KR100947364B1 - robotic vacuum - Google Patents

Abstract

This embodiment relates to a robot cleaner.

Robot cleaner according to an embodiment, the main body is provided with a drive motor for driving a wheel; A cleaning device coupled to the lower side of the main body so as to be movable, for cleaning a corner; A state detector which operates during the movement of the cleaning device and detects a state of a bottom surface; And a controller configured to drive the driving motor in response to the information detected by the state detector.

robotic vacuum

Description

Robot cleaner

This embodiment relates to a robot cleaner.

In general, a cleaner is a device that sucks air containing dust by using suction power generated by a suction motor mounted inside the main body, and then filters the dust inside the main body.

The cleaners are classified into manual cleaners which are directly operated by a user and robot cleaners which perform cleaning by themselves without the user's manipulation.

On the other hand, the robot cleaner performs cleaning by moving the bottom of the area to be cleaned according to the input program using the charged battery as a power source.

The robot cleaner determines the area to be cleaned by driving the outside of the cleaning area surrounded by a wall or an obstacle through a sensor installed in the main body, and plans a cleaning path for cleaning the determined cleaning area. Then, the wheel is driven to travel the planned cleaning path while calculating the mileage and the current position from the detected signal through the sensor for detecting the number of revolutions and the angle of rotation of the wheel.

Embodiments aim to propose a robot cleaner capable of smoothly cleaning corners.

Another object of the embodiment is to propose a robot cleaner that can detect obstacles and cliffs to easily avoid obstacles and cliffs.

Robot cleaner according to one aspect, the main body is provided with a drive motor for driving a wheel; A cleaning device connected to the main body; A first sensing switch provided in the main body and turned on by the cleaning device while the cleaning device is moved in one direction; A second sensing switch positioned apart from the first sensing switch and turned on by the cleaning apparatus while the cleaning apparatus is moved in another direction; And a controller configured to drive the driving motor in response to an on state of each of the sensing switches.

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According to the proposed embodiment, since the dust of the corner is moved to the center of the robot cleaner by the cleaning device coupled to the main body, there is an advantage that the corner cleaning can be made smoothly.

In addition, since the cleaning device can detect obstacles such as cliffs and thresholds by vertical rotation, a plurality of detection sensors for separately detecting the cliffs and thresholds are unnecessary, and thus the cost is reduced.

Hereinafter, exemplary embodiments will be described in detail with reference to the accompanying drawings.

1 is a plan view of a robot cleaner according to a first embodiment, and FIG. 2 is a side view of the robot cleaner.

1 and 2, the robot cleaner 1 according to the present embodiment includes a main body 10 forming an external shape and a pair of wheels coupled to the main body 10 to allow the main body to move. (14) is included.

In detail, although not shown in the interior of the main body 10, a suction motor for generating a suction force and a battery for supplying power to the suction motor are embedded. In addition, an inlet (not shown) through which the air containing dust is sucked is formed at the bottom of the main body 10.

One side of the main body 10 is detachably coupled to the dust collecting device 15 is stored dust separated from the sucked air.

On the upper side of the main body 10 is provided with an operation unit 11 for allowing a user to operate the operation of the robot cleaner 1, and a display unit 12 for displaying the operation state of the robot cleaner 1 do.

The lower side of the main body 10 is provided with a pair of cleaning device 20 to enable the cleaning of the corner.

In detail, the cleaning device 20 is provided at the front end side of the main body 10 based on the traveling direction A of the robot cleaner 1 as shown in FIG. 1. In addition, the pair of cleaning devices 20 are disposed to be inclined at a predetermined angle with a line L that bisects the main body 10 from side to side. The pair of cleaning devices 20 extend in a direction away from each other at the side of the main body 10.

When the cleaning device 20 is installed in the main body 10, a part of the cleaning device 20 protrudes outwardly based on the side surface of the main body 10.

Therefore, when the robot cleaner 1 moves forward (A direction), the dust D on the bottom surface is moved to the center portion of the robot cleaner 10 by the pair of cleaning devices 20.

