wet vacuuming.

More specifically, referring to FIGS. 12 to 14 , the control unit 170 controls at least one of the first rotating member 110 that rotates around the first rotating shaft and the second rotating member 120 that rotates around the second rotating shaft. One to make the robot cleaner travel in a specific direction (step S401). As an example, as shown in 1201 in FIG. u14, the robot cleaner 100 can travel forward.

Furthermore, the load detection unit 135 may acquire the first load value applied to the first rotating member 110 and the second load value applied to the second rotating member 120 (step S402 ). Furthermore, the load detection unit 135 calculates the first average load value based on the first load value acquired within the set time, and calculates the second average load value based on the second load value acquired within the set time. (step S403). Furthermore, the control unit 170 determines the larger tie load value among the first average load value and the second average load value (step S404), and determines the larger value among the first load value acquired in real time and the second load value acquired in real time. load value (step S405).

Also, the control part 170 may calculate a difference between the load value determined in step S404 and the load value determined in step S405 (step S406). Also, the control unit 170 may compare the difference value calculated in step S406 with a set value (step S407).

When the calculated difference is greater than the set value (step S407: Y), calculate the number of times, if the calculated number of times is more than the set number of times (step S408: Y), then as shown in 1202 of Figure 14, The robot cleaner 100 may get stuck on an obstacle 200 not recognized by the robot cleaner bumper, thereby pushing the obstacle. In this case, if appropriate control cannot be performed, the robot cleaner 100 cannot perform normal cleaning travel.

Therefore, when the calculated difference is greater than the set value (step S407: Y), the number of times is calculated, and if the calculated number of times is more than the set number (step S408: Y), it can be changed to an obstacle Avoid mode (step S409). Among them, the obstacle avoidance mode is used to avoid obstacles, and as an example, as shown in FIG. 13 , the driving of the robot cleaner 100 can be controlled.

Specifically, when switching to the obstacle avoidance mode, the control unit 170 controls the rotation of the first rotating member 110 and the second rotating member 120 so that the robot cleaner 100 travels backward for a predetermined time T1 (step S410 ). As an example, when switching to the obstacle avoidance mode, the control unit 170 controls the drive unit 150 to rotate the first rotating member 110 in a second direction opposite to the first direction that is the conventional rotating direction, so that the second rotating member 120 controls the driving unit 150 so as to rotate in the first direction opposite to the second direction which is the conventional rotation direction. In this case, as shown in 1203 of FIG. 14 , the robot cleaner 100 avoids the obstacle and moves backward.

Thereafter, the control unit 170 controls the rotation of the first rotating member 110 and the second rotating member 120 so that the robot cleaner 100 rotates and retreats based on the rotating member with a smaller load value among the plurality of rotating members within a predetermined time T2 ( Step S411). As an example, among the plurality of rotating members, the control unit 170 controls the driving unit 150 so that the first rotating member 110 with a large load value rotates in the second direction so that the second rotating member 120 with a small load value does not rotate. Control the driving unit 150 in a manner. In this case, as shown at 1204 in FIG. 14 , the robot cleaner 100 moves backward to the region where the first rotating member 110 having a large load value is present.

Thereafter, the control unit 170 controls the rotation of the first rotating member 110 and the second rotating member 120 so that the robot cleaner 100 rotates and retreats based on the rotating member with a larger load value among the plurality of rotating members within a predetermined time T3 ( Step S412). As an example, among the plurality of rotating members, the control unit 170 controls the driving unit 150 so as to rotate the second rotating member 120 with a small load value in the first direction, so as not to rotate the first rotating member 110 with a large load value. Control the driving unit 150 in a manner. In this case, as shown at 1205 in FIG. 14 , the robot cleaner 100 moves backward to the region where the second rotating member 120 having a small load value is located.

Thereafter, the control unit 170 controls the robot cleaner 100 so as to select one of the plurality of cleaning modes and perform cleaning. As an example, control unit 170 controls robot cleaner 100 to perform cleaning by selecting one of a plurality of cleaning modes including centralized cleaning mode, automatic cleaning mode, S-shaped cleaning mode, and forward cleaning mode.

