KR102146137B1 - A robot cleaner and a method for operating it - Google Patents

Abstract

A robot cleaner is disclosed. The robot cleaner is provided in the main body, a drive unit that supplies power for driving the robot cleaner, and rotates around the first and second rotation axes by the power of the driving unit to provide a moving force source for driving the robot cleaner. A first driving step in which the cleaner for wet cleaning determines a cleaning driving pattern of the first and second rotating members and the robot cleaner, which can be fixed respectively, and rotates in the first lateral direction and travels forward according to the determined cleaning driving pattern. And a control unit for controlling the driving unit to travel while sequentially repeating the second driving step of rotating in a second lateral direction opposite to the first side and driving forward.

Description

Robot vacuum cleaner and its control method {A ROBOT CLEANER AND A METHOD FOR OPERATING IT}

The present invention relates to a robot cleaner and a control method thereof, and more particularly, to a robot cleaner capable of performing wet cleaning while autonomously driving, and a control method thereof.

Various devices are being automated with the development of industrial technology. As is well known, a robot cleaner is a device that automatically cleans the area to be cleaned by inhaling foreign substances such as dust from the surface to be cleaned while driving itself in the area to be cleaned without the user's operation, or by wiping foreign substances from the surface to be cleaned. It is being utilized.

In general, such a robot cleaner may include a vacuum cleaner that performs cleaning using suction power using a power source such as electricity.

A robot cleaner including such a vacuum cleaner has a limitation in that it cannot remove foreign substances or dirt stuck to the surface to be cleaned, and recently, a robot cleaner that can perform wet cleaning by attaching a mop to the robot cleaner has emerged. .

However, the wet cleaning method using a general robot cleaner is only a simple method of attaching a mop or the like to the lower portion of the conventional robot cleaner for vacuum cleaning, and thus has a low effect of removing foreign substances and has a disadvantage in that efficient wet cleaning cannot be performed.

In particular, in the case of the wet cleaning method of a general robot cleaner, the movement method for the suction type vacuum cleaner and the avoidance method for obstacles are used as they are, so even if the dust scattered on the surface to be cleaned is removed, foreign matters adhered to the surface to be cleaned are removed. There is a problem that cannot be easily removed.

In addition, in the case of the mop attachment structure of a general robot cleaner, the frictional force with the ground is increased by the mop surface, so that a separate propulsion force for moving the wheel is required, and thus battery consumption increases.

Registered Utility Model No. 20-0481332 has been proposed as a prior art for solving this, as shown in FIG. A driving unit provided in the main body and supplying power for driving the robot cleaner; First and second rotation members each rotatably moving around a first rotation axis and a second rotation axis by the power of the driving unit to provide a moving force source for driving the robot cleaner, and fixable cleaners for wet cleaning, respectively; A bumper formed around the outer periphery of the main body to protect the main body from external impacts; And a sensing unit for sensing an external impact applied to the bumper.

However, when using two rotating members, when one side of the rotating shaft is slim, there is a problem in that a section where the floor cannot be wiped occurs because straightness cannot be secured.

The present invention was conceived in accordance with the above-described necessity, and an object of the present invention is to use the rotating force of a pair of rotating members as a moving force source of a robot cleaner, and to fix a cleaner for wet cleaning to the rotating member, 3 To provide a robot cleaner capable of running while moving straight through wet cleaning and a control method thereof by additionally installing a rotating member to correct the slimness of the rotating member.

In addition, an object of the present invention is to provide a robot cleaner and a control method thereof that perform cleaning and driving in a specific pattern.

As a means to achieve the above object,

The present invention provides a robot cleaner, comprising: a main body; A driving unit provided in the main body and supplying power for driving the robot cleaner; The first, second, and third cleaners for wet cleaning are fixed to each other to provide a moving force source for driving the robot cleaner by rotating each of the first and second rotation axes by the power of the driving unit. A rotating member; A first driving step of determining a cleaning driving pattern of the robot cleaner, rotating in a first lateral direction and driving forward according to the determined cleaning driving pattern, and rotating in a second lateral direction opposite to the first side and driving forward A control unit for controlling rotation of the first, second, and third rotating members to travel while sequentially repeating the second driving step; A dust measuring means (1000) installed in the device to measure dust and output an alarm signal if it is above a standard; It is characterized in that it comprises an alarm signal output unit 2000 that is electrically connected to the dust measuring unit and outputs an alarm signal to the outside according to a control signal of the dust measuring unit.

In addition, the dust measuring means is positioned so as to face the infrared transmission means (A) for emitting infrared rays, and the infrared transmission means, and receives the light emitted from the infrared transmission means and introduces dust according to the degree of the received amount. Infrared receiving means (B) for determining the value, and dust measurement control section (C) for controlling the input voltage of the infrared transmitting means (A) to increase when the output voltage of the infrared receiving means (B) is less than a set value ), including; The infrared transmission means (A) includes a housing for accommodating the shape memory spring and the fixing part; It is installed on the inside of the housing, but is installed on one side of the shape memory spring and forcibly expands the shape memory spring through heat generation to move the concave lens group to the left, thereby allowing infrared rays to pass through the lens with a low depression angle to output infrared rays. A heat generating means for inducing the force to increase; It is installed on the inside of the housing, but is installed on the other side of the shape memory spring to transfer cooling heat to force the shape memory spring to contract to move the concave lens group to the right, thereby allowing the lens with a high depression angle and infrared rays to pass. A thermoelectric element for inducing an infrared output to be forcibly lowered; A transmission control unit that is electrically connected to the heat generating means and the thermoelectric element and controls to increase the infrared output by operating the heat generating means when there is a lot of dust, and operates the thermoelectric element to lower the infrared output when there is little dust. It is characterized by including the composition.

In addition, the main body further includes ion water supply means 2100, and the ion water supply means 2100 is provided in a pipe to increase the ion energy of water by attaching a device for generating an electromagnetic field to a water current. A reed switch operating means having a power switching circuit so that an electromagnetic field is generated by selectively switching the reed switch by moving the moving magnet by hydraulic pressure when the valve is opened; A bobbin through which water passes through a pipe and a coil is wound; A coil wound on the outer circumferential surface of the bobbin, generating magnetic flux when current flows, and promoting an electromagnetic induction or an action of an electromagnetic force; At least one diode connected to the coil and generating half-wave DC current while generating an electromagnetic field and induced electromotive force; A reed switch connected to a coil and opening and closing an electric circuit and a power supply for supplying AC electricity; It is characterized in that it comprises a mixing unit that is installed inside the pipe and serves to evenly mix the ionized water.

In addition, the mixing means is provided with a first partition having a hole formed at the edge to induce water passing through the pipe to pass through the edge hole, and the first partition installed at a certain distance apart from the first partition, but having a hole formed in the center. A second partition is provided to induce ion water to be mixed while water passing through the first partition passes through the central hole, and a plurality of the first and second partitions are arranged.

In addition, the mixing means includes a third partition opened by forming a hole in the lower portion, and a fourth partition opened by forming a hole in the upper portion, and a plurality of the third and fourth partitions are sequentially arranged. It is characterized by being configured.