3 is a cross-sectional view taken along the line II ′ of FIG. 1, and FIG. 4 is a cross-sectional view taken along the line II-II ′ of FIG. 3.

3 and 4, the cleaning device 20 is rotatably coupled to the lower side of the main body 10. In detail, the main body 10 includes a base 110 in which an accommodation part 120 in which the cleaning device 20 is accommodated is formed. The receiving part 120 is recessed upward from the bottom of the base 110.

The upper surface of the cleaning device 120 is spaced apart from the upper surface 121 of the accommodating part, and the rear surface of the cleaning device is spaced apart from the rear surface 122 of the accommodating part 120.

Therefore, a space is formed between the upper surface of the cleaning device 20 and the upper surface 121 of the accommodating part 120 such that the cleaning device 20 can be rotated upward (clockwise in FIG. 3). . In addition, a space is formed between the rear surface of the cleaning device 20 and the rear surface 122 of the accommodating part 120 such that the cleaning device 20 can be rotated downward (counterclockwise when viewed in FIG. 3). do.

Meanwhile, the cleaning device 20 includes a rotating member 210 rotatably coupled to the main body 10, and a cleaning element 220 coupled to the lower side of the rotating member 210.

In detail, a guide surface 212 is formed on the front surface of the rotating member 210 to guide the rotating member 210 to be easily rotated by an obstacle. The guide surface 212 is formed to be inclined downward from the upper surface of the rotating member 210 to the rear side. Therefore, as shown in Figure 3, the upper length of the rotating member 210 is formed larger than the lower length.

Therefore, when the rotating member 210 encounters an obstacle while the robot cleaner 1 is running, the rotating member 210 is easily lifted while the guide surface 212 slides with the obstacle (upper side). To rotate.)

In addition, the cleaning element 220 is slidingly coupled to the rotating member 210. A coupling rib 216 is formed at the lower side of the rotating member 210 to couple the cleaning element 220 to the cleaning element 220, and a rib insertion groove 222 into which the coupling rib 216 is inserted. Is formed.

Accordingly, the cleaning element 220 is inserted into the rib insertion groove 222 while the cleaning element 220 is slidingly coupled to the rotating member 210.

In this embodiment, the cleaning element 220 and the rotating member 210 are coupled by the coupling rib 216 and the rib insertion groove 222, but the cleaning element 220 and the rotating member 210 of the Note that there is no limit to the binding scheme.

As the cleaning element 220, for example, a rubber material or a brush may be used. When rubber is used as the cleaning element 220, the bottom of the cleaning element 220 is in close contact with the bottom surface.

When a brush is used as the cleaning element 220, the cleaning element 220 may be substantially composed of a brush bristle and a bridging part, and the brush brim is in close contact with the bottom surface. In this case, the mother coupling portion may be formed of a rubber material.

On the other hand, the base 110 is formed with a shaft 114 for coupling with the rotating member 210. The shaft 114 protrudes into the receiving portion 120. An upper side of the rotating member 210 is provided with a shaft coupling portion 214 for coupling the shaft 114. Thus, the rotating member 210 may be rotated with respect to the shaft 114.

One side of the elastic member 240 is coupled to the upper side of the rotating member 210, and the other side of the elastic member 240 is coupled to the upper surface 122 of the receiving part 120. The elastic member 240 exerts a force on the cleaning device 20 such that the cleaning element 220 is in close contact with the bottom surface (F).

In addition, the cleaning device 20 includes a sensing guide 230 penetrating the base 110 and inserted into the base 110.

The sensing guide 230 is integrally formed with or coupled to an upper side of the rotating member 210. In addition, the base 110 has a through hole 112 through which the sensing guide 230 penetrates.

The first sensing switch 140 for detecting an obstacle such as a threshold and the second sensing switch 150 for detecting a cliff are provided inside the main body 10.

In detail, a support 116 is formed inside the base 110 to support each of the sensing switches 140 and 150. In addition, the support part 116 forms a space part 117 on which a part of the sensing guide 230 is located.