According to the present invention, at least one of the rotation direction and the rotation speed of the rotation member is controlled according to the magnitude of the load applied to the rotation member, whereby when the robot cleaner gets stuck on an obstacle that is not recognized by the safety lever of the robot cleaner, Perform wet vacuuming while avoiding corresponding obstacles.

In particular, when only one of the plurality of rotating members 110, 120 of the robot cleaner is attached by an obstacle such as a door sill, the robot cannot leave the area where the rotating member is attached by simply running backwards. However, according to the present invention, in the obstacle avoidance mode, the robot cleaner 100 can easily leave the area where the rotating member is attached by rotating and retreating based on the rotating member with a smaller load value among the plurality of rotating members.

FIG. 15 is a flowchart showing a control method of the robot cleaner when a foreign object on the surface to be vacuumed that generates a large load on the rotating member travels. FIG. 16 is a diagram illustrating a cleaning travel process of the robot cleaner of FIG. 15 .

When the robot vacuum cleaner 100 is running and faces foreign objects on the surface to be vacuumed, such as foreign objects and water, which place a large load on the rotating parts, it is necessary to clean and wet the foreign objects and remove them at the same time. Scheme of the area where the foreign body is located.

15 to 16, the control unit 170 makes at least one of the first rotating member 110 rotating around the first rotating shaft and the second rotating member 120 rotating about the second rotating shaft One rotates to make the robot cleaner travel in a specific direction (step S501). As an example, as shown in 1301 in (A) of FIG. 16 or 1401 in (B) of FIG. 16 , the robot cleaner 100 can travel forward.

Furthermore, the load detection unit 135 may acquire the first load value applied to the first rotating member 110 and the second load value applied to the second rotating member 120 (step S502 ). Then, the load detection unit 135 calculates a first average load value based on the first load value obtained within a predetermined time, and calculates a second average load value based on a second load value obtained within a predetermined time (step S503 ).

Furthermore, the control unit 170 determines a large average load value among the first and second average load values at the current point in time (step S504), and among the first and second average load values at the previous point in time A large average load value is determined (step S505).

Also, the control part 170 may calculate a difference between the large average load value at the current time point determined in step S504 and the large average load value at the previous time point determined in step S505 (step S506 ).

And, the control part 170 sets the cleaning mode suitable for a corresponding situation according to the comparison result of the difference calculated in step S506 and the set value.

As shown in 1302 of (A) of FIG. 16 , in the case of wiping off the foreign matter on the surface to be vacuumed such as the rotating member that generates a large load on the foreign matter on the surface to be vacuumed, the difference calculated in step S506 is greater than The first set value may be smaller than the second set value. In this case, a solution is needed for clean wet vacuuming of foreign objects and at the same time disengaging the area where the foreign objects are located. For this reason, when the difference calculated in step S506 is greater than the first set value and less than the second set value (step S506: Y), the control unit 170 can set the dust collection mode to the centralized dust collection mode ( Step S508).

Wherein, the centralized vacuuming mode may be a centralized vacuuming mode in which the surrounding space is cleaned intensively based on the current position of the robot cleaner 100 . As an example, the control unit 170 controls the driving unit 170 so that the first rotating member 110 and the second rotating member 120 rotate in the same direction and at the same speed, and the robot cleaner 100 rotates in place. In this case, as shown in 1303 of (A) of FIG. 16 , the robot cleaner 100 rotates on the foreign matter and removes the foreign matter.

As another example, the control part 170 controls the rotation of the 1st rotating member 110 and the 2nd rotating member 120, and makes the robot cleaner 100 travel with a radius of rotation gradually enlarged. Thereby, the robot cleaner 100 can cleanly vacuum a place where foreign matter exists.

On the other hand, in the concentrated cleaning mode, the control unit 170 determines whether or not there is a foreign object based on the load value acquired by the load detection unit 135 in real time. If it is determined that the foreign matter is removed, the control unit 170 controls the robot cleaner 100 so as to select one of a plurality of cleaning modes and perform cleaning. As an example, the control unit 170 controls the robot cleaner 100 so as to select one of a plurality of cleaning modes including an automatic cleaning mode, an S cleaning mode, and a forward cleaning mode to perform cleaning.