Further, when the cleaner is driven, power is supplied to the first rotary member, the second rotary member, and the third rotary member to prepare the cleaner body to move forward or backward or at a predetermined angle; Cleaning the cleaner body while moving forward or backward or at a predetermined angle according to the operation of the first and second rotation members; Checking whether the cleaner body moves while oscillating non-linearly when the cleaner body moves according to the operation of the first and second rotary members; If non-linearity is confirmed in the step, driving the third rotating member to correct the direction of the cleaner body to maintain the straightness of the cleaner body; And outputting an alarm sound if the dust exceeds the standard; Main body; A driving unit provided in the main body and supplying power for driving the robot cleaner; The first, second, and third cleaners for wet cleaning are fixed to each other to provide a moving force source for driving the robot cleaner by rotating each of the first and second rotation axes by the power of the driving unit. A rotating member; A first driving step of determining a cleaning driving pattern of the robot cleaner, rotating in a first lateral direction and driving forward according to the determined cleaning driving pattern, and rotating in a second lateral direction opposite to the first side and driving forward A control unit for controlling rotation of the first, second, and third rotating members to travel while sequentially repeating the second driving step; An alarm signal output unit installed at one end of the main body to output an alarm sound when the dust exceeds the standard; An input unit for inputting a motion command of the cleaning robot; A position sensor that measures a position of the cleaning robot moving according to the input motion command; A first encoder installed on the left driving motor to measure a movement amount of the left driving motor generated by a motion command of the cleaning robot; It is characterized in that it further comprises a second encoder installed on the right driving motor to measure a movement amount of the right driving motor generated by a motion command of the cleaning robot.

In addition, the control unit calculates the moving angle of the cleaning robot according to the measured values of the first and second encoders, measures the moving angle of the cleaning robot according to the sensor information of the position sensor, and the calculation It is characterized in that the non-linearity of the cleaning robot is determined by using the difference between the angle of the cleaning robot and the measured angle of the cleaning robot.

In addition, the control unit calculates the first and second encoder changes (A1, A2) moved by the cleaning robot according to the measured values of the first and second encoders, and the cleaning according to the sensor information of the position sensor. Calculate the position change amount (B) moved by the robot, and use the calculated first and second encoder change amount (A1, A2) and the calculated change amount (B) of the inclination value of the position sensor to the non-linearity of the cleaning robot It is characterized by grasping.

In addition, the control unit is characterized in that it detects a difference between the calculated angle of the cleaning robot and the measured angle of the cleaning robot for a predetermined period of time to determine nonlinearity of the cleaning robot.

In addition, the control unit calculates the first and second encoder changes (A1t1, A2t1) that the cleaning robot moved during the first time (t1) according to the measured values of the first and second encoders, and the position sensor Calculate the change amount (B) of the position value moved by the cleaning robot according to the sensor information of, and use the calculated first and second encoder change amounts (A1t1, A2t1) and the calculated change amount (B) of the position value. Thus, it is characterized in that the nonlinearity of the cleaning robot is determined.

In addition, the control unit is characterized in that when the cleaning robot is non-linear, the third driving robot is driven in a clockwise or counterclockwise direction to induce linearity.

In addition, it is installed at one end of the main body and configured to include a fragrance application device for emitting fragrance to the outside when the cleaner is operated; The fragrance application device 1100 includes a housing 1110; A battery 1120 installed inside the housing 1110 and receiving power from the outside to charge electricity and then supply electricity to the device; A rotary motor (1130) electrically connected to the battery to receive power from the battery and convert it into a mechanical rotary motion; A motor shaft (1131) installed on the central axis of the rotary motor to rotate in response to the rotation of the rotary motor, but having a bottom surface in a waveform shape and continuously rotating in a curved waveform shape; A vertical drive cylinder (1140) located at the lower end of the rotary motor and flowing while moving up and down by converting the rotation of the rotary motor into a reciprocating vertical motion; It is located above the vertical drive cylinder 1140, but is located on the central axis, and is mechanically contacted while being in contact with the motor shaft 1131 of the rotary motor 1130, and is coupled with the motor shaft 1131 of the rotary motor 1130. And a rotation shaft 1141 for elevating and descending while repeating the separation. Installed on the outer periphery of the vertical driving cylinder 1140, one side is fixed to the locking jaw inside the housing and the other side is fixed to the locking jaw of the vertical driving cylinder to elastically support the vertical driving cylinder to maintain the vertical driving cylinder An elastic spring 1150 for supporting elevating and descending to enable it to be; It is inserted and coupled to the inner side of the up and down drive cylinder 1140, is generally cylindrical and consists of a plurality of drug passage holes 1161 installed on the bottom, and supplies drugs while flowing up and down according to the movement of the up and down drive cylinder. A fragrance drug applicator 1160; One side is coupled to the fragrance drug applicator 1160 and the other side is coupled to one end of the housing 1110, and the up and down driving cylinder and the fragrance drug applicator 1160 are temporarily fixed at the same time based on the housing to temporarily fix the fragrance drug applicator 1160 ) It is characterized in that it is configured to include a temporary fixing means (1180) for a scent drug applicator that prevents from falling down by the action of gravity.

In addition, the scent drug applicator temporary fixing means 1180 is made of a sharp wedge shape at the end and is forcibly fitted through the coupling hole of the up and down driving cylinder and the coupling hole of the drug applicator, so that the scent drug applicator of the up and down driving cylinder A locking hook 1181 for maintaining a state coupled to the inner circumference; A connecting piece 1182 which is integrally connected to the hook for hook 1181 in a diagonal direction and guides the hook for hook 1181 to move in a clockwise or counterclockwise direction by a rotational motion; A hinge for supporting rotation (1183) installed between the connecting piece (1182) and the hook (1181) for supporting the connecting piece to rotate; It is installed between the connecting piece 1182 and the vertical driving cylinder 1140 to push the connecting piece outward so that the hook for locking 1181 flows counterclockwise to keep the drug applicator connected to the vertical driving cylinder. , When the connecting piece is pressed by an external force and compressed in the vertical driving cylinder direction, the hook for locking 1181 is separated from the vertical driving cylinder 1140 and the drug applicator 1160, and the drug applicator 1160 is a vertical driving cylinder. A support spring 1184 for guiding it to be removed from the 1140; A sliding flow piece (1185) installed at the end of the connecting piece (1182) and moving at the same time when the hook (1181) and the connecting piece (1182) move up and down according to the vertical flow of the vertical drive cylinder (1140); It is slidably coupled with the sliding fluid piece 1185 to support the vertical movement of the sliding fluid piece 1185, and when the fragrance drug applicator 1160 is replaced, the connecting piece 1182 is pushed in the direction of the vertical driving cylinder 1140. As the connection piece 1182 rotates around the hinge pin 1183 for rotation support by pressing, the hook for hook 1181 is separated from the vertical driving cylinder 1140 and the drug applicator 1160, and the fragrance drug applicator 1160 ) Is characterized in that it comprises a push button (1186) to induce removal from the vertical drive cylinder (1140).

According to various embodiments of the present disclosure described above, the robot cleaner may travel while performing wet cleaning by using the rotational force of a pair of rotating members as a moving force source.

1 is a conceptual diagram of a general robot cleaner.
2 is a conceptual diagram of a robot cleaner according to an embodiment of the present invention.
3 is an exploded perspective view of a main part of a robot cleaner according to an embodiment of the present invention.
4 is a block diagram showing a robot cleaner according to an embodiment of the present invention.
5 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention.
Figure 6 is a block diagram of the dust measuring means and the alarm signal output of the present invention.
7 is a conceptual diagram of an infrared transmitting means and an infrared receiving means constituting the dust measuring means of the present invention.
Figure 8 is a conceptual diagram of measuring dust using the infrared transmitting means and the infrared receiving means of the present invention.
9 is a first embodiment of the dust measuring means having a shape memory spring in the present invention.
10 is a second embodiment having a heat generating means, a thermoelectric element, and a shape memory spring in the present invention.
11 is a configuration diagram of a concave lens applied to the present invention.
12 is a block diagram of the present invention.
13 is a control flow chart of the present invention.
Figure 14 is a conceptual diagram of the installation of the bucket of the present invention.
15 is a conceptual diagram of ion water supply according to the present invention.
Figure 16 is a first embodiment of the partition of the present invention.
Figure 17 is a second embodiment of the partition of the present invention.
Figure 18 is an exploded perspective view of the perfume chemical application device of the present invention.
Figure 19 is a cross-sectional view and a sectional view of the main portion of the perfume chemical application device of the present invention.
Figure 20 is an enlarged cross-sectional view of the main part of the perfume chemical application device of the present invention.
21 is a configuration diagram of a rotary motor and a vertical drive cylinder of the perfume chemical application device of the present invention.
Figure 22 is an enlarged view of the main portion of the rotary motor and the vertical drive cylinder of the perfume chemical application device of the present invention.
23 is a block diagram of a temporary fixing means of the perfume chemical application device of the present invention.
Figure 24 is another angular configuration of the temporary fixing means of the perfume chemical application device of the present invention.
25 is a configuration diagram of a hole for passing a chemical solution according to the present invention.

