AU2020322423A1 - Charging stand for moving robot - Google Patents
Charging stand for moving robot Download PDFInfo
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- AU2020322423A1 AU2020322423A1 AU2020322423A AU2020322423A AU2020322423A1 AU 2020322423 A1 AU2020322423 A1 AU 2020322423A1 AU 2020322423 A AU2020322423 A AU 2020322423A AU 2020322423 A AU2020322423 A AU 2020322423A AU 2020322423 A1 AU2020322423 A1 AU 2020322423A1
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- Australia
- Prior art keywords
- guide
- guide surface
- caster
- charging apparatus
- disposed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000004744 fabric Substances 0.000 claims description 34
- 238000000926 separation method Methods 0.000 claims description 26
- 230000002265 prevention Effects 0.000 claims description 23
- 230000007423 decrease Effects 0.000 claims description 6
- 235000004443 Ricinus communis Nutrition 0.000 abstract 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 37
- 238000003032 molecular docking Methods 0.000 description 15
- 238000004140 cleaning Methods 0.000 description 9
- 239000000463 material Substances 0.000 description 9
- 230000000694 effects Effects 0.000 description 6
- 239000002184 metal Substances 0.000 description 6
- 230000002441 reversible effect Effects 0.000 description 6
- 238000009987 spinning Methods 0.000 description 5
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000001154 acute effect Effects 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a charging stand for a moving robot, the charging stand comprising a castor guide for guiding a charging terminal provided in the charging stand and a corresponding terminal corresponding to the charging terminal to easily contact each other, wherein the castor guide comprises first to third guide surfaces for determining a vertical contact position of both terminals and a wide rear side and a narrow front side for determining a horizontal contact position of both terminals, thereby guiding both terminals to vertically overlap each other.
Description
1. Field of the invention
The following description relates to a charging apparatus for a mobile robot, and
more particularly to a charging apparatus for a mobile robot which includes a caster guide for
guiding a charging terminal, provided for the charging apparatus, and a corresponding
terminal, corresponding to the charging terminal, to readily come into contact with each other.
2. Description of the Related Art
Robots have been developed for industrial use and have been part of factory
automation. Recently, the application filed of robots has been expanded, such that medical
robots, aerospace robots, and the like have been developed and household robots that can be
used in ordinary homes have also been manufactured. Among these robots, a robot that can
travel by itself is called a mobile robot.
A typical example of the mobile robot used in home is a robot cleaner. The robot
cleaner is a home appliance which cleans a certain area by sucking dust or foreign materials
from the floor while moving autonomously in the area.
Such robot cleaner is generally composed of a cleaning robot and a charging
apparatus. The cleaning robot is provided with a rechargeable battery, and may move freely
and autonomously using operating power of the battery. The cleaning robot performs
cleaning by sucking foreign materials from the floor, and if necessary, returns to the charging
apparatus to charge the battery.
Related art 1 discloses: a charging apparatus which is provided with a power source and an electrically connected terminal; and a mobile robot which includes a corresponding terminal to be electrically connected to the terminal of the charging apparatus. Once the terminal of the charging apparatus and the terminal of the mobile robot come into contact with each other, charging of the mobile robot is started.
The mobile robot may be electrically connected to the terminal of the charging
apparatus only when the mobile robot moves to the charging apparatus and is docked in a
correct position. However, the related art has a problem in that a means for guiding the
mobile robot to be mounted in a correct docking area by traveling autonomously.
Related art 2 discloses a mobile robot which is moved by a floor cloth surface. In
the related art, the mobile robot includes a first rotating member and a second rotating
member, which are disposed with respect to a vertical axis, and fix a pair of floor cloth
surfaces disposed in a left-right direction. The mobile robot in the related art moves by the
rotation of the first rotating member and the second rotating member, when only the floor
cloth surfaces, which are fixed to the first rotating member and the second rotating member,
are in contact with the floor.
Particularly, in the related art 1, the bottom surface of the charging apparatus is
inclined, such that when the general robot cleaner moves forward with a driving force, the
body of the robot cleaner is lifted up, thereby allowing a charging terminal of the mobile
robot and a corresponding terminal of the charging apparatus to come into contact with each
other. However, in a mobile robot which moves by a frictional force between a spin mop
and the floor, the mobile robot has a problem in that a driving force of the mobile robot is too
weak to climb a slope to lift up the body, and has no means for finely and accurately
adjusting a traveling direction of the mobile robot.
