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KR102691198B1 - Robot cleaner and control method - Google Patents

Robot cleaner and control method Download PDF

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Publication number
KR102691198B1
KR102691198B1 KR1020190035538A KR20190035538A KR102691198B1 KR 102691198 B1 KR102691198 B1 KR 102691198B1 KR 1020190035538 A KR1020190035538 A KR 1020190035538A KR 20190035538 A KR20190035538 A KR 20190035538A KR 102691198 B1 KR102691198 B1 KR 102691198B1
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South Korea
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driving
cleaning plate
cleaning
vacuum cleaner
robot vacuum
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KR20200119929A (en
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백동민
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백동민
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Priority to KR1020190035538A priority Critical patent/KR102691198B1/en
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Priority to KR1020220178019A priority patent/KR102691201B1/en
Priority to KR1020220178017A priority patent/KR102691199B1/en
Priority to KR1020220178018A priority patent/KR102691200B1/en
Priority to KR1020220178021A priority patent/KR102691203B1/en
Priority to KR1020220178020A priority patent/KR102691202B1/en
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

본 발명은 로봇청소기에 관한 것으로서, 더욱 상세하게는 삼각형에 본체의 모서리 하부에 수평으로 회전하는 3개의 원형 청소판을 구비하고, 3개의 원형 청소판을 각기 조정하여 효율적인 청소가 이루어지도록 제어하는 것을 목적으로 하는 것이다.
즉 본 발명은 삼각형에 본체의 모서리 하부에 수평으로 회전하는 3개의 원형 청소판을 구비하고, 본체 내부에 상기 3개의 원형 청소판을 각기 조정하는 제어판을 구비하고, 상기 본체 외면에 주행중 주변의 장애물 및 지형을 감지하는 주변감지센서부, 본체하부에 로봇청소기의 주행경로를 인식하는 경로인식센서부를 구비한 로봇청소기로 제공하여 다양한 주변상황 및 청소목적에 맞춰 효율적인 청소 및 주행이 이루어지는 것이다.The present invention relates to a robot vacuum cleaner. More specifically, the present invention relates to a robot vacuum cleaner, which is provided with three circular cleaning plates that rotate horizontally at the lower corners of the triangular main body, and controls the three circular cleaning plates to individually adjust to ensure efficient cleaning. It is for the purpose.
That is, the present invention includes three circular cleaning plates that rotate horizontally at the lower corners of the triangular body, a control panel for adjusting the three circular cleaning plates inside the body, and a control panel for adjusting each of the three circular cleaning plates on the outer surface of the body to protect against obstacles around the body while driving. It is provided as a robot vacuum cleaner equipped with a surrounding detection sensor unit that detects the terrain, and a path recognition sensor unit that recognizes the driving path of the robot vacuum cleaner at the bottom of the main body, enabling efficient cleaning and driving according to various surrounding situations and cleaning purposes.

Description

로봇청소기 및 그 제어방법{Robot cleaner and control method}Robot cleaner and control method {Robot cleaner and control method}

본 발명은 삼각형에 본체의 모서리 하부에 수평으로 회전하는 3개의 원형 청소판을 갖는 로봇청소기의 제어방법에 관한 것으로서, 보다 상세하게는 3개의 청소판의 회전방향 및 회전속도를 각기조정하여 청소 및 주행을 효과적으로 제어하는 방법에 관한 것이다.The present invention relates to a control method of a robot vacuum cleaner having three circular cleaning plates that rotate horizontally at the bottom of the corner of the triangular body. More specifically, the rotation direction and rotation speed of the three cleaning plates are individually adjusted to clean and clean. It is about how to effectively control driving.

