KR101193685B1 - Automatic cleaning system and method for controlling automatic cleaning system - Google Patents

Abstract

The present invention relates to an automatic cleaning system and a control method, and more particularly, to a control method of an automatic cleaning system and an automatic cleaning system for performing a cleaning operation while the robot cleaner moves along an induction signal for inducing movement. According to the present invention, since the robot cleaner performs the cleaning operation while moving along the infrared induction signal which is sequentially transmitted while forming a radiation shape by the induction signal transmitter, the cleaning space is uniformly cleaned without being duplicated or excluded. .

Description

AUTOMATIC CLEANING SYSTEM AND METHOD FOR CONTROLLING AUTOMATIC CLEANING SYSTEM}

The present invention relates to an automatic cleaning system and a control method, and more particularly, to a control method of an automatic cleaning system and an automatic cleaning system for performing a cleaning operation while the robot cleaner moves along an induction signal for inducing movement.

In general, when cleaning a home or office, the user directly cleans using a vacuum cleaner or a steam cleaner. Recently, robot cleaners have been developed and used to save the user's time and hassle of cleaning.

In general, the robot cleaner is an automatic device that suctions and cleans foreign substances such as dust from the floor while autonomously driving a certain cleaning area such as a house or an office without a user's manipulation. In addition to the general vacuum cleaner, the robot cleaner includes a traveling device for driving the robot cleaner, a plurality of sensors for driving without colliding with various obstacles in the cleaning area, and a microprocessor for controlling the entire device. It is.

The robot cleaner drives the wheels in accordance with a predetermined program in a random manner to drive the work area, and performs cleaning while avoiding obstacles with a plurality of sensors. However, because the robot cleaner moves in a random manner by reciprocating each wall of the cleaning area, the robot cleaner does not have straightness during long distances, so the cleaning area cannot be cleaned evenly and repeatedly cleaned only in one area. There is a problem that does not work correctly. Moreover, such a robot cleaner does not require much cleaning, but will spend more time in a complicated area, so if the power of the charger is reduced, the cleaning may not be performed where the cleaning is necessary. There is a problem.

Recently, the robot cleaner generates a map information while moving the cleaning space and performs a cleaning operation according to the generated map information. An image image analysis method for obtaining an image and performing a cleaning operation without overlapping or excluded areas according to the obtained image has been developed and applied.

The mapping method, the robot cleaner first runs along the outside of the cleaning space, while running while judging whether there are walls and obstacles, and calculating the current position by calculating the number of revolutions and the rotation angle of the wheel map of the cleaning path Generate information. The robot cleaner performs cleaning while moving according to the generated map information, that is, the wheel rotation speed and the rotation angle of the cleaning path. However, in the above mapping method, the actual driving distance and position and errors occur due to the slipping of the wheel, the idling, and the bending of the floor while the robot cleaner is running. Such errors accumulate and increase as the robot cleaner runs. Since the robot cleaner deviates from the planned cleaning path due to the increased error, there is a limitation in uniformly cleaning the cleaning space.

In the image image analysis method, in order to overcome the same error as in the mapping method and detect the exact position of the robot cleaner, a sticker or a reflector having the same shape is attached to the cleaning space at regular intervals with a beacon, and is provided with the robot cleaner. The camera recognizes the beacons and compensates for errors caused by wheel slippage or idling.In this method, if the camera recognizes a sticker or reflector shaped like a beacon, the error becomes larger, If the brightness is lowered or increased, the camera does not recognize the beacon itself, and thus there is a problem that the position error of the robot cleaner cannot be corrected.

On the other hand, in the image image analysis method, the camera unit provided in the robot cleaner acquires the ceiling image of the cleaning zone, set the cleaning path and zone, and performs the cleaning operation along the cleaning path set by the robot cleaner, There is a way to overcome the error of the magnetic position by comparing the ceiling image of the current position. However, the method of recognizing an image as described above has a high computational burden on image recognition processing, a high possibility that an error may occur due to a change in the surrounding environment such as a change in lighting, and a complicated configuration, which is expensive. There are disadvantages. In addition, there is a problem that it is difficult to commercialize since the precision of the image recognition processing technology is not high.