The first sensing switch 140 is positioned above the sensing guide 230 based on the sensing guide 230 positioned in the space 117, and the second sensing switch 140 is located below the sensing guide 230. The sense switch 150 is located.

In addition, the sensing guide 230 is spaced apart from each of the sensing switches 140 and 150 in a state where the bottom surface and the bottom surface F of the cleaning device 20 are parallel to each other.

In addition, the sensing guide 230 is moved up and down in the space 117 when the cleaning device 20 is rotated to press the respective sensing switches 140 and 150.

That is, when the cleaning device 20 is rotated upward, the detection guide 230 presses the first detection switch 140, and when the cleaning device 20 is rotated downward, the detection guide 230 is applied. Presses the second detection switch 150.

Each of the sensing switches 140 and 150 is electrically connected to a controller 160 that controls the operation of the robot cleaner 1.

5 is a block diagram showing a control configuration of the robot cleaner according to the present embodiment.

Referring to FIG. 5, the robot cleaner 1 may include a pair of driving motors 170 for driving the pair of wheels 14, and a state sensing unit 130 for detecting a state of a bottom surface. The controller 160 may drive the driving motor in response to the state information detected by the state detector 130.

In detail, the state detection unit 130 is a part for detecting a state of the bottom surface, and includes the first detection switch 140 and the second detection switch 150. Each of the sensing switches 140 and 150 operates during the rotation of the cleaning device 20. That is, when the sensing guide 230 is spaced apart from the sensing switches 140 and 150, the sensing switches 140 and 150 maintain the OFF state, and when the sensing guide 230 presses the sensing switch, The sensing switches 140 and 150 are turned on.

The pair of drive motors 170 are connected to the pair of wheels 14, respectively, so that the wheels 14 rotate. The drive motor 170 operates independently, and bidirectional rotation is possible.

The controller 160 changes the rotation direction of the driving motor 170 according to the information detected by the state detector 130. For example, while the driving motor 170 is rotated in one direction and the robot cleaner 1 moves forward, the cleaning device 20 is rotated upward by a threshold, so that the first sensing switch 140 is rotated. When pressed, the controller 160 rotates the drive motor 170 in the opposite direction, so that the robot cleaner 1 moves backward.

6 is a view illustrating a state in which the cleaning apparatus is rotated upward, and FIG. 7 is a view illustrating a state in which the cleaning apparatus is rotated downward.

Here, in the description of this embodiment, that the cleaning device 20 is rotated upward means that the front surface (guide surface) of the cleaning device 20 is rotated upward based on the shaft 114. Rotating the cleaning device 20 downward means that the front surface (guide surface) of the cleaning device 20 is rotated downward with respect to the shaft 114.

1 to 7, the operation of the robot cleaner will be described.

When the user turns on the robot cleaner 1 by using the manipulation unit 11, the suction motor and the driving motor are operated to operate the robot cleaner 1 according to the driving mode input by the user.

When the axis of the drive motor 170 rotates in one direction, the wheel 14 is rotated in one direction so that the robot cleaner 1 moves, for example, moves forward. Then, as shown in FIG. 1, dust on both sides of the robot cleaner 10 is collected by the cleaning device 20 at the center of the robot cleaner 1.

Here, when the robot cleaner 1 moves in a position adjacent to the wall surface, the dust of the corner (part between the bottom surface and the wall surface) is moved to the center portion of the robot cleaner 1 by the cleaning device 20, Cleaning of the corner becomes possible.

When the suction motor is operated, suction force is generated, and air containing dust is sucked into the main body 10 through the suction port by the generated suction force. The air sucked into the main body 10 enters the dust collecting device 15 and undergoes a dust separation process. In addition, dust is stored in the dust collecting device 15, and air is discharged to the outside of the main body 10.