Hereinafter, the operating principle of a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings and description. However, the drawings and the description to be described below are for a preferred implementation method among various methods for effectively describing the features of the present invention, and the present invention is not limited only to the following drawings and description.

In addition, in the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of users or operators. Therefore, the definition should be made based on the contents throughout the present invention.

In addition, a preferred embodiment of the present invention to be implemented below is already provided in each system function configuration in order to efficiently describe the technical components constituting the present invention, or system functions commonly provided in the technical field to which the present invention belongs. The configuration will be omitted as much as possible, and a functional configuration that should be additionally provided for the present invention will be mainly described.

If one of ordinary skill in the art to which the present invention pertains, among the functional configurations not shown below and omitted, the functions of the components already used in the past will be easily understood, and the configurations omitted as described above. The relationship between the elements and the elements added for the present invention will also be clearly understood.

In addition, in the following embodiments, terms will be appropriately modified and used so that those of ordinary skill in the art can clearly understand the key technical features of the present invention in order to efficiently describe the core technical features of the present invention. It is by no means limited.

As a result, the technical idea of the present invention is determined by the claims, and the following embodiments are one means for efficiently explaining the technical idea of the present invention to those of ordinary skill in the art to which the present invention belongs. It is only.

In addition, it is to be understood that all detailed descriptions listing specific embodiments as well as principles, aspects and embodiments of the present invention are intended to include structural and functional equivalents of these matters. It should also be understood that these equivalents include not only currently known equivalents, but also equivalents to be developed in the future, that is, all devices invented to perform the same function regardless of structure.

Thus, for example, the block diagrams herein are to be understood as representing a conceptual perspective of exemplary circuits embodying the principles of the invention. Similarly, all flowcharts, state transition diagrams, pseudocodes, etc. are understood to represent various processes performed by a computer or processor, whether or not the computer or processor is clearly depicted and that can be represented substantially in a computer-readable medium. Should be.

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

In addition, the explicit use of terms presented as processor, control, or similar concepts should not be interpreted exclusively by referring to hardware capable of executing software, and without limitation, digital signal processor (DSP) hardware, ROM for storing software. It should be understood to implicitly include (ROM), RAM, and non-volatile memory. Other commonly used hardware may also be included.

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

The above-described objects, features, and advantages will become more apparent through the following detailed description in connection with the accompanying drawings, whereby those of ordinary skill in the technical field to which the present invention pertains can easily implement the technical idea of the present invention. There will be. In addition, in describing the present invention, when it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted.

1 is a conceptual diagram of a general robot cleaner.

2 is a conceptual diagram of a robot cleaner according to an embodiment of the present invention.

3 is an exploded perspective view of a main part of a robot cleaner according to an embodiment of the present invention.

4 is a block diagram showing a robot cleaner according to an embodiment of the present invention.

5 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention.

Figure 6 is a block diagram of the dust measuring means and the alarm signal output of the present invention.

7 is a conceptual diagram of an infrared transmitting means and an infrared receiving means constituting the dust measuring means of the present invention.

Figure 8 is a conceptual diagram of measuring dust using the infrared transmitting means and the infrared receiving means of the present invention.

9 is a first embodiment of the dust measuring means having a shape memory spring in the present invention.

10 is a second embodiment having a heat generating means, a thermoelectric element, and a shape memory spring in the present invention.

11 is a configuration diagram of a concave lens applied to the present invention.

12 is a block diagram of the present invention.

13 is a control flow chart of the present invention.

Figure 14 is a conceptual diagram of the installation of the bucket of the present invention.

15 is a conceptual diagram of ion water supply according to the present invention.

Figure 16 is a first embodiment of the partition of the present invention.

Figure 17 is a second embodiment of the partition of the present invention.

Figure 18 is an exploded perspective view of the perfume chemical application device of the present invention.

Figure 19 is a cross-sectional view and a sectional view of the main portion of the perfume chemical application device of the present invention.

Figure 20 is an enlarged cross-sectional view of the main part of the perfume chemical application device of the present invention.

21 is a configuration diagram of a rotary motor and a vertical drive cylinder of the perfume chemical application device of the present invention.

Figure 22 is an enlarged view of the main portion of the rotary motor and the vertical drive cylinder of the perfume chemical application device of the present invention.

23 is a block diagram of a temporary fixing means of the perfume chemical application device of the present invention.

Figure 24 is another angular configuration of the temporary fixing means of the perfume chemical application device of the present invention.

25 is a configuration diagram of a hole for passing a chemical solution of the present invention,

2 to 5, the robot cleaner 100 of the present invention has a main body 10 that structurally forms the exterior of the robot cleaner 100, and is formed around the outer circumference of the main body 10 from external impact. A bumper 20 that protects 10, a sensing unit 130 that detects an external impact applied to the bumper 20, and a driving unit installed in the main body 10 to supply power to drive the robot cleaner 100 (150), it may be configured to include a first rotation member 110, a second rotation member 120, and a power supply unit 190 installed inside the main body 10 to rotate by being coupled to the driving unit 150. have.

The robot cleaner 100 may be driven while performing wet cleaning using the cleaners 210 and 220 for wet cleaning. Here, the wet cleaning may refer to cleaning in which the surface to be cleaned is wiped using the cleaners 210 and 220, and may include, for example, cleaning using a dry mop or a mop wet with a liquid.

The driving unit 150 is installed inside the main body 10 and coupled to the first rotating member 110, and the first driving unit 151 is installed inside the main body 10 and coupled to the second rotating member 120. A second driving unit 152 and a third driving unit 153 coupled to the third rotating member 130 may be included. Here, the driving unit 150 may be implemented by including a motor and a gear assembly.

The first rotation member 110 is coupled to the first driving unit 151 to transmit power by the first driving unit 151, and a first transmission that rotates around the first rotation shaft 310 by the power It may include a member 111. In addition, the first cleaner 210 for wet cleaning may include a first fixing member 112 that can be fixed.

In addition, the second rotation member 120 is coupled to the second driving unit 152 to transmit power by the second driving unit 152, and rotate around the second rotation shaft 320 by the power. It may include 2 transmission member 121. In addition, the second cleaner 220 for wet cleaning may include a second fixing member 122 that can be fixed.

In addition, the third rotation member 130 is coupled to the third driving unit 153 to transmit power by the second driving unit 153, and rotate around the third rotation shaft 330 by the power. It may include a 3 transmission member 131. In addition, the third cleaner 230 for wet cleaning may include a third fixing member 132 that can be fixed.

Here, when the lower regions of the first transmission member 111 and the second transmission member 112 are coupled to the body 10, they may be implemented to protrude in the direction of the surface to be cleaned. Alternatively, when the first transmission member 111 and the second transmission member 112 are coupled to the body 10, they may be implemented so that they do not protrude in the direction of the surface to be cleaned.