로봇청소기는 일반적으로 일반적으로 로봇 청소기는 자가주행으로 주행을 하며 바닥면을 자동으로 청소를 하는 장치이다. 일반적으로 로봇 청소기는 바닥의 먼지를 흡입하는 흡입기능을 주로 수행하지만 최근에는, 바닥을 걸레질을 하여 이물질을 제거하는 로봇 청소기가 소개되고 있다.In general, a robot vacuum cleaner is a device that runs on its own and automatically cleans the floor. In general, robot vacuum cleaners mainly perform a suction function of sucking up dust from the floor, but recently, robot vacuum cleaners that remove foreign substances by mopping the floor have been introduced.

이러한 걸레질을 이용한 로봇청소기는 대한민국 특허출원 제 10-2007-0053264 호와 같이 로봇청소기 하부면에 물걸레판을 부착시켜 별도의 주행장치를 구비하여 이동경로를 걸레질하고 있다.A robot vacuum cleaner using this mopping method, as in Korean Patent Application No. 10-2007-0053264, has a wet mopping plate attached to the bottom of the robot cleaner and is equipped with a separate traveling device to mop the moving path.

그러나. 이와 같은 부착걸레를 이용한 청소방식은 로봇 청소기의 주행 시 물걸레용 청소포와 바닥면의 마찰을 이용한 것에 불과하여, 청소 구역 내에 밀착된 오물을 제거하는 것에 한계가 있었다.however. This type of cleaning method using an attached mop merely utilized the friction between the mop cleaning cloth and the floor surface when the robot vacuum cleaner was running, and thus had limitations in removing dirt adhered to the cleaning area.

더욱이, 물걸레용 청소포와 바닥면 사이의 마찰력으로 인하여, 별도의 구동력에 의한 로봇의 주행이 방해를 받아 배터리에 의한 구동력의 소모가 극심하게 되는 문제점이 있으며, 또한 별도의 주행장치의 주행으로 인한 바닥에 주행자국이 남는다는 문제점이 있었다.Moreover, due to the friction between the mop cleaning cloth and the floor surface, there is a problem in that the running of the robot by the separate driving force is interrupted, resulting in extreme consumption of the driving force by the battery, and also the floor due to the running of the separate traveling device. There was a problem with driving marks remaining on the car.

대한민국 특허출원 제 10-2007-0053264 호Republic of Korea Patent Application No. 10-2007-0053264

이에 본 발명은 상기한 바, 로봇청소기에 있어서 부착걸레를 이용한 바닥의 오물의 제거를 더욱 효과적으로 이뤄지게하며, 청소포와 바닥면 사이의 마찰력으로 인한 에너지적 손실의 문제를 해결하고, 주행 및 방향전환시 효율적인 동작이 이루어지는 것을 목적으로 하는 것이다.Accordingly, the present invention, as described above, makes it possible to more effectively remove dirt from the floor using an attached mop in a robot vacuum cleaner, solves the problem of energy loss due to friction between the cleaning cloth and the floor, and solves the problem of energy loss when driving or changing direction. The purpose is to achieve efficient operation.

이와 같은 목적을 해결하기 위해서, 삼각형에 본체의 모서리 하부에 수평으로 회전하는 3개의 원형 청소판을 구비하고, 본체 내부에 상기 3개의 원형 청소판을 각기 조정하는 제어판을 구비하는 것이다.In order to solve this purpose, three circular cleaning plates rotating horizontally are provided at the lower corners of the triangular main body, and a control panel is provided inside the main body to individually adjust the three circular cleaning plates.

또한, 본체 외면에 주행중 주변의 장애물 및 지형을 감지하는 주변감지센서부, 본체하부에 로봇청소기의 주행경로를 인식하는 경로인식센서부 를 구비한 로봇청소기로 구비하는 것이다.In addition, the robot vacuum cleaner is equipped with a perimeter detection sensor unit on the outer surface of the main body that detects surrounding obstacles and terrain while driving, and a path recognition sensor unit in the lower part of the main body that recognizes the driving path of the robot vacuum cleaner.