When the robot cleaner 1 encounters an obstacle such as a threshold while the robot cleaner 1 moves as described above, the cleaning device 20 is heard as shown in FIG. 6 by an obstacle O such as a threshold. In detail, the cleaning device 20 is rotated in a clockwise direction with respect to the shaft 114, and the elastic member 240 is retracted.

When the cleaning device 20 is rotated by a predetermined angle in the clockwise direction, the detection guide 230 is moved upward to press the first detection switch 140. Then, a signal is transmitted from the first sensing switch 140 to the controller 160. Then, the controller 160 causes the axis of the drive motor 170 to rotate in the opposite direction. Then, the robot cleaner 1 moves backward. When the robot cleaner 1 moves backward, the force for lifting the cleaning device 20 is removed and the elastic member 240 is extended.

Then, the cleaning device 20 is rotated counterclockwise by the restoring force of the elastic member 240 so that the sensing guide 230 is separated from the first sensing switch 140. Then, the controller 160 causes the driving motor 170 to rotate in one direction again.

At this time, the controller 160 causes the rotational speed of the pair of driving motors 170 to be changed so as to avoid the obstacle O, so that the direction of the robot cleaner 1 is switched.

In detail, when the rotation speed of any one of the pair of drive motors is increased, the traveling direction of the automatic cleaner is changed to the wheel 14 which is rotated at a slow speed. For example, in FIG. 1, when the rotation speed of the wheel provided on the left side is increased, the robot cleaner rotates to the right side and moves. In addition, the robot cleaner continues to perform cleaning while moving in the changed direction.

On the other hand, if the robot cleaner (1) meets the cliff (C) while moving as described above, the cleaning device 20 is rotated downward as shown in FIG. In detail, the cleaning device 20 is rotated counterclockwise about the axis 114.

When the cleaning device 20 is rotated by a counterclockwise angle, the detection guide 230 is moved downward to press the second detection switch 150. Then, a signal is transmitted from the second sensing switch 150 to the controller 160. Then, the controller 160 causes the axis of the drive motor 170 to rotate in the opposite direction. Then, the robot cleaner 1 moves backward.

When the robot cleaner 1 moves backward, the cleaning device 20 is rotated upwards (clockwise) so that the detection guide 230 falls from the second detection switch 150. Then, the controller 160 causes the driving motor 170 to rotate in one direction again.

At this time, the controller 160 causes the rotation speed of the pair of driving motors 170 to be different so as to avoid the cliff C, so that the direction of the robot cleaner 1 is switched. In addition, the robot cleaner performs cleaning while moving forward while the direction is changed.

According to the present embodiment as described above, since the dust of the corner is moved to the robot cleaner central portion side by a pair of cleaning device, there is an advantage that the corner cleaning can be made smoothly.

In addition, since the cleaning device 20 may detect obstacles such as cliffs and thresholds by vertical rotation, a plurality of detection sensors for separately detecting the cliffs and thresholds are unnecessary, and thus, the cost may be reduced.

8 is a cross-sectional view taken along line II ′ of FIG. 1 according to a second embodiment.

This embodiment is the same as the first embodiment in other parts, except that there is a difference in the position of each sensing switch. Therefore, hereinafter, only characteristic parts of the present embodiment will be described.

Referring to FIG. 8, an accommodation part 120 for accommodating the cleaning device 40 is formed in the base 110. In addition, the accommodation part 120 is provided with a first detection switch 310 for detecting an obstacle such as a threshold and a second detection switch 320 for detecting a cliff. That is, each of the sensing switches 310 and 320 protrudes into the accommodation part 120. In addition, the sensing switches 310 and 420 are electrically connected to the controller 160.

The cleaning device 40 includes a rotating member 410 rotatably coupled to the main body, and a cleaning element 420 coupled to the lower side of the rotating member 410.

In addition, a first sensing guide 421 is formed on the upper surface of the rotating member 410 to press the first sensing switch 310 while the cleaning device 40 is rotated upward (clockwise). The second sensing guide 422 is formed on the rear surface of the rotating member 410 to press the second sensing switch 320 while the cleaning device 40 is rotated downward (counterclockwise).