On the other hand, as shown in 1402 of (B) of FIG. 16 , in the case of a load condition such as water on the surface to be vacuumed that hinders travel, the difference calculated in step S506 may be greater than the second set value . In this case, a solution is required to get out of the area where the foreign matter is located. For this reason, in a case where the difference calculated in step S556 is greater than the second set value (step S507: Y), the control unit 170 may set the foreign matter avoidance mode (step S509).

In the foreign matter avoidance mode, the control unit 170 controls the rotation of the first rotating member 110 and the second rotating member 120 so that the rotating member with a smaller load value among the plurality of rotating members rotates and moves backward.

As an example, the control unit 170 controls the driving unit 150 so that the second rotating member 120 having a large load value among the plurality of rotating members rotates in a second direction opposite to the first direction that is the conventional rotating direction so that the load value does not change. The driving unit 150 is controlled in such a manner that the small first rotating member 110 rotates. In this case, as shown in 1403 of (B) of FIG. 16 , the robot cleaner 100 travels while avoiding the foreign object.

After that, the control unit 170 controls the driving unit 150 so that the first rotating member 110 with a small load value among the plurality of rotating members rotates in the second direction, which is the conventional rotation direction, so that the second rotating member with a large load value does not rotate. The drive unit 150 is controlled in such a way that the 120 rotates. In this case, as shown in 1404 of FIG. 16(B) , the robot cleaner 100 can travel while avoiding the foreign object.

On the other hand, if it is determined that foreign objects are avoided as a result of the load detection, control unit 170 controls robot cleaner 100 to select one of a plurality of cleaning modes and perform cleaning. As an example, control unit 170 controls robot cleaner 100 to perform cleaning by selecting one of a plurality of cleaning modes including centralized cleaning mode, automatic cleaning mode, S-shaped cleaning mode, and forward cleaning mode. In this case, as shown in 1405 of FIG. 16(B), the robot cleaner 100 can run while avoiding the foreign object.

According to the present invention, while the robot cleaner is traveling, cleaning can be performed while avoiding other load conditions that may interfere with traveling.

On the other hand, the robot vacuum cleaner 100 according to an embodiment of the present invention has a symmetrical front and rear structure. According to the reference direction setting, foreground driving can be changed to backward driving, or, conversely, backward driving can be changed to forward driving. Moreover, the left side and the right side of the robot vacuum cleaner 100 according to an embodiment of the present invention are symmetrical, and according to the reference direction setting, the left-handed driving becomes the right-handed driving, or, conversely, the rotating driving becomes the left-handed driving. . Therefore, in the described embodiments, the direction is an illustration, and according to the example, can be interpreted as a symmetrical direction.

On the other hand, in the control method of various embodiments of the present invention, it is embodied in program code, thus, stored in a variety of non-transitory computer readable media (non-transitory computer readable medium) state to each server or equipment provided.

Non-transitory computer-readable media are not short-term data storage media such as registration, cache, memory, etc., but semi-permanent data storage media that are readable by devices. Specifically, the various application programs or programs may be stored in non-transitory readable media such as CD, DVD, hard disk, Blu-ray disc, USB, memory card, and ROM.

And above, the preferred embodiments of the present invention are shown and described, but the present invention is not limited to the specific embodiments, and the present invention belongs to A person skilled in the art can carry out various modified implementations, and such modified implementations should not be understood individually from the technical idea or outlook of the present invention.

Claims (13)

1. the rotary force of multiple rotary parts is used as the mobile power needed for traveling by a kind of control method of robot cleaner Source, which is characterized in that including：

So that pivoting about the first rotary part of movement by the first rotary shaft and being carried out centered on the second rotary shaft At least one of second rotary part of rotary motion is rotated the step of to make the robot cleaner travel；

The step of the load to first rotary part and each application of the second rotary part is detected according to the traveling Suddenly；And

It is controlled based on the detected load in first rotary part and second rotary part extremely The step of few one rotation.

2. the control method of robot cleaner according to claim 1, which is characterized in that the step of progress is detected is wrapped It includes：

The second load for obtaining the first load value applied to first rotary part and applying to second rotary part The step of value；

By based on the first load value obtained within the time set come the step of calculating the first average load value；And

By based on the second load value obtained within the time set come the step of calculating the second average load value.