상기한 바와 같이, 이상의 구성을 갖는 로봇청소기 및 그 제어방법을 따르면, 청소판을 이용하여 청소 및 주행이 함께 이루어지게 되어 별도의 주행장치가 없어서 바닥에 주행자국이 남지 않으며 에너지의 낭비가 감소되며 단순부착형 걸레형에 비하여 회전을 통한 효과적인 걸레질이 이루어지는 것이다.As described above, according to the robot vacuum cleaner having the above configuration and its control method, cleaning and running are performed together using a cleaning plate, so there is no separate running device, so no running marks are left on the floor, and waste of energy is reduced. Compared to the simple attachment mop type, effective mopping is achieved through rotation.

또한 3개의 청소판의 회전방향 및 회전속도를 각기 조절하여 이를 통해 다양한 주행의 상황에서 알맞은 대응이 이루어지며 효율적인 방향의 전환이 가능한 것이다.In addition, the rotation direction and rotation speed of the three cleaning plates are individually adjusted, enabling appropriate response to various driving situations and efficient direction change.

도 1 및 도 2는 본 발명에 따른 로봇청소기의 실시예를 보인 상부 및 하부 사시도.
도 3은 본 발명에 따른 동작관계의 예를 도시한 개략도
도 4는 본 발명에 실시예에 따른 주행과정과 관련된 순서도.
도 5는 본 발명에 따른 정삼각주행법 및 역삼각주행법의 주행법을 보인 개략도.
도 6은 본 발명에 따른 일조향방식 및 이조향방식 및 삼조향방식의 방향전환모드를 보인 개략도.
도 7은 본 발명에 따른 일선행방식 및 이선행방식 및 삼선행방식의 선행주행모드를 보인 개략도.1 and 2 are upper and lower perspective views showing an embodiment of a robot vacuum cleaner according to the present invention.
3 is a schematic diagram showing an example of an operation relationship according to the present invention.
Figure 4 is a flow chart related to the driving process according to an embodiment of the present invention.
Figure 5 is a schematic diagram showing the normal triangle driving method and the inverted triangle driving method according to the present invention.
Figure 6 is a schematic diagram showing the direction change mode of the one-steering method, the two-steering method, and the three-steering method according to the present invention.
Figure 7 is a schematic diagram showing the leading driving mode of the one-leading method, the two-leading method, and the three-leading method according to the present invention.

이하, 첨부된 도면에 의하여 상세히 설명하면 다음과 같다.Hereinafter, it will be described in detail with the accompanying drawings as follows.

본 발명은 로봇청소기에 있어서 삼각형에 본체의 모서리 하부에 수평으로 회전하는 3개의 원형 청소판을 구비한 로봇청소기를 제공하고 이를 효율적으로 제어하기 위한 것으로서, 본 명세서 및 청구범위에 사용된 용어나 단어는 통상적이거나 사전적인 의미로 한정해서 해석되어서는 아니 되며, 발명자는 그 자신의 발명을 가장 최선의 방법으로 설명하기 위해 용어의 개념을 적절하게 정의할 수 있다는 원칙에 입각하여 본 발명의 기술적 사상에 부합하는 의미와 개념으로 해석되어야만 한다.The present invention is to provide a robot vacuum cleaner with three circular cleaning plates that rotate horizontally at the bottom of the corner of the triangular body and to efficiently control the robot vacuum cleaner. Terms and words used in the present specification and claims should not be construed limited to the usual or dictionary meaning, and the inventor may appropriately define the concept of the term in order to explain his or her invention in the best way, and should not be construed as limiting the technical idea of the present invention. It must be interpreted with corresponding meaning and concept.