According to this embodiment, there is an advantage that the structure of the cleaning device 40 and the main body is simplified.

9 is a cross-sectional view taken along line II ′ of FIG. 1 according to a third embodiment.

This embodiment is the same as the first embodiment in other parts, except that there is a difference in the operation of the cleaning device. Therefore, hereinafter, only characteristic parts of the present embodiment will be described.

Referring to FIG. 9, the robot cleaner 1 includes a first elastic member 240 and a second elastic member 250 for connecting the cleaning device 20 to the main body 10.

In detail, one end of the first elastic member 240 and the second elastic member 250 is coupled to the upper side of the rotating member, the other end is coupled to the upper surface 122 of the receiving portion 120. The first elastic member 240 and the second elastic member 250 are coupled to the main body 10 and the cleaning device 20 at positions spaced apart from each other. In addition, the first elastic member 240 is positioned in front of the second elastic member 250 on the basis of the forward direction of the main body 10.

Therefore, the cleaning device 20 is able to move up and down in the accommodation portion 120 and at the same time rotate.

For example, if the robot cleaner 1 encounters an obstacle such as a threshold on the floor while the robot cleaner 1 moves, the cleaning device 20 is heard by the obstacle. At this time, since the first elastic member 240 has a larger amount of shrinkage than the second elastic member 250, the cleaning device 20 moves upward and rotates at an angle.

According to the present embodiment as described above, the cleaning device can be moved smoothly in the receiving portion, there is an advantage that the phenomenon that the connection between the cleaning device and the main body is damaged by the impact of the obstacle is reduced.

1 is a plan view of a robot cleaner according to a first embodiment;

2 is a side view of the robot cleaner.

3 is a cross-sectional view taken along the line II ′ of FIG. 1.

4 is a cross-sectional view taken along the line II-II 'of FIG. 3;

5 is a block diagram showing a control configuration of the robot cleaner according to the present embodiment.

6 is a view showing a state in which the cleaning device is rotated upwards.

7 is a view showing a state in which the cleaning device is rotated to the lower side.

8 is a cross-sectional view taken along line II ′ of FIG. 1 according to a second embodiment;

9 is a cross-sectional view taken along line II ′ of FIG. 1 according to a third embodiment;

Claims (14)

A main body provided with a driving motor for driving a wheel; A cleaning device connected to the main body; A first sensing switch provided in the main body and turned on by the cleaning device while the cleaning device is moved in one direction; A second sensing switch positioned apart from the first sensing switch and turned on by the cleaning apparatus while the cleaning apparatus is moved in another direction; And And a controller configured to drive the driving motor in response to an on state of each of the sensing switches. The method of claim 1, The lower surface of the main body is provided with a receiving portion for receiving the cleaning device, The cleaning device is a robot cleaner that is vertically rotated or moved up and down in the receiving portion. The method of claim 2, The robot cleaner further comprises an elastic member provided between the cleaning device and the main body. The method of claim 2, The robot cleaner of the cleaning device is spaced apart from the bottom of the receiving portion. The method of claim 2, Robot cleaner cleaner is spaced apart from the rear of the cleaning device and the rear of the receiving portion. The method of claim 2, The cleaning device is a robot cleaner, a part of which is projected to the outside of the main body in the state accommodated in the receiving portion. delete The method of claim 1, The cleaning device is inserted into the inside of the main body, the robot cleaner includes a sensing guide for pressing the first sensing switch or the second sensing switch. The method of claim 8, Each sensing switch is spaced apart from each other at a predetermined interval, The detection guide is a robot cleaner located between each detection switch. The method of claim 8, The sensing guide may include a first sensing guide for pressing the first sensing switch and a second sensing guide for pressing the second sensing switch. The method of claim 1, The cleaning device, A rotating member rotatably coupled to the main body, A cleaning element coupled to the lower side of the rotating member; And And a sensing guide formed on the rotating member and configured to selectively operate the respective sensing switches. delete delete delete

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