The present invention was created to solve the problems of the prior art, to provide an automatic cleaning system that does not overlap or exclude the cleaning area by performing a cleaning operation while moving in a radial manner sequentially from one side of the cleaning space. For that purpose.

It is also an object of the present invention to provide an automatic cleaning system in which the robot cleaner is cleaned accurately and uniformly without any additional position correction.

In addition, the object of the present invention is to provide an automatic cleaning system that can check the end point of the cleaning area while the robot cleaner moves.

It is also an object of the present invention to provide an automatic cleaning system in which the cleaning zone is divided according to the area of the cleaning zone and a uniform cleaning zone is set.

Another object of the present invention is to provide an automatic cleaning system that can charge a robot cleaner by docking it.

In addition, another object of the present invention is to provide a method of controlling the automatic cleaning system, that is, a method of controlling the automatic cleaning system in which the cleaning zone divided by dividing the cleaning zone is sequentially cleaned from one side by the robot cleaner.

Automatic cleaning system according to the present invention for achieving the above object, receiving the infrared induction signal to perform the cleaning operation while moving along the received infrared induction signal, and transmits the response signal according to the reception of the infrared induction signal At least one robot cleaner; And at least one guide signal transmitter configured to sequentially transmit an infrared guide signal for inducing movement of the robot cleaner according to a set angle, wherein the robot cleaner is transmitted from the guide signal transmitter. A light receiving unit receiving an infrared signal; A driving unit moving along the infrared induction signal; A collecting unit for collecting and collecting foreign substances while moving by the driving unit; And a cleaning control unit for driving the driving unit and the collecting unit, wherein the cleaning control unit comprises: a response signal unit which transmits a response signal according to an infrared signal induced by the light receiving unit to the guidance signal transmitter; And a storage unit for storing the angle of the infrared induction signal received by the light receiving unit and driving the driving unit at the stored angle.

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The robot cleaner further includes an end point confirming unit for confirming whether the end point is reached while moving by the driving unit, and sending a confirmation signal to the cleaning control unit, wherein the end point confirming unit is provided on an outer circumferential surface of the robot cleaner and is an end point. At least one contact switch for applying an end point reaching signal to the cleaning control unit while being switched in contact with the structure of the;

The guide signal transmitter may include, for example, a light emitting unit for transmitting an infrared guide signal; A rotating part rotating the light emitting part; And an outgoing control unit which equally divides the cleaning area according to the area of the cleaning area, sequentially rotates the rotating part at a divided angle, controls the operation of the light emitting part, and receives a response signal sent from the robot cleaner. .

The rotating unit may include a drum to which the light emitting unit is coupled; And a stepping motor for rotating the drum.

And, the guidance signal transmitter, the station the robot cleaner docked; And a charging unit provided at the station to charge power of the robot cleaner.

On the other hand, the control method of the automatic cleaning system according to the present invention includes a light receiving unit for receiving an infrared induction signal, a driving unit moving along the infrared induction signal received by the light receiving unit, and moving by the driving unit to suck and collect foreign substances A collecting unit is provided, a cleaning control unit which drives the driving unit and the collecting unit and transmits a response signal according to the infrared induction signal received by the light receiving unit, and confirms whether the end point is reached while moving by the driving unit, and sends a confirmation signal to the cleaning control unit. Robot cleaner which is provided with an endpoint check unit for transmitting; And a light emitting unit for transmitting an infrared signal to the robot cleaner, a rotating unit for rotating the light emitting unit, and equally dividing the cleaning area according to the area of the cleaning area to sequentially rotate the rotating unit at a divided angle and to operate the light emitting unit. In the control method of the automatic cleaning system comprising a; and a transmission control unit for controlling the induction signal transmitting unit is provided with a station for docking the robot cleaner, the charging unit is provided in the station for charging the power of the robot cleaner. A system initialization step of initializing contents of the robot cleaner and the guidance signal transmitter by applying power to the robot cleaner and the guidance signal transmitter; A setting step of setting the cleaning zone by dividing the cleaning zone according to the area of the cleaning zone by the transmission control unit; A docking checking step of checking whether the robot cleaner is docked to the station; An induction signal transmission step of transmitting an infrared induction signal for inducing the movement of the robot cleaner to a first area that is an initial setting area among the setting areas set in the setting step; Operating the robot cleaner by applying an operation signal to the robot cleaner; A cleaning step of performing a cleaning operation while the robot cleaner moves along the infrared signal by the driving unit and the collecting unit; An end point confirming step of confirming an end point of the cleaning area by the end point confirming unit while the robot cleaner performs a cleaning operation; A return cleaning step of cleaning the side of the infrared induction signal while the robot cleaner returns to the station along the side of the infrared induction signal when it is confirmed as the end point in the end point checking step; An induction signal resending step of transmitting the infrared induction signal to the next zone by rotating the light emitting unit by the transmission control unit when the return of the robot cleaner is completed; A cleaning repeating step of cleaning up to the last section of the cleaning zone while repeating the cleaning operation and the return cleaning operation according to the infrared guide signal re-sent the robot cleaner; A cleaning completion checking step of checking whether the cleaning is completed by checking whether the robot cleaner has cleaned the last section of the cleaning area set equally; A charging step of recharging the robot cleaner to the station when cleaning is confirmed; And terminating the cleaning by turning off the power of the robot cleaner and the guidance signal transmitter when the charging is performed.