In addition, when the first fixing member 112, the second fixing member 122, and the third fixing member 132 are coupled to the body 10, so that they protrude in the direction of the surface to be cleaned, for example, in the direction of the bottom surface. It may be implemented to protrude, and may be formed so that the first cleaner 210, the second cleaner 220, and the third cleaner 230 for wet cleaning may be fixed.

The first cleaner 210, the second cleaner 220, and the third cleaner 230 are used to remove foreign substances fixed on the floor through a rotational motion, such as microfiber cloth, mop, nonwoven fabric, brush, etc. It can be made of a fibrous material such as a cloth that can wipe the cleaning surface. In addition, the first cleaner 210, the second cleaner 220, and the third cleaner 230 may have a circular shape as shown in FIG. 1, but may be implemented in various shapes without limitation in shape.

And, the fixing of the first, second, and third cleaners 210, 220, 230 is a method of covering the first fixing member 112, the second fixing member 122, and the third fixing member 132, It can be carried out using a method using a separate attachment means. For example, the first cleaner 210, the second cleaner 220, and the third cleaner 230 are made of Velcro tape, etc., for the first fixing member 112, the second fixing member 122, and the second fixing member ( 132) can be fixed.

The robot cleaner 100 according to an exemplary embodiment of the present invention includes the first cleaner 210 and the first cleaner 210 by the rotational motion of the first rotation member 110, the second rotation member 120, and the third rotation member 130. As the second cleaner 220 and the third cleaner 230 rotate, foreign matter adhered to the floor may be removed through friction with the surface to be cleaned. In addition, when a friction force with the surface to be cleaned is generated, the friction force may be used as a moving force source of the robot cleaner 100.

More specifically, in the robot cleaner 100 according to an embodiment of the present invention, as the first rotation member 110 and the second rotation member 120 rotate, frictional force with the surface to be cleaned is generated, respectively, and the resultant force is The moving speed and direction of the robot cleaner 100 may be adjusted according to the acting size and direction.

In particular, the first, second, and third rotation members 110, 120, and 130 driven by the power of the driving units 151, 152, and 153 respectively have a first rotation shaft 310, a second rotation shaft 320, and a third rotation shaft 330. It may be inclined to have a predetermined angle with respect to the central axis 300 corresponding to the vertical axis of ). In this case, the first, second, and third rotating members 110, 120, and 130 may be inclined downwardly to the outside with respect to the central axis. That is, an area located far from the central axis 300 among the areas of the first, second, and third rotating members 110, 120, and 130 may more closely adhere to the surface to be cleaned than an area located closer to the central axis 300.

Here, the central axis 300 may mean a vertical axis with respect to the surface to be cleaned of the robot cleaner 100. For example, assuming that the robot cleaner 100 travels and cleans the XY plane formed by the X and Y axes during the cleaning operation, the central axis 300 is a vertical direction with respect to the surface to be cleaned of the robot cleaner 100 It can mean the Z axis, which is an axis.

4 is a block diagram showing a robot cleaner according to an embodiment of the present invention. 5, the robot cleaner 100 according to an embodiment of the present invention includes a sensing unit 130, a communication unit 140, a first rotating member 110 and a second rotating member 120, and a third rotating unit. A driving unit 150 for driving the member 130, a storage unit 160, a control unit 170, an input unit 180, an output unit 185, and a power supply unit 190 may be included.

The detection unit 130 may detect various pieces of information necessary for the operation of the robot cleaner 100 and transmit a detection signal to the control unit 170. Here, the sensing unit 130 may include an external shock sensing unit that detects an external shock applied to the bumper 20 and transmits a sensing signal to the control unit 170. The external impact detection unit may be implemented as a contact sensor or an optical sensor.

The communication unit 140 may include one or more modules that enable wireless communication between the robot cleaner 100 and another wireless terminal or between the robot cleaner 100 and a network in which another wireless terminal is located. For example, the communication unit 140 may communicate with a wireless terminal as a remote control device, and may include a short-range communication module or a wireless Internet module for this purpose.

The robot cleaner 100 may control an operation state or an operation method by a control signal received by the communication unit 140. Terminals that control the robot cleaner 100 may include, for example, a smartphone, a tablet, a personal computer, and a remote control (remote control device) capable of communicating with the robot cleaner 100.

The driving unit 150 may supply power to rotate the first rotation member 110 and the second rotation member 120 under the control of the controller 170. Here, the driving unit 150 may include a first driving unit 151 and a second driving unit 152, and may be implemented including a motor and/or a gear assembly.

Meanwhile, the storage unit 160 may store a program for the operation of the control unit 170 and may temporarily store input/output data. The storage unit 160 is a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg, SD or XD memory, etc.), RAM (Random Access Memory, RAM), SRAM (Static Random Access Memory), ROM (Read-Only Memory, ROM), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, It may include at least one type of storage medium among magnetic disks and optical disks.

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

Here, the input unit 180 may include a key pad, a dome switch, a touch pad (positive pressure/electrostatic), a jog wheel, a jog switch, and the like.

The output unit 185 is for generating an output related to visual, audio, and the like, and although not shown in the drawings, the output unit 185 may include a display unit, an audio output module, and an alarm unit.

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

The power supply unit 190 supplies power to the robot cleaner 100. Specifically, the power supply unit 190 supplies power to each of the functional units constituting the robot cleaner 100, and when the remaining power is insufficient, the power supply unit 190 may be charged by receiving a charging current. Here, the power supply unit 190 may be implemented as a rechargeable battery.

The controller 170 typically controls the overall operation of the robot cleaner 100. Specifically, the controller 170 may control the driving unit 150 to rotate at least one of the first rotation member 110 and the second rotation member 120 so that the robot cleaner 100 travels in a specific direction. .

For example, if the first rotation member 110 and the second rotation member 120 rotate at the same speed in the same direction, the robot cleaner 100 may perform a rotational motion in place. The robot cleaner 100 may rotate in place according to the speed at which the first rotation member 110 and the second rotation member 120 rotate.

More specifically, when the first rotation member 110 and the second rotation member 120 rotate at the same speed in the same direction, relative to the center of the body 10 of the robot cleaner 100, respectively, The directions in which the located one end and the other end move with respect to the surface to be cleaned are opposite to each other. That is, the rotation of the first rotating member 110 causes the movement of one end located opposite the first rotating member 110 of the robot cleaner 100 with respect to the surface to be cleaned, and the rotation of the second rotating member 120. As a result, directions in which the other ends of the robot cleaner 100 located opposite the second rotating member 120 move to the surface to be cleaned are opposite to each other.

Accordingly, the resultant force of frictional forces acting on the robot cleaner 100 may be in opposite directions and act as a rotational force for the robot cleaner 100.

As another example, the controller 170 may control the first rotation member 110 and the second rotation member 120 to rotate in different directions and at the same speed. In this case, the direction in which one end moves with respect to the surface to be cleaned by the friction force of the first rotating member 110 based on the body 10 of the robot cleaner 100 is the surface to be cleaned by the friction force of the second rotating member 110 It may be the same as the direction in which the other end moves. Accordingly, the robot cleaner 100 may perform a straight traveling in a specific direction.

On the other hand, in the present invention, a dust measuring means is installed at one end of the device to detect dust through the dust measuring means, and when dust above a standard is detected, it is output through an automatic communication signal output unit to notify that fine dust is above the standard. .

That is, if the surrounding dust of the device is more than the standard, an alarm signal is output to induce the removal of fine dust or escape to the outside.