즉 본 발명은 삼각형에 본체(100)의 모서리 하부에 수평으로 회전하는 3개의 원형 청소판(200)을 구비하고, 상기 제1 청소판(201) 및 제2 청소판(202) 및 제3 청소판(203)을 각각 회전 구동하는 제1 모터 및 제2 모터 및 제3 모터를 구비하고, 본체(100)외면에 주행중 주변의 장애물 및 지형을 감지하는 주변감지센서부(110), 본체(100)하부에 로봇청소기의 주행경로를 인식하는 경로인식센서부(120) 를 구비한 로봇청소기로 구비하는 것이다.That is, the present invention is provided with three circular cleaning plates 200 rotating horizontally at the lower corners of the triangular main body 100, and the first cleaning plate 201, the second cleaning plate 202, and the third cleaning plate It is equipped with a first motor, a second motor, and a third motor that rotate the plate 203, respectively, and has a surrounding detection sensor unit 110 on the outer surface of the main body 100 that detects surrounding obstacles and terrain while driving, and the main body 100 ) It is equipped with a robot vacuum cleaner equipped with a path recognition sensor unit 120 at the bottom that recognizes the driving path of the robot vacuum cleaner.

이때 상기 본체(100) 내부에 상기 3개의 모터의 동작을 각기 조절하여 3개의 청소판(200)의 회전방향 및 회전속도를 조정하는 제어부를 구비하는 것이다.At this time, a control unit is provided inside the main body 100 to adjust the rotation direction and rotation speed of the three cleaning plates 200 by controlling the operations of the three motors, respectively.

또한, 상기 주행은 정삼각주행법(S1) 및 역삼각주행법(S2) 중 하나를 선택한 주행법으로 이루어지는 것이다.In addition, the driving is performed by selecting one of the normal triangle driving method (S1) and the reverse triangle driving method (S2).

이때 상기 정삼각법는 제1 청소판(201)을 전방에 배치하고 다른 제2 청소판(202) 및 제3 청소판(203)은 후방에 수평되게 배치하여 주행하는 것이며, 상기 역삼각주행법(S2) 제2 청소판(202) 및 제3 청소판(203)을 전방에 수평되게 배치하고 다른 제1 청소판(201)을 후방에 배치하여 주행하는 것이다.At this time, in the regular triangle method, the first cleaning plate 201 is placed in the front and the second cleaning plate 202 and the third cleaning plate 203 are arranged horizontally in the rear and the inverted triangle driving method (S2) The vehicle is driven by placing the second cleaning plate 202 and the third cleaning plate 203 horizontally in the front and placing the other first cleaning plate 201 in the rear.

또한, 상기 제1 청소판(201) 및 제2 청소판(202) 및 제3 청소판(203)은 서로의 역할은 운행중에 제어판을 통해 서로 전환이 가능한 것이다.In addition, the roles of the first cleaning plate 201, the second cleaning plate 202, and the third cleaning plate 203 can be switched between each other through the control panel while driving.

이러한 상기 두 주행법은 직진으로 전진 및 후진 주행하는 직진주행모드를 구비하는 것이다.These two driving methods have a straight driving mode in which the vehicle drives forward and backward in a straight line.

이때 상기 직진주행모드는 제1 청소판(201)은 좌우왕복원운동을, 제2 청소판(202) 및 제3 청소판(203)은 맞물리는 방향으로 동일속도 회전운동을 하여 주행하는 것이다.At this time, in the straight driving mode, the first cleaning plate 201 rotates left and right, and the second cleaning plate 202 and the third cleaning plate 203 rotate at the same speed in the engaging direction.

또한 상기 주행법은 정지한 상태에서 방향을 전환하는 방향전환모드를 구비하는 것이다.Additionally, the driving method includes a direction change mode that changes direction while stopped.

이때 상기 방향전환모드는 일조향방식(R1) 및 이조향방식(R2) 및 삼조향방식(R3) 중 선택하여 방향의 전환이 이루어지는 것이다. At this time, the direction change mode is one in which direction is changed by selecting one of the single steering method (R1), the dual steering method (R2), and the triple steering method (R3).