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The cleaning step may include, for example, an acknowledgment step of moving while checking that the robot cleaner receives the infrared guidance signal; A response signal transmission step of transmitting a response signal to the guidance signal transmitter in response to the reception of the infrared guidance signal in the acknowledgment step; An angle storing step of storing, by the cleaning control unit, an angle of the infrared induction signal confirmed in the acknowledgment step; And a storage angle moving step in which the driving unit moves only at an angle stored in the angle storing step.

On the other hand, the present invention, the time setting step of setting the cleaning time of each of the divided cleaning zones after the transmission control unit divided the cleaning zones; And a time checking step of checking the setting time of the time setting step and performing the return cleaning step by determining that the endpoint is confirmed when the setting time is completed.

According to the automatic cleaning system according to the present invention, since the robot cleaner performs the cleaning operation while moving along the infrared induction signal sequentially transmitted while forming a radial shape by the induction signal transmitter, the cleaning space is not duplicated or excluded, and uniformly. It is cleaned.

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In addition, since the robot cleaner moves or returns along only the infrared signal, unnecessary cleaning time is reduced, and further, battery power of the robot cleaner is saved.

In addition, since the robot cleaner does not need to correct a separate position error, the robot cleaner has an advantage of simple construction and reduced manufacturing cost.

In addition, the induction signal transmitter divides the cleaning area according to the area of the cleaning area and sequentially transmits the infrared induction signal, thereby effectively responding to various cleaning areas.

In addition, according to the control method of the automatic cleaning system according to the present invention, since the robot cleaner performs cleaning while moving along the side of the infrared ray guide signal transmitted after reaching the end point, the cleaning area is not duplicated or excluded. There is.

In addition, since the robot cleaner is charged by docking the station after the cleaning operation, there is an effect that it is easy to manage and can be used immediately when desired.

In addition, since the robot cleaner returns to the station and cleans when the set time set in the divided cleaning zone elapses, the robot cleaner has an effect of preventing an error that the robot cleaner moves over a predetermined time in the unit zone.

1 is a perspective view showing an automatic cleaning system according to an embodiment of the present invention.
Figure 2 is a block diagram showing the internal configuration of the automatic cleaning system according to an embodiment of the present invention.
Figure 3 is a schematic diagram showing the operating state of the automatic cleaning system according to an embodiment of the present invention.
4 is a flowchart illustrating a control method of an automatic cleaning system according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known general functions or configurations will be omitted.

1 is a perspective view showing an automatic cleaning system according to an embodiment of the present invention, Figure 2 is a block diagram showing the internal configuration of the automatic cleaning system according to an embodiment of the present invention.

Referring to Figure 1, the automatic cleaning system of the present invention includes a robot cleaner 10 for performing a cleaning operation of the set area and the guidance signal transmitter 20 for inducing the movement of the robot cleaner 10.

The robot cleaner 10 is a member that receives the infrared induction signal 30 and performs cleaning while moving along the received infrared induction signal 30. The robot cleaner 10 is formed of a circular enclosure in order to fluidly cope with obstacles such as walls or furniture while the body 10a performs the cleaning operation. Body 10a is provided with a light receiving portion 11 for receiving the infrared induction signal 30 in front.