The dust measuring means 1000 of the present invention is positioned so as to face an infrared transmission means (A) for emitting infrared rays, and the infrared transmission means, and receives light emitted from the infrared transmission means according to the degree of the received amount. Infrared receiving means (B) for determining the inflow of dust, and dust measurement control section for controlling the input voltage of the infrared transmitting means (A) to increase when the output voltage of the infrared receiving means (B) is less than a set value It includes (C).

Further, the infrared transmission means (A) receives the infrared transmission control signal from the dust measurement control unit (C), determines the infrared transmission amount, and outputs the changed infrared transmission amount.

That is, when the result value of the infrared receiving means (B) is transmitted to the dust measurement control unit (C), the dust measurement control unit (C) predicts the amount of dust generated based on the data of the infrared receiving unit (B), and By outputting a control signal to the infrared transmission means (A), the amount of infrared transmission is adjusted to induce output.

In other words, the dust measurement control unit reads the light quantity data output from the infrared receiving means, and based on this, the light quantity of the infrared light emitting means is automatically controlled so that the sensitivity control is automatically kept constant. It is designed to be able to measure by maintaining it in a sensitivity state.

In other words, if the amount of light received by the infrared receiver (B) is weak, the dust measurement control unit (C) determines that the degree of contamination is high, and outputs a control signal to increase the amount of light from the infrared transmitter (A) for more precise dust measurement. And, if the amount of received light of the infrared receiving means (C) is too much, the state without contamination or precise measurement becomes difficult, so that a control signal is output to reduce the amount of light of the infrared transmitting means (A). That is, it is necessary to maintain the amount of infrared light transmitted in an appropriate state. Only then can the amount of infrared rays measured through the infrared receiving means become accurate, so that the amount of dust generated can be more accurately predicted. Accordingly, the dust amount data measured by the dust measurement control unit of the present invention can output a dust measurement result with high reliability.

The present invention includes a concave lens group (1) in which a plurality of concave lenses are mounted to limit the output of infrared rays;

An infrared transmission element (2) that is close to the concave lens group and outputs infrared rays;

It is installed on one side of the concave lens group to allow the concave lens group to flow to control the infrared output, but if the ambient temperature is high according to the amount of temperature change, the concave lens group is moved to the left so that infrared rays pass through the lens with a low depression angle. A shape memory spring (3) which controls the output to increase and controls the infrared output to decrease by allowing the concave lens group to flow to the right when the ambient temperature is low so that infrared rays pass through the lens having a high depression angle;

It comprises a fixing part 4 located at the right end of the shape memory spring to support the movement of the shape memory spring.

And, a housing (5) for accommodating the spring and the fixing portion;

It is installed on the inside of the housing, but is installed on one side of the shape memory spring and forcibly expands the shape memory spring through heat generation to move the concave lens group to the left, thereby allowing infrared rays to pass through the lens with a low depression angle to output infrared rays. A heat generating means (6) for inducing the force to increase;

It is installed on the inside of the housing, but is installed on the other side of the shape memory spring (3) to transfer cooling heat to force the shape memory spring (3) to contract to move the concave lens group to the right. A thermoelectric element 7 for inducing an infrared output to be forcibly lowered by allowing the infrared rays to pass through;

A transmission control unit (8) that is electrically connected to the heating means and the thermoelectric element and controls to increase the infrared output by operating the heating means when there is a lot of dust, and operates the thermoelectric element to lower the infrared output when there is little dust. It consists of including.

In addition, a plurality of holes 5a, 5b 5c are formed in the rim of the housing in which the fixing part 4 is located, and a magnet 9 for setting the position of the fixing part 4 is inserted into the hole. Done.

That is, the fixing part 4 is made of metal, and the fixing part is temporarily fixed by inserting the magnet 9 into the hole. Accordingly, in areas with low temperature, the magnet is placed in the central hall (5b) or the left hole (5a), and in areas with high temperature, the magnet (9) is placed in the central hole (5b) or the right (5c). do.

Then, the location of the first transmission element 2 is located in the center of the concave lens group 1, and then expands and contracts appropriately according to temperature changes, so that the concentration of dust can be accurately determined.

In the present invention, the output of the transmitting element 2 is automatically adjusted according to the change in temperature. The shape memory spring 3 is set to a basic temperature, and when the temperature increases, the shape memory spring increases, The light is output by reducing the light, and when the temperature decreases, the shape memory spring 3 decreases and the light of the transmitting element 2 is lowered to output.

In other words, since the dust is distributed in the gas, the movement becomes active when the temperature rises, so it is possible to check the more precise dust concentration than when the output of the transmission device 2 is lowered, and when the temperature decreases, the movement becomes dull. You can check the dust concentration more precisely than when the output of 2) is increased.

Accordingly, the present invention allows the concave lens group 1 to flow to reflect the temperature change so that the dust concentration can be more accurately identified.

Looking at the actual operation, first, light of the transmitting element is outputted through the third concave lens 1c installed at the center of the concave lens group 1 basically.

And, when the ambient temperature rises, the shape memory spring expands so that the second concave lens 1b is located on the right side of the third concave lens 1c, and the second concave lens 1b has a lower depression angle than the third concave lens 1c. Accordingly, the light output of the transmission device 2 is lowered and output is performed. And, when the ambient temperature decreases, the shape memory spring 3 contracts and is located on the left side of the third concave lens 1c, and at the same time, the fourth concave lens 1d having a higher depression angle than the third concave lens 1c is transmitted. It comes to the position of the element 2, and accordingly, the light output of the transmission element 2 is increased to output.

As described above, according to the present invention, the shape memory spring 3 automatically expands and contracts in response to the ambient temperature, thereby promoting a change in the amount of light according to the movement of the dust, so that a more precise dust concentration can be identified, and a more accurate alarm output. This is done.

On the other hand, the present invention is configured so that the transmission control unit 8 forcibly moves the concave lens group 1 according to the dust concentration to determine the most accurate dust concentration. Even if there is no temperature change, the amount of light of the transmitting element is adjusted according to the dust concentration. It was adjusted so that the exact concentration of dust could be determined.

That is, the present invention drives the heating means 6 and the thermoelectric element 7 by recognizing the dust measurement controller C when the control signal is output to facilitate the change in the amount of light of the infrared transmitting means. Thus, the most appropriate infrared transmission was made.

First, the infrared light is basically output through the third concave lens 1c installed at the center of the concave lens group 1, and when the infrared light is to be output by a little reduction, the transmission control unit 8 is used as the heating means 6 ) To generate heat so that the shape memory spring expands, and the transmission element (2) is fixed accordingly, so the concave lens group (1) moves, but the second concave lens (1c) is installed on the right side of the third concave lens (1c). As the lens 1b moves to the position of the transmitting element 2, the output light of the transmitting element is output through the second concave lens.

And, when it is necessary to reduce the infrared light more and output it, the transmission control unit 8 activates the heating means 6 to generate more heat so that the shape memory spring 3 expands more, and accordingly, the concave lens group 1 ) Is moved, but the first concave lens 1a is heated to move to the position of the transmitting element 2, so that the light of the transmitting element 2 is output through the first concave lens 1a.

In addition, when the infrared light is to be increased and output is required, the transmission control unit 8 drives the thermoelectric element 7 to generate cooling heat so that the shape memory spring 3 contracts, and the concave lens group 1 moves accordingly. The fourth concave lens 1d, on which the left side of the 3 concave lens 1c is installed, is positioned on the transmission element, and accordingly, the light from the transmission element 2 is output through the fourth concave lens 1d.