여기서 상기 일조향방식(R1)은 제1 청소판(201)을 전환방향으로 회전하여 방향을 전환하는 것, 이조향방식(R2)은 제2 청소판(202)와 제3청소판(200)을 원하는 전환방향으로 회전하여 방향을 전환하는 것, 삼조향방식(R3)은 제1 청소판(201)과 제2 청소판(202)와 제3 청소판(203)을 모두 전환방향으로 회전하여 방향을 전환하는 것이다.Here, the single steering method (R1) changes the direction by rotating the first cleaning plate 201 in the switching direction, and the dual steering method (R2) uses the second cleaning plate 202 and the third cleaning plate 200. To change the direction by rotating in the desired switching direction, the three-steering method (R3) rotates the first cleaning plate 201, the second cleaning plate 202, and the third cleaning plate 203 in the switching direction. It's about changing direction.

또한 상기 주행법에 있어서 주행중 원하는 방향으로 곡선으로 주행하는 선형주행모드를 구비하는 것이다.In addition, the above driving method includes a linear driving mode in which the vehicle travels in a curved direction in a desired direction while driving.

이때 상기 선행주행모드는 일선행방식(L1) 및 이선행방식(L2) 및 삼선행방식(L3) 중 선택하여 선행주행이 이루어지는 것이다.At this time, the preceding driving mode is performed by selecting one of the one-leading method (L1), the two-leading method (L2), and the three-leading method (L3).

여기서 상기 일선행방식(L1)은 주행중 제1 청소판(201)의 좌우왕복원운동에 있어서 좌우 왕복정도에 차이를 두어 굽어지고자하는 방향으로 선행주행하는 것, 이선행방식(L2)은 제2 청소판(202)와 제3 청소판(203)이 서로 맞물러 회전하는 과정에서 하는 두 청소판(200)의 회전속도에 차이를 두어 굽어지고자하는 방향으로 선행주행하는 것, 삼선행방식(L3)은 상기 일선행방식(L1)과 이선행방식(L2)이 복합적으로 이루어지는 것을 특징으로 하는 로봇청소기Here, the one-way method (L1) is to drive ahead in the direction to be bent by varying the degree of left and right reciprocation in the left and right reversal movement of the first cleaning plate 201 while driving, and the two-way method (L2) is to move ahead in the direction in which the first cleaning plate 201 is bent. In the process of rotating the cleaning plate 202 and the third cleaning plate 203 while engaging with each other, the rotation speed of the two cleaning plates 200 is changed to advance in the direction to be bent, three-line driving method ( L3) is a robot vacuum cleaner characterized in that it is a combination of the first priority method (L1) and the second priority method (L2).

여기서 상기 제어부는 상기 다양한 주행모드에 있어서 주변감지센서부(110)의 주변상황을 인식한 감지신호를 수신하여 주행경로 및 그에 알맞은 주행모드를 결정하여 상기 3개의 모터에 주행신호를 발신하는 것이다.Here, the control unit receives a detection signal recognizing the surrounding situation from the surrounding detection sensor unit 110 in the various driving modes, determines a driving path and an appropriate driving mode, and transmits driving signals to the three motors.

또한 주행중에 상기 경로인식센서부(120)의 진행경로상황 및 속력을 인식한 인식신호를 수신하여 실제 주행경로와 예정된 주행방향 및 속도와의 오차를 분석하고 이를 이용하여 3개의 청소판(200)에 수정동작신호를 보내 올바른 방향으로 수정하여 진행하는 것이다.In addition, while driving, a recognition signal recognizing the path situation and speed of the path recognition sensor unit 120 is received, the error between the actual driving path and the planned driving direction and speed is analyzed, and the three cleaning plates 200 are used. A corrective action signal is sent to correct and proceed in the correct direction.