The body 10a is provided with a driving unit (not shown) at the bottom thereof. The driving unit will be described later.

On the other hand, the body (10a) is provided with an endpoint confirmation unit 15 for detecting a structure such as a wall on the outside. The endpoint checking unit 15 is installed on the outer circumferential surface of the body 10a so as to check whether the robot cleaner 10 moving in various directions has reached the end point of the cleaning area such as a wall. Here, the end point confirming unit 15 may be configured as a contact switch to be applied to the cleaning control unit to be described later to the end point reaching signal while switching in contact with the structure of the end point, by sending an ultrasonic wave in the moving direction of the robot cleaner 10 end point It can be composed of an ultrasonic sensor to determine the endpoint through the distance determination of the structure.

The guide signal transmitter 20 is a member that sequentially transmits the infrared guide signal 30 to guide the movement of the above-described robot cleaner 10 in a radial form. The guide signal transmitter 20 includes a station 21 to which the robot cleaner 10 docks, a light emitting unit 22 for transmitting an infrared guide signal, a rotating unit 23 for rotating the light emitting unit 22, and a robot cleaner 10. A charging unit 24 for charging the power of a) and a transmission control unit to be described later.

 Station 21 has an access road 21a is formed so that the robot cleaner 10 can be moved and docked, and the power supply means to which external power is supplied is built.

The light emitting unit 22 transmits an infrared ray induction signal 30 to guide the movement of the robot cleaner 10. The light emitting unit 22 is provided with an infrared light emitting diode for transmitting the infrared induction signal 30 and is coupled to the rotating unit 23 and rotated.

The rotating unit 23 includes a drum 23a to which the light emitting unit 22 is coupled, and a stepping motor 23b to rotate the drum 23a. Here, the rotating unit 23 is preferably installed on one side of the station 21, in some cases may be separated from the station 21, but when separated from the station 21 is provided with a separate power source or station It is connected to the power supply means of (21).

The drum 23a is coupled to the rotating shaft 23c of the stepping motor 23b. The drum 23a is preferably formed in a circular columnar shape because the above-described light emitting part 22 is coupled and rotated.

The stepping motor 23b operates under the control of the transmission control unit described later to rotate the drum 23a to rotate the above-described light emitting unit 22. Here, the stepping motor 23b is manufactured to rotate at a predetermined angle by an electric pulse signal. For example, when the stepping motor 23b rotates by 5 degrees per pulse input, the stepping motor 23b may rotate 180 degrees with 30 pulses.

The charging unit 24 is provided on one side of the station 21 to supply power to the robot cleaner 10 and is connected to a power supply means built in the station 21. Here, the robot cleaner 10 is provided with a charging terminal (not shown) that is docked to the station 21 and contacts the charging unit 24.

Referring to FIG. 2, the robot cleaner 10 is moved by a light receiving unit 11 for receiving an infrared guidance signal 30 therein, a driver 12 for moving the robot cleaner 10, and a driver 12. And a collecting unit 13, a cleaning control unit 14, and an endpoint checking unit 15 for suctioning foreign substances.

The light receiving unit 11 receives the infrared guide signal 30 transmitted from the light emitting unit 22 of the guide signal transmitter 20 and transmits a signal according to the cleaning control unit 14.

The driving unit 12 is operated by the cleaning control unit 14 to move the robot cleaner 10. Here, the drive unit 12 includes a drive motor, a left wheel and a right wheel. The driving unit 12 moves the robot cleaner 10 by rotating the left and right wheels in a forward or reverse direction by a driving motor, and changes the directions of the robot cleaner 10 by varying the rotational speed of the left and right wheels.

The collecting unit 13 is operated by the cleaning control unit 14 to suck and remove dust or foreign substances in the cleaning area, a suction motor for sucking foreign substances, a suction brush for collecting foreign substances, and a suction port for sucking and inducing foreign substances. And a dust collection pack for collecting foreign substances such as dust transferred from the suction pipe and the suction pipe.

The cleaning control unit 14 is formed of a microprocessor and a memory to store an operation program and data for driving the robot cleaner 10, and apply driving of the driving unit 12 and the collecting unit 13. Here, the cleaning control unit 14 stores the response signal unit for transmitting the response signal according to the infrared signal 30 received by the light receiving unit 11 to the guidance signal transmitter 20 and storing the angle of the received infrared signal. Wealth is prepared. In addition, the cleaning control unit 14 receives the end point arrival signal from the end point confirmation unit 15.