In addition, when the infrared light is to be output higher, the transmission control unit 8 drives the thermoelectric element 7 to generate more cooling heat so that the shape memory spring 3 contracts more, and accordingly, the concave lens group 1 ) Is moved, but the fifth concave lens 1e is moved to the position of the transmitting element 2, and accordingly, the light of the transmitting element 2 outputs light through the fifth concave lens 1e.

In addition, the concave lens group is designed to vary the degree of output of infrared light according to the depression angle of the center, and the third concave lens 1c is basically installed at the center of the operating rod and has a depression angle of 25 degrees.

In addition, the second concave lens 1b is used when the infrared light is to be output by slightly reducing the infrared light, is installed on the right side of the third concave lens 1c, and has a depression angle of 15 degrees.

In addition, the first concave lens 1a is used when the infrared light is to be further reduced and output, and is installed on the right side of the second concave lens 1b, and has a depression angle of 5 degrees.

In addition, the fourth concave lens 1d is used when the infrared light is to be further increased to be output, is installed on the left side of the third concave lens 1c, and has a depression angle of 35 degrees.

In addition, the fifth concave lens 5e is used when it is necessary to increase the infrared light to be output, and is installed on the left side of the fourth concave lens 1d to form a depression angle of 45 degrees.

12 is a control block diagram for determining non-linearity in the cleaning robot according to an embodiment of the present invention.

In FIG. 12, the cleaning robot 1 according to an embodiment of the present invention includes an input unit 200 that receives a motion command from a user and a sensor unit that detects various information on a cleaning area in which the cleaning robot 1 travels. 210 and a control unit for determining a driving state of the cleaning robot 1 according to a motion command of the input unit 200 and sensor information of the sensor unit 210.

The input unit 200 receives a motion command or a cleaning command of the cleaning robot 1 from a user, and presses a plurality of buttons on the upper portion of the main body 10 or a remote control (not shown) to transmit the input information to the control unit 220. Include.

The sensor unit 210 includes first and second encoders 211-1 and 211-2 for estimating the amount of movement by calculating the amount of rotation of the driving motor 140 that rotates according to the user's motion command, and the cleaning robot 1 ) Includes a position sensor 212 that measures the distance actually moved.

The first and second encoders 211-1 and 211-2 are attached to the drive motors 140 of both drive units 100 installed on both sides of the central part of the main body 10 to respond to motion commands of the cleaning robot 1. This is to determine the amount of rotation generated by the cleaning robot and measure the amount of movement of the cleaning robot based on this, and can be replaced by using the amount of movement inverted from the motion command of the cleaning robot 1.

In addition, the encoder 211 is for generating a position change amount due to the intended movement of the cleaning robot 1, and calculates the intended movement of the cleaning robot 1. In this process, the distance change amount and the angle change amount of the cleaning robot 1 by the motion command of the cleaning robot 1 are subjected to low-pass filtering (hereinafter referred to as'LPF') to compensate for the system delay. , The distance change amount and the angle change amount obtained from the encoder 211 are subjected to LPF for noise removal. The value obtained from the encoder 211 information is given priority to the distance change amount and angle change amount of the cleaning robot 1 thus obtained, but the distance change amount and the angle change amount of the cleaning robot 1 obtained from the motion command are obtained from the encoder 211. If it varies greatly, the distance change amount and the angle change amount of the cleaning robot 1 obtained from the motion command are used, and the distance change amount and the angle change amount of the cleaning robot 1 to be generated from the upper motion command of the cleaning robot 1 are generated. Serve.

The reason for taking this method is that the amount of motion change intended by the upper motion command of the cleaning robot 1 is obtained from the encoder 211 information in order to obtain accurate information indicated by the actual motion, but the motion is restricted due to slipping, etc. It is to compensate for the value due to the intended movement by using the distance change amount and the angle change amount of the cleaning robot 1 calculated from the Edo motion command.

The position sensor 212 is for measuring the actual amount of movement of the cleaning robot 1, and the optical flow sensor can be used even when there is no light or when there is almost no feature point on the ceiling. The position change amount read from the optical flow sensor from the mounting position of the sensor is converted into the center coordinate of the cleaning robot 1 and used. This may include a case of using a location estimated from them when a localization technique that can know the absolute location or a Simultaneous Localization and Mapping (SLAM) technique is operated. This is to use the calculated value of the actual position of the cleaning robot 1 estimated from a technique capable of measuring the actual position of the cleaning robot 1. In the case of the obtained value, LPF is also applied to remove noise.

In addition, the position sensor 212 may be installed in any position where the actual amount of movement of the cleaning robot 1 can be measured, and one or more may be installed.

In addition, the control unit 220 determines the non-directivity of the cleaning robot 1 according to the motion command of the input unit 200 and the sensor information of the sensor unit 210, and compensates the non-linearity by using the third driving unit. .

To this end, the control unit 220 calculates the first distance calculation unit 221 that estimates the change amount L1 of the distance the cleaning robot 1 will move according to the motion command of the input unit 200 and the measured value of the encoder 211. The second distance calculation unit 222 that calculates the change amount L2 of the distance the cleaning robot 1 has moved, and the change amount of the distance the cleaning robot 1 has moved according to the sensor information of the position sensor 212 ( A third distance calculation unit 223 that calculates L3) and an angle calculation unit 225 that calculates a change amount G2 of the angle at which the cleaning robot 1 has moved according to information from the position sensor.

The cleaning unit 230 drives the brush to perform a cleaning operation by wiping foreign substances such as dust from the floor of the cleaning area in which the cleaning robot 1 travels according to a driving command of the control unit 220.

The storage unit 240 stores a driving pattern and a travel path set in advance according to a cleaning command of the cleaning robot 1, and sensor information detected during a driving process of the cleaning robot 1.

In addition, the storage unit 240 may store map information of the cleaning area.

Hereinafter, an operation process and effects of a cleaning robot and a control method thereof according to an embodiment of the present invention will be described with reference to FIG. 13.

Looking at the driving control method of the robot of the present invention, when a user inputs a motion command of the cleaning robot 1 through the input unit 200 (300), the control unit 220 receives the motion command input through the input unit 200. Upon receiving, the amount of change L1 of the distance the cleaning robot 1 will move is estimated through the first distance calculation unit 221.

In addition, the controller 220 rotates the drive motors 140 installed on both sides of the main body 10 according to a motion command so that the cleaning robot 1 rotates in the forward or backward direction (forward or reverse) of the cleaning robot. It allows you to drive on the floor while moving in the set driving pattern.

In this way, the movement amount (moving distance and movement angle of the driving motor) of the driving motor 140 rotating according to the motion command is measured by the encoder 211 and transmitted to the controller 220.

At this time, the distance actually moved by the cleaning robot 1 is measured by the position sensor 212 and transmitted to the control unit 220.

Accordingly, the control unit 220 calculates the change amount L2 of the distance the cleaning robot 1 has moved according to the measured value of the encoder 211 through the second distance calculation unit 222 (310), and the position sensor ( According to the sensor information of 212), the amount of change L3 in the distance the cleaning robot 1 has moved is calculated through the third distance calculating unit 223.

In addition, a comparative analysis of the distance change amount L3 calculated through sensor information of the position sensor 212, the distance change amount L2 calculated according to the measured value of the encoder 211, and the distance change amount L1 estimated according to the motion command. Then, the control unit 220 calculates the change amount G1 of the angle at which the cleaning robot 1 has moved according to the measured value of the encoder 211 through the angle calculation unit 224 so that the cleaning robot performs a non-linear motion. Find out if you are doing it.

As a result of the determination, if the non-linear movement is being performed, the third driving unit is driven in a clockwise or counterclockwise direction to assist the movement to maintain the linear movement.