3. the control method of robot cleaner according to claim 2, which is characterized in that

First load value is the load electricity of the first motor of the driving force for providing the driving for first rotary part Flow valuve,

Second load value is the load electricity of the second motor of the driving force for providing the driving for second rotary part Flow valuve.

4. the control method of robot cleaner according to claim 2, which is characterized in that calculating the average load In the step of value, it is with the load value obtained in the advance cleaned model in multiple cleaned models of the robot cleaner Basis calculates.

5. the control method of robot cleaner according to claim 4, which is characterized in that calculate the average load value The step of further include：

In the case of detecting barrier in the driving process of the robot cleaner, it is reset at and detects the barrier The step of load value obtained before.

6. the control method of robot cleaner according to claim 2, which is characterized in that in the robot cleaner In the case of advance cleaned model, the rate-determining steps include：

The step of calculating the difference of the first average load value and the second average load value；

The step of difference calculated and the value set are compared；And

In the case where the difference calculated is more than the value set, according to the deviation of load value, first rotation is adjusted The step of rotary speed of at least one of rotation member and second rotary part.

7. the control method of robot cleaner according to claim 2, which is characterized in that the rate-determining steps include：

In the first average load value and the second average load value, the step of determining big average load value；

In the first load value obtained in real time and the second load value obtained in real time, the step of being worth big load value is determined；

Determined by calculating the step of difference between the average load value and identified load value；

The step of difference calculated and the value set are compared；And

In the case where the difference calculated is more than the value set, it is changed to the step of barrier avoids pattern.

8. the control method of robot cleaner according to claim 7, which is characterized in that avoid mould in the barrier In formula, the rate-determining steps include：

First rate-determining steps, by make the robot cleaner execute retreat traveling in a manner of control first rotary part and The rotation of second rotary part；

Second rate-determining steps, so that the robot cleaner is using the small rotary part of the load value in multiple rotary parts as base Standard, which is rotated and retreat the mode of traveling, controls the rotation of first rotary part and second rotary part；With And

Third rate-determining steps, so that the robot cleaner is using the big rotary part of the load value in multiple rotary parts as base Standard, which is rotated and retreat the mode of traveling, controls the rotation of first rotary part and second rotary part.

9. the control method of robot cleaner according to claim 2, which is characterized in that the rate-determining steps include：

The step of big average load value is determined in the first average load value and the second average load value on current point in time；

The step of big average load value is determined in the first average load value and the second average load value on time point before；

Calculate the difference between the big average load value on the current point in time and the big average load value on time point before The step of；And

According to the comparison result between the difference calculated and the value set come the step of selecting cleaned model.

10. the control method of robot cleaner according to claim 9, which is characterized in that selecting the dust suction mould In the step of formula,

In the case where the difference calculated is more than the first setting value and is less than the second setting value, by the robot dust suction The cleaned model of device is set as foreign matter and concentrates cleaned model,

In the case where the difference calculated is more than second setting value, by the cleaned model of the robot cleaner It is set as foreign matter and avoids pattern.

11. a kind of robot cleaner, which is characterized in that including：

Ontology；

Driving portion is formed in the ontology, power of the supply for the traveling of the robot cleaner；

First rotary part, the second rotary part are with the first rotary shaft, the second rotary shaft by the power of the driving portion Center is rotated respectively, and to provide the shifting power source for the traveling of the robot cleaner, can be fixed respectively Cleaner for wet type dust suction；

Cutting load testing portion, according to the traveling of the robot cleaner, detection is respectively to first rotary part and described the The load that two rotary parts apply；And

Control unit controls first rotary part and second rotary part based on the detected load At least one of rotation.

12. robot cleaner according to claim 11, which is characterized in that

The cutting load testing portion obtains the first load value applied to first rotary part and to second rotary part The second load value applied,

To calculate the first average load value based on the first load value obtained within the time set,

To calculate the second average load value based on the second load value obtained within the time set.

13. robot cleaner according to claim 12, which is characterized in that

First load value is the load electricity of the first motor of the driving force for providing the driving for first rotary part Flow valuve,

Second load value is the load electricity of the second motor of the driving force for providing the driving for second rotary part Flow valuve.