The induced signal transmitting unit 20 includes a light emitting unit 22, a rotating unit 23, and a transmission control unit 25 therein.

The transmission control unit 25 is formed of a microprocessor and a memory and rotates the rotating unit 23 in a radial shape in sequence, and allows the light emitting unit 22 to transmit the infrared induction signal 30. Also, the response signal sent from the cleaning control unit 14 is received. Here, the outgoing control unit 25 evenly divides the cleaning area by equally rotating the rotating unit 23, and divides it according to the area of the cleaning area. That is, if the area of the cleaning area exceeds a certain range, the number of divided areas is divided into a plurality.

Figure 3 is a schematic diagram showing the operating state of the automatic cleaning system according to an embodiment of the present invention. Referring to FIG. 3, the guidance signal transmitter 20 divides the cleaning area evenly and sequentially transmits the infrared guidance signal 30. In the illustrated example, the guidance signal transmitter 20 divides the cleaning zone into six zones and sequentially transmits the infrared guidance signal 30 of seven steps from one side of the cleaning zone in a radial form.

The robot cleaner 10 receives the infrared induction signal 30 from which the light receiver 11 is transmitted and moves by the driver 12 along the infrared induction signal 30, and the collecting unit 13 is driven to dust or foreign matter. Suction back and perform cleaning.

Here, the robot cleaner 10 may be provided in plurality in some cases, and a plurality of guide signal transmitters 20 or a plurality of light emitters 22 corresponding to the robot cleaners 10 may be provided. have. At this time, the robot cleaner 10 corresponding to each of the guide signal transmitter 20 or the light emitter 22 moves while performing the cleaning operation.

The control method of the automatic cleaning system of the present invention will be described. 4 is a flowchart illustrating a control method of an automatic cleaning system according to an embodiment of the present invention.

Referring to FIG. 4, first, an automatic cleaning system is initialized (S10). At this time, power is supplied to the robot cleaner 10 and the guidance signal transmitter 20, and the previous cleaning area, cleaning time, storage angle, etc. stored in the robot cleaner 10 and the guidance signal transmitter 20 are deleted and initialized. do.

When the automatic cleaning system is initialized, the outgoing control unit 25 of the guidance signal transmitter 20 equally divides and sets the new cleaning zone (S20). At this time, the transmission controller 25 places the light emitter 22 at the center of the station 21, and then the maximum rotation angle (180 °) of the stepping motor 23b and one rotation angle of the stepping motor 23b ( As shown in FIG. 3, the cleaning zone is divided (S20).

Here, the transmission control unit 25 may set the overall cleaning time, it may be set the cleaning time of any one of the cleaning zone.

When the setting is completed, the transmission controller 25 checks whether the robot cleaner 10 is docked to the station 21 of the guidance signal transmitter 20 (S30).

When the docking of the robot cleaner 10 is confirmed, the light emitter 22 transmits an infrared ray induction signal 30 (S40). At this time, the rotating unit 23 rotates the light emitting unit 22 to the first zone (see FIG. 3), which is the first setting zone among the divided setting zones, and the light emitting unit 22 moves the infrared ray induction signal 30 to the first zone. To send.

When the infrared induction signal 30 is transmitted, the transmission control unit 25 applies an operation signal to the robot cleaner 10. Here, the cleaning control unit 14 of the robot cleaner 10 checks the infrared ray induction signal 30 received by the light receiving unit 11 and sends a response signal to the transmission control unit 25 and transmits an operation signal from the transmission control unit 25. It is authorized (S50).

When the operation signal is applied, the robot cleaner 10 performs the cleaning operation while moving along the infrared induction signal 30 (S60). At this time, the robot cleaner 10 moves as the driving unit 12 is driven, and suctions and removes dust or foreign matter as the collecting unit 13 is driven.

Here, the cleaning control unit 14 of the robot cleaner 10 periodically checks that the infrared induction signal 30 transmitted from the light emitting unit 22 is received when moving, and the response signal according to the reception of the infrared induction signal 30. Transmits to the induced signal transmitter 20.