On the other hand, the present invention is to increase the cleaning efficiency by providing the ion water supply means (2100) in the water tank 101 to supply the ionized water.

That is, ion water is known to have excellent decomposition power of harmful substances, and the present invention maximizes the cleaning efficiency of the floor by using such ionized water as washing water.

The ion water supply means is provided with the following technical configuration in order to increase the ion energy of water.

That is, the present invention is provided in the pipe 2101, and when the power receiving valve is opened, the moving magnet 2110 moves by water pressure to selectively switch the reed switch 2150 to generate an electromagnetic field, and supply ionized water having a power switching circuit. Means 2100 are provided.

In addition, the present invention is provided with a bobbin 2120 through which water passes through the pipe 2101 and the coil 2130 is wound.

In addition, the present invention is wound on the outer circumferential surface of the bobbin 2120, generates magnetic flux when current is passed, and a coil 2130 for promoting electromagnetic induction or an action of an electromagnetic force is provided.

In addition, the present invention is connected to the coil (Coil) (2130), and is provided with at least one diode (diode) 2170 for generating half-wave direct current while generating an electromagnetic field and induced electromotive force.

In addition, the present invention is connected to the coil (Coil) 2130, the water ion by a switching operation of the water pressure including a power supply 2160 that supplies AC (AC) electricity and a reed switch 2150 that opens and closes the electric circuit. It provides a device that increases energy.

In the above-described present invention, first, when a valve (not shown in the drawing) of a power receiving product is opened, the moving magnet 2110 provided in the pipe 2101 is moved forward by water pressure.

At this time, before the moving magnet 2110 moves forward, the reed switch 2150 does not operate because there is no action of the magnetic field.

That is, when the valve of the power receiving product is closed, the moving magnet 2110 is retracted by the repulsive force of the elastic ball 2115 and is moved away from the reed switch 2150, so that the reed switch 2150 has a joint portion open, so the coil 2130 The power 2160 applied to is cut off.

Then, when the moving magnet 2110 is moved forward by the hydraulic pressure as described above, the adjacent reed switches 2150 are operated by contacting each other by the magnetic field.

At this time, the water pressure moves the moving magnet 2110 forward and passes water through the hole or groove of the moving magnet 2110.

And by the movement of the moving magnet 2110, the elastic ball 2115 is compressed, and the moving magnet 2110 is moved between the front and rear locking jaws 2102 and 2103 respectively provided at the front and rear sides. Will move.

As described above, by the operation of the reed switch 2150, the power 2160 is applied to the coil 2130 to generate a half-wave magnetic field.

Further, the diode 2170 connected to the coil 2130 creates a half-wave DC current for generating an electromagnetic field and induced electromotive force.

Particularly, the moving magnet 2110 applied to the present invention may be divided into an outer shape so that water flows while maintaining pressure, and the number may be composed of two or more.

In addition, the protective shell of the moving magnet 2110 may be formed of synthetic resin to protect it from corrosion and external substances.

In addition, the present invention is provided with a power display lamp 2190 for checking the presence or absence of an abnormality in the coil 2130 generating half-wave DC and the connection of power.

In addition, in the present invention, the operation of the reed switch 2150 can be confirmed by connecting the operation indicator lamp 2195 to the coil 2130.

On the other hand, the present invention can be configured by further installing a partition in order to evenly mix the ionized water.

That is, in the present invention, a bobbin and a coil exist on the outside of the pipe to provide magnetic force to the water passing through the pipe to induce ion water to be formed. The closer the part to the coil, the more ion water exists, and the part far from the coil There is a problem that there is little ion water.

In other words, since the coil surrounds the pipe, there is a lot of ion water at the edge of the pipe close to the coil, but the central axis of the pipe has relatively little ion water.

In order to solve this problem, the present invention induces a partition to be installed inside the pipe so that water is evenly mixed and ion water is evenly distributed while passing through the partition.

In other words, a first partition 2141 opened with a hole formed at the edge and a second partition 2142 opened with a hole formed at the center are arranged in order to prevent water from passing through the pipe. 1 Pass through the edge hole of the partition 2141, and the water that has passed through the first partition 2141 passes through the central hole of the second partition 2142 again, so that the water existing at the edge of the pipe and the center of the pipe The water present on the shaft was made to mix wildly, and accordingly, the distribution of ionized water was kept evenly.

When the present invention as described above is used, since the ionized water is output in an evenly mixed state, the advantage of using an evenly distributed ionized water is provided.

In addition, the present invention can provide a partition having a different structure in order to evenly mix ion water, a third partition 2143 opened by forming a hole in the lower portion, and a fourth partition 2144 opened by forming a hole in the upper portion. ), and a plurality of the third partitions 2143 and the fourth partitions 2144 are sequentially arranged and configured.

Accordingly, when water passes through the third partition 2143, water passes through the hole formed at the bottom, and the water that has passed through the third partition 2143 passes through the upper hole of the fourth partition 2144.

At this time, a coil is wound on the outside of the pipe to provide magnetic force, and ion water is generated inside the pipe by the magnetic force provided from the coil, and the generated ion water is output in a state where the water passing through the partition is evenly mixed and the ionized water is evenly mixed. do.

Thus, the user can use water evenly mixed with ionized water.

On the other hand, the present invention further adds a fragrance application means, so that when the device is moved, the fragrance is emitted to the cleaning space so that a subtle fragrance is maintained.

The fragrance chemical application device 1100 includes a housing 1110, a battery 1120, a rotation motor 1130, an up and down drive cylinder 1140, an elastic spring 1150 for lifting and lowering support, and a fragrance drug applicator. It consists of (1160), a chemical liquid storage means (1170), and an applicator temporary fixing means (1180).

The housing 1110 has a space therein, and is formed by embedding various devices. That is, the housing is configured by bonding two cases with one side open to each other, and various devices are installed in a space portion generated in the process of bonding the cases. Such a housing is generally of a structure similar to the means having a space therein.

The battery 1120 is installed inside the housing 1110 and serves to supply electricity to the device after charging electricity by receiving power from the outside. That is, the battery is installed on the upper part of the housing and is electrically connected to an external power supply to receive electricity, and temporarily stores the supplied power to supply electricity to various devices that require power.

The rotary motor 1130 is electrically connected to a battery and receives power from the battery and converts it into a mechanical rotational motion to freely rotate the motor shaft. At this time, the motor shaft 1131 has a shape in which a bottom surface is formed in a waveform shape in a vertical direction so that a curved waveform shape continuously rotates. That is, the rotary motor rotates by receiving power from a battery, and the bottom surface of the motor shaft is formed in a curved waveform to rotate.

The vertical drive cylinder 1140 is mechanically connected to the rotary motor, but is moved while moving up and down by converting the rotation of the rotary motor into a reciprocating vertical motion. At this time, the rotation shaft 1141 of the vertical drive cylinder 1140 has an upper surface in a shape of a waveform in a vertical direction, and moves up and down while repeating mutual coupling and separation with the waveform of the motor shaft of the rotary motor. In other words, the vertical driving cylinder is formed in the form of a curved waveform in the same way as the motor shaft of the rotating motor so that the vertical movement is performed according to the rotation of the rotating motor, and the vertical driving cylinder moves up and down when the rotating motor rotates Will do.