100: 본체 101: 입력부 102: 출력부
110: 주변감지센서부 120: 경로인식센서부
200: 청소판 201: 제1 청소판 202: 제2 청소판
203: 제3 청소판
S1: 정삼각주행법 S2: 역삼각주행법
R1: 일조향방식 R2: 이조향방식 R3: 삼조향방식
L1: 일선행방식 L2: 이선행방식 L3: 삼선행방식100: main body 101: input unit 102: output unit
110: Surrounding detection sensor unit 120: Path recognition sensor unit
200: cleaning plate 201: first cleaning plate 202: second cleaning plate
203: Third cleaning plate
S1: Normal triangle driving method S2: Reverse triangle driving method
R1: Single steering method R2: Dual steering method R3: Triple steering method
L1: First-first method L2: Two-first-first method L3: Three-first-first method

Claims (3)

삼각형에 본체(100)의 모서리 하부에 수평으로 회전하는 3개의 원형 청소판(200)을 구비하고, 상기 제1 청소판(201) 및 제2 청소판(202) 및 제3 청소판(203)을 각각 회전 구동하는 제1 모터 및 제2 모터 및 제3 모터를 구비하고, 본체(100)외면에 주행중 주변의 장애물 및 지형을 감지하는 주변감지센서부(110), 본체(100)하부에 로봇청소기의 주행경로를 인식하는 경로인식센서부(120)를 구비한 로봇청소기;

상기 본체(100) 내부에 상기 3개의 모터의 동작을 각기 조절하여 3개의 청소판(200)의 회전방향 및 회전속도를 조정하는 제어부를 구비하고,

상기 제어부는 상기 다양한 주행모드에 있어서 주변감지센서부(110)의 주변상황을 인식한 감지신호를 수신하여 주행경로 및 그에 알맞은 주행모드를 결정하여 상기 3개의 모터에 주행신호를 발신하고,

상기 제어부는 주행중에 상기 경로인식센서부(120)의 진행경로상황 및 속력을 인식한 인식신호를 수신하여 실제 주행경로와 예정된 주행방향 및 속도와의 오차를 분석하고 이를 이용하여 3개의 모터에 수정된 주행신호를 발신하고,

상기 주행은 정삼각주행법(S1) 및 역삼각주행법(S2) 중 선택한 주행법으로 이루어지고,

상기 정삼각법는 제1 청소판(201)을 전방에 배치하고 다른 제2 청소판(202) 및 제3 청소판(203)은 후방에 수평되게 배치하여 주행하고,

상기 역삼각주행법(S2) 제2 청소판(202) 및 제3 청소판(203)을 전방에 수평되게 배치하고 다른 제1 청소판(201)을 후방에 배치하여 주행하고,

상기 제어판은 상기 두 주행법에 있어서 직진으로 전진 및 후진 주행하는 직진주행모드를 구비하고,

상기 직진주행모드는 제1 청소판(201)은 좌우왕복원운동을, 제2 청소판(202) 및 제3 청소판(203)은 맞물리는 방향으로 동일속도 회전운동을 하여 주행하고,

상기 제1 청소판(201) 및 제2 청소판(202) 및 제3 청소판(203)은 서로의 역할은 운행중에 상기 제어판을 통해 서로 전환이 가능한 것을 특징으로 하는 로봇청소기.It is provided with three circular cleaning plates 200 that rotate horizontally at the lower corners of the triangular main body 100, and the first cleaning plate 201, the second cleaning plate 202, and the third cleaning plate 203. It is equipped with a first motor, a second motor, and a third motor that respectively rotate and drive, and a perimeter detection sensor unit 110 on the outer surface of the main body 100 that detects surrounding obstacles and terrain while driving, and a robot on the lower part of the main body 100. A robot vacuum cleaner equipped with a path recognition sensor unit 120 that recognizes the travel path of the cleaner;

A control unit is provided inside the main body 100 to adjust the rotation direction and speed of the three cleaning plates 200 by controlling the operations of the three motors, respectively,

The control unit receives a detection signal recognizing the surrounding situation from the surrounding sensor unit 110 in the various driving modes, determines a driving path and an appropriate driving mode, and transmits driving signals to the three motors,

The control unit receives a recognition signal recognizing the path situation and speed of the path recognition sensor unit 120 while driving, analyzes the error between the actual driving path and the planned driving direction and speed, and uses this to make corrections to the three motors. transmits a driving signal,

The driving is performed using a driving method selected from the normal triangle driving method (S1) and the inverted triangle driving method (S2),