In addition, the cleaning controller 14 stores the angle of the infrared induction signal 30 transmitted from the light emitting unit 22, and moves the robot cleaner 10 only at the stored angle through the driving unit 12 of the robot cleaner. Therefore, even if the robot cleaner 10 meets an obstacle while moving, the robot cleaner 10 may return to its original position after the obstacle is avoided and continuously move along the infrared guidance signal 30.

On the other hand, the robot cleaner 10 checks whether the moving point while performing the cleaning operation is a structure such as a wall, that is, an end point of the cleaning area (S70). Here, the robot cleaner 10 checks the end point by the end point confirming unit 15, which is composed of a contact switch which is switched when the robot cleaner 10 comes into contact with a wall or the like and applies the end point reaching signal to the cleaning control unit 14.

When the end point of the cleaning zone is confirmed, the robot cleaner 10 returns to the station 21 and performs the cleaning operation (S80). Here, the robot cleaner 10 performs a cleaning operation while returning to the station 21 along the side of the infrared guidance signal 30 as shown in FIG. 3.

When the robot cleaner 10 returns to the station 21, the transmission control unit 25 checks whether the cleaning area in which the cleaning operation is performed is the last area of the entire cleaning area and confirms whether the cleaning is completed (S90).

If it is not the last zone, the rotating unit 23 rotates the light emitting unit 22 to the next zone, that is, the second zone under the control of the transmission control unit 25, and the light emitting unit 22 moves to the next zone. Redial) (S100).

The robot cleaner 10 cleans the next zone according to the infrared ray induction signal 30 to be re-sent, and then cleans up to the divided zone, that is, the last zone of the cleaning zone. That is, the robot cleaner 10 performs steps S40 to S90 repeatedly to clean the divided first zone to the last zone.

Here, the robot cleaner 10 checks the cleaning time of the divided setting zone set as the current cleaning zone if the end point is not the end point while performing the cleaning operation (S110). It may be configured to perform the cleaning operation (S80) while returning to (21). At this time, the set cleaning time is set in the transmission control unit 25 as described above.

On the other hand, the robot cleaner 10 performs the cleaning operation repeatedly according to the infrared induction signal 30 to be re-sent, and when the divided setting zone is confirmed the last zone of the entire cleaning zone, the robot cleaner 10 is connected to the charging unit 24 to perform charging (S120). do.

When charging is performed, the transmission control unit 25 turns off the power of the robot cleaner 10 and the guidance signal transmitter 20 to end.

As described above, the automatic cleaning system and the automatic cleaning system control method according to the present invention perform cleaning while moving the robot cleaner along the infrared induction signal sequentially transmitted while forming a radial shape by the induction signal transmitter, and cleaning. The cleaning space that is made is not even or duplicated and cleaned evenly.

While specific embodiments of the present invention have been described above by way of example, these are for illustrative purposes only and are not intended to limit the protection scope of the present invention. It will be apparent to those skilled in the art that various changes, substitutions, and alterations can be made therein without departing from the spirit of the invention.

10: robot cleaner 10a: housing 11: light receiving unit
12 drive unit 13 collecting unit 14 cleaning control unit
15: endpoint check unit 20: guide signal transmitter 21: station
22 light emitting part 23 rotating part 24 charging part
25: transmission control unit 30: infrared induction signal

Claims (11)