The lifting and lowering support elastic spring 1150 is installed on the outer periphery of the vertical driving cylinder 1140, but one side is fixed to the locking jaw inside the housing 1110 and the other side is fixed to the locking jaw of the vertical driving cylinder 1140 The vertical driving cylinder 1140 is elastically supported so that the vertical driving cylinder 1140 can maintain the lifting operation. That is, since the elastic spring 1150 for elevating and descending supports the elasticity of continuously pushing the vertical drive cylinder 1140 upward, the waveform of the motor shaft 1131 of the rotary motor and the The vertical drive cylinder descends as the waveforms of the rotation shaft 1141 of the vertical drive cylinder 1140 are staggered, and after the staggering is over, the vertical drive cylinder 1140 rises by the elastic spring 1150 for lifting and lowering support. The waveform of 1141 and the waveform of the motor shaft 1131 of the rotary motor 1130 are in close contact. Accordingly, the vertical driving cylinder 1140 is repeatedly close to and spaced apart from the rotary motor 1130, so that the vertical driving cylinder 1140 continuously moves vertically around the rotary motor 1130.

The scent drug applicator 1160 has a body cylinder shape and has a plurality of scent drug passage holes 1161 installed on the bottom surface, is inserted and coupled to the inside of the up and down driving cylinder 1140, and supplies a scent drug Plays a role. That is, the scent drug applicator 1160 allows the scent drug stored therein to be discharged to the outside through the scent drug passage hole 1161, in which case the scent drug applicator 1160 is installed inside the vertical driving cylinder Therefore, when the vertical driving cylinder 1140 is operated up and down, the fragrance drug applicator 1160 is hit to output the drug to the outside according to the law of inertia.

The scent drug storage means 1170 is a state in which the scent drug is housed therein, and is inserted and installed in the scent drug applicator 1160 to be output through the scent drug passage hole 1161 of the scent drug applicator 1160. . That is, the fragrance chemical storage means 1170 is in a state in which the drug is stored, and the lower part is coupled to the fragrance drug applicator 1160 in an open form, and the fragrance of the fragrance chemical storage means when the vertical drive cylinder 1140 is driven. The drug is output to the outside. In fact, since the scent drug passage hole 1161 is formed finely, it is not easily discharged to the outside when the upper and lower driving cylinders 1140 are not operated.

The scent drug applicator temporary fixing means 1180 has one side coupled to the scent drug applicator 1160 and the other side coupled to one end of the housing 1110, and a vertical driving cylinder 1140 based on the housing 1110 and The scent drug applicator 1160 is temporarily fixed at the same time to prevent the up and down driving cylinder 1140 and the scent drug applicator 1160 from falling down due to gravity while the scent drug applicator 1160 flows up and down. And, when replacing the fragrance drug applicator 1160, by pressing a button to release the fixing of the fragrance drug applicator based on the housing so that the fragrance drug applicator is separated from the vertical driving cylinder and removed to the bottom. That is, the scent drug applicator temporary fixing means prevents the scent drug applicator from being removed during operation by temporarily fixing the up and down driving cylinders and the scent drug applicator, and after all the drugs present in the scent drug applicator are used, the button After releasing the fragrance drug applicator by pressing, the fragrance chemical storage means is induced to re-store.

The temporary fixing means 1180 includes a hook for locking 1181, a connecting piece 1182, a hinge for rotation support 1183, a spring for support 1184, a sliding piece 1185, and a push button 1186).

The hook for hook 1181 is formed in a wedge shape with a sharp end and is forcibly fitted through the coupling hole 1140a of the vertical drive cylinder 1140 and the coupling hole 1160a of the drug applicator 1160 to apply fragrance drugs. The machine 1160 maintains a state coupled to the inner periphery of the vertical drive cylinder 1140.

The connecting piece 1182 is integrally connected to the locking hook 1181 in a diagonal direction, and induces the locking hook 1181 to move in a clockwise or counterclockwise direction by a rotational motion.

The rotation support hinge 1183 is installed between the connecting piece 1182 and the hook 1181 for locking, and serves as a central axis through which the connecting piece is rotated.

The support spring 1184 is installed between the connecting piece 1182 and the vertical driving cylinder 1140 to push the connecting piece outward so that the locking hook 1181 flows counterclockwise so that the drug applicator is coupled to the vertical driving cylinder. It functions to maintain the state, and when the connecting piece is pressed by an external force and compressed in the vertical driving cylinder direction, the hook for locking (1181) is separated from the vertical driving cylinder (1140) and the scent drug applicator (1160). Induces the applicator 1160 to be removed from the vertical drive cylinder 1140.

The sliding flow piece 1185 is installed at the end of the connecting piece 1182 and moves simultaneously when the hook for locking 1181 and the connecting piece 1182 move up and down according to the up and down flow of the up and down driving cylinder 1140.

The push button (1186) is slidingly coupled with the sliding flow piece (1185) to support the vertical movement of the sliding flow piece (1185), and when replacing the fragrance drug applicator (1160) in the vertical drive cylinder (1140) direction By pushing and pressing the connecting piece 1182, the connecting piece 1182 rotates around the hinge pin 1183 for rotation support, so that the hook for locking 1181 is moved up and down from the cylinder 1140 and the fragrance drug applicator 1160. As it is separated, it serves to induce the fragrance drug applicator 1160 to be removed from the vertical driving cylinder 1140.

100: robot vacuum cleaner 10: main body
20 bumper 110 first rotating member
120: second rotation member 130: sensing unit
140: communication unit 150: driving unit
160: storage unit 170: control unit
180: input unit 185: output unit
190: power supply

Claims (13)

delete delete delete delete delete When the robot cleaner is driven, power is supplied to the first rotation member, the second rotation member, and the third rotation member to prepare the cleaner body to move forward or backward or at a predetermined angle;
Cleaning the cleaner body while moving forward or backward or at a predetermined angle according to the operation of the first and second rotation members;
Checking whether the cleaner body moves while oscillating non-linearly when the cleaner body moves according to the operation of the first and second rotary members;
If non-linearity is confirmed in the step, driving the third rotating member to correct the direction of the cleaner body to maintain the straightness of the cleaner body;
And outputting an alarm sound if the dust exceeds the standard;

Main body;
A driving unit provided in the main body and supplying power for driving the robot cleaner;
The first, second, and third rotational movements are rotated around the first, second, and third rotational axes by the power of the driving unit to provide a moving force source for driving the robot cleaner, and the cleaners for wet cleaning can be fixed respectively. 2, a third rotation member;
A first driving step of determining a cleaning driving pattern of the robot cleaner, rotating in a first lateral direction and driving forward according to the determined cleaning driving pattern, and rotating in a second lateral direction opposite to the first side and driving forward A control unit for controlling rotation of the first, second, and third rotating members to travel while sequentially repeating the second driving step;
An alarm signal output unit installed at one end of the main body to output an alarm sound when the dust exceeds the standard;
An input unit for inputting a motion command of the robot cleaner;
A position sensor that measures a position of the robot cleaner that moves according to the input motion command;
A first encoder installed on the first rotating member to measure a movement amount of the first driving unit generated by a motion command of the robot cleaner;
A second encoder installed on the second rotating member to measure a movement amount of the second driving unit generated by a motion command of the robot cleaner;

The control unit,
Calculate the angle at which the robot cleaner moves according to the measured values of the first and second encoders, measure the angle at which the robot cleaner moves according to sensor information of the position sensor, and measure the calculated angle of the robot cleaner And a non-linearity of the movement of the robot cleaner by using the measured angle difference between the robot cleaner and the robot cleaner. delete delete delete The method of claim 6,
The control unit,
Calculate the first and second encoder changes (A1t1, A2t1) that the cleaning robot moved during the first time (t1) according to the measured values of the first and second encoders, and according to the sensor information of the position sensor, the Calculate the change amount (B) of the position value that the cleaning robot moved, and use the calculated first and second encoder change amount (A1t1, A2t1) and the calculated change amount (B) of the position value to determine the movement of the cleaning robot. Robot cleaner control method, characterized in that to determine the non-linearity. delete delete delete

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