In the equilateral triangle method, the first cleaning plate 201 is placed in the front, and the second cleaning plate 202 and the third cleaning plate 203 are arranged horizontally in the rear and travel,

In the reverse triangle driving method (S2), the second cleaning plate 202 and the third cleaning plate 203 are placed horizontally in the front and the other first cleaning plate 201 is placed in the rear,

The control panel has a straight driving mode for driving straight forward and backward in the two driving methods,

In the straight driving mode, the first cleaning plate 201 rotates left and right, and the second cleaning plate 202 and the third cleaning plate 203 rotate at the same speed in the engaging direction,

The robot vacuum cleaner is characterized in that the roles of the first cleaning plate 201, the second cleaning plate 202, and the third cleaning plate 203 can be switched between each other through the control panel during operation. 청구항 1항에 있어서,

상기 제어판은 그 주행법에 있어서 정지한 상태에서 방향을 전환하는 방향전환모드를 구비하고,

상기 방향전환모드는 일조향방식(R1) 및 이조향방식(R2) 및 삼조향방식(R3) 중 선택하여 방향의 전환이 이루어지고,

상기 일조향방식(R1)은 제1 청소판(201)을 전환방향으로 회전하여 방향을 전환하는 것, 이조향방식(R2)은 제2 청소판(202)와 제3청소판(200)을 원하는 전환방향으로 회전하여 방향을 전환하는 것, 삼조향방식(R3)은 제1 청소판(201)과 제2 청소판(202)와 제3 청소판(203)을 모두 전환방향으로 회전하여 방향을 전환하는 것을 특징으로 하는 로봇청소기.In claim 1,

The control panel is provided with a direction change mode for changing direction in a stopped state in the driving method,

In the direction change mode, the direction is changed by selecting among the single steering method (R1), the dual steering method (R2), and the triple steering method (R3),

The single steering method (R1) changes the direction by rotating the first cleaning plate 201 in the switching direction, and the dual steering method (R2) uses the second cleaning plate 202 and the third cleaning plate 200. Changing the direction by rotating in the desired switching direction, the three-steering method (R3) rotates the first cleaning plate 201, the second cleaning plate 202, and the third cleaning plate 203 in the switching direction. A robot vacuum cleaner characterized by switching. 청구항 1항에 있어서,

상기 제어판은 그 주행법에 있어서 주행 중 원하는 방향으로 곡선으로 주행하는 선형주행모드를 구비하고,

상기 선행주행모드는 일선행방식(L1) 및 이선행방식(L2) 및 삼선행방식(L3) 중 선택하여 선행주행이 이루어지고,

상기 일선행방식(L1)은 주행중 제1 청소판(201)의 좌우왕복원운동에 있어서 좌우 왕복정도에 차이를 두어 굽어지고자하는 방향으로 선행주행하는 것, 이선행방식(L2)은 제2 청소판(202)와 제3 청소판(203)이 서로 맞물러 회전하는 과정에서 하는 두 청소판(200)의 회전속도에 차이를 두어 굽어지고자하는 방향으로 선행주행하는 것, 삼선행방식(L3)은 상기 일선행방식(L1)과 이선행방식(L2)이 복합적으로 이루어지는 것을 특징으로 하는 로봇청소기.In claim 1,

The control panel has a linear driving mode that curves in a desired direction while driving,

The preceding driving mode is performed by selecting one of the one-leading method (L1), two-leading method (L2), and three-leading method (L3),

The one-forward method (L1) is to drive ahead in the direction of bending by varying the degree of left and right reciprocation in the left and right reversal movement of the first cleaning plate 201 during driving, and the two-forward method (L2) is to perform second cleaning. In the process of rotating the plate 202 and the third cleaning plate 203 while engaging with each other, the rotation speed of the two cleaning plates 200 is changed to advance in the direction in which the plate 202 and the third cleaning plate 203 are bent. ) is a robot vacuum cleaner characterized in that it is a combination of the first-order method (L1) and the second-line method (L2).
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