At least one robot cleaner that receives the infrared guidance signal and performs cleaning while moving along the received infrared guidance signal, and transmits a response signal according to the reception of the infrared guidance signal; And
And at least one guide signal transmitter configured to sequentially transmit an infrared guide signal for inducing movement of the robot cleaner according to a set angle.
The robot cleaner,
A light receiving unit receiving an infrared induction signal transmitted from the induction signal transmitter;
A driving unit moving along the infrared induction signal;
A collecting unit for collecting and collecting foreign substances while moving by the driving unit; And
And a cleaning control unit for driving the driving unit and the collecting unit.
The cleaning control unit,
A response signal unit for transmitting a response signal according to the infrared signal induced by the light receiver to the guidance signal transmitter; And
And a storage unit for storing the angle of the infrared guide signal received by the light receiving unit and driving the driving unit at the stored angle. delete delete According to claim 1, wherein the robot cleaner,
And an end point confirming unit for confirming whether the end point is reached while moving by the driving unit and sending a confirmation signal to the cleaning control unit. The method of claim 4, wherein the endpoint check unit,
And at least one contact switch provided on an outer circumferential surface of the robot cleaner and applying an end point arrival signal to the cleaning control unit while being switched in contact with a structure of an end point. The method of claim 1, wherein the induction signal transmitter,
Light emitting unit for transmitting an infrared guide signal;
A rotating part rotating the light emitting part; And
An outgoing control unit which equally divides the cleaning area according to the area of the cleaning area, sequentially rotates the rotating part at a divided angle, controls the operation of the light emitting part, and receives a response signal sent from the robot cleaner; Cleaning system. The method of claim 6, wherein the rotating unit,
A drum to which the light emitting unit is coupled; And
Stepping motor for rotating the drum; Automatic cleaning system comprising a. The method according to claim 6,
A station to which the robot cleaner is docked; And
And a charging unit provided at the station to charge power of the robot cleaner. A light receiving unit for receiving an infrared guidance signal, a driving unit moving along the infrared guidance signal received by the light receiving unit, and a collecting unit for collecting and collecting foreign substances while moving by the drive unit, driving the drive unit and the collecting unit and the light receiving unit A cleaning controller for transmitting a response signal according to the infrared induction signal received by the robot; and a robot cleaner for checking whether an end point is reached while moving by the driving unit, and sending an confirmation signal to the cleaning controller; And
The light emitting unit for transmitting an infrared signal to the robot cleaner, the rotating unit for rotating the light emitting unit, and the cleaning area is equally divided according to the area of the cleaning area to sequentially rotate the rotating unit at a divided angle and to operate the light emitting unit. In the control method of the automatic cleaning system, comprising; a transmission control unit for controlling, the induction signal transmitting unit is provided with a station for docking the robot cleaner, and a charging unit for charging the power of the robot cleaner provided in the station,
A system initialization step of initializing contents of the robot cleaner and the guidance signal transmitter by applying power to the robot cleaner and the guidance signal transmitter;
A setting step of setting the cleaning zone by dividing the cleaning zone according to the area of the cleaning zone by the transmission control unit;
A docking checking step of checking whether the robot cleaner is docked to the station;
An induction signal transmission step of transmitting an infrared induction signal for inducing the movement of the robot cleaner to a first area that is an initial setting area among the setting areas set in the setting step;
Operating the robot cleaner by applying an operation signal to the robot cleaner;
A cleaning step of performing a cleaning operation while the robot cleaner moves along the infrared signal by the driving unit and the collecting unit;
An end point confirming step of confirming an end point of the cleaning area by the end point confirming unit while the robot cleaner performs a cleaning operation;
A return cleaning step of cleaning the side of the infrared induction signal while the robot cleaner returns to the station along the side of the infrared induction signal when it is confirmed as the end point in the end point checking step;
An induction signal resending step of transmitting the infrared induction signal to the next zone by rotating the light emitting unit by the transmission control unit when the return of the robot cleaner is completed;
A cleaning repeating step of cleaning up to the last section of the cleaning zone while repeating the cleaning operation and the return cleaning operation according to the infrared guide signal re-sent the robot cleaner;
A cleaning completion checking step of checking whether the cleaning is completed by checking whether the robot cleaner has cleaned the last section of the cleaning area set equally;
A charging step of recharging the robot cleaner to the station when cleaning is confirmed; And
And a terminating step of terminating the cleaning by turning off the power of the robot cleaner and the guidance signal transmitter when the charging is performed. The method of claim 9, wherein the cleaning step,
An acknowledgment step of moving while checking that the robot cleaner receives the infrared guidance signal periodically;
A response signal transmission step of transmitting a response signal to the guidance signal transmitter in response to the reception of the infrared guidance signal in the acknowledgment step;
An angle storing step of storing, by the cleaning control unit, an angle of the infrared ray induction signal confirmed in the acknowledgment step; And
And a storage angle shifting step in which the driving unit moves only at the angle stored in the angle storing step. The method of claim 9,
A time setting step of setting the cleaning time of each equally divided cleaning area after the transmission control unit divides the cleaning area into equal parts; And
Checking the set time of the time setting step, and if the set time is completed, it is determined that the end point is confirmed, the time checking step of performing the return cleaning step; Control method of the automatic cleaning system further comprising.

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