Furthermore, in the general robot cleaner, the robot cleaner moves only by a
frictional force of the spin mop, and the level of water stored in a water tank is variable, such that it is impossible to perform mopping effectively, and a problem occurs in a driving force.
Particularly, a general wet-type robot cleaner has a drawback in that it is very
difficult to adjust a traveling direction using a frictional force of a spinning cloth, such that
the robot cleaner performs cleaning only through random traveling, without pattern traveling
which is required for thorough cleaning.
In addition, the general robot cleaner also has a drawback in that when the robot
cleaner moves only through random traveling, the robot cleaner may not perform thorough
cleaning in an area which is adjacent to the corner or wall of the floor surface.
In the case of a mobile robot, which moves by a frictional force between a spin mop
and a floor, the mobile robot has a weak driving force, and it is required to cover the top and
the entire side surface of the mobile robot with a bumper to prevent the mobile robot from
climbing the carpet. Also, a corresponding terminal, which is exposed downward outside of
a body is required. In consideration of the weak driving force of the spin mop and a
structure of a body which requires to be in vertical contact, it is an object of the present
disclosure to provide a charging apparatus for the mobile robot, which guides a charging
terminal of the charging apparatus and a corresponding terminal, which corresponds to the
charging terminal, to vertically come into contact with each other.
In the case of a mobile robot, which moves by a frictional force between a spin mop
and a floor, it is very difficult to move in an exact direction. It is another object of the
present disclosure to provide a charging apparatus for the mobile robot, in which a guide pin,
inserted into a space between two spin mops, guides a docking direction of the mobile robot.
It is yet another object of the present disclosure to provide a charging apparatus for a
mobile robot, in which even if the docking direction of the mobile robot is wrong, a mop positioning part for guiding a spin mop has a structure for automatically guiding the docking direction of the mobile robot, thereby allowing the mobile robot to be docked in a correct position.
It is still another object of the present disclosure to provide a charging apparatus for a
mobile robot, in which a load, exerted on a floor cloth part disposed at the bottom of the
mobile robot, is distributed such that life of the floor cloth may be extended.
It is still another object of the present disclosure to provide a charging apparatus for a
mobile robot, in which in order to provide effective mopping and traveling of a robot cleaner,
a frictional force between the floor cloth and the floor surface may increase regardless of a
change in water level of a water tank, and pattern traveling may be provided for thorough
cleaning while the robot cleaner moves accurately.
The objects of the present disclosure are not limited to the aforementioned objects
and other objects not described herein will be clearly understood by those skilled in the art
from the following description.
In order to achieve the above objects, a charging apparatus for a mobile robot
according to an embodiment of the present disclosure is characterized by a caster guide,
which guides a moving direction of the mobile robot, and when the mobile robot moves
forward, raises a height of one end of the mobile robot to a height above a reference height
and lowers the height again.
Further, the charging apparatus of the present disclosure may be characterized by a
guide pin, which is disposed on an upper portion of the plate, and extends in a front-rear
direction to be inserted into a space between spin mops to guide movement of the mobile
robot.
In addition, the charging apparatus may include: a main body having a power module;
a plate connected to a lower end of the main body; a charging terminal, which protrudes upward from an upper surface of the plate, and is electrically connected to the power module; and a caster guide which is disposed at the rear of the charging terminal.
The caster guide may include a guide surface for guiding a caster. When a direction,
in which the caster enters, is defined as a front direction, the caster guide may include a first
guide surface; a second guide surface which is disposed at a front end of the first guide
surface and has a slope which is inclined forwardly and downwardly; and a third guide
surface, which is disposed at a front end of the second guide surface and has a slope which is
inclined forwardly and upwardly. When viewed from the side, the second guide surface and
the third guide surface may have a concave part for docking the caster.
The first guide surface may have a slope having a predetermined inclination, in
which an inclination of the slope may decrease gradually or may increase gradually; or the
first guide surface may have an inflection point, in which an inclination of the slope at a rear
end with respect to the inflection point may increase gradually, and an inclination of the slope
at a front end with respect to the inflection point may decrease gradually.
The caster guide may further include a separation prevention wall, which is disposed
on both sides of the guide surface, and protrudes upward.
The caster guide may further include a stopper, which is connected to a front end of
the third guide surface and protrudes upward.
When viewed from the top, a width of a front portion of the caster guide is narrower
than a width of a rear end thereof
The caster guide may further include a guide pin, which protrudes upward from an
upper center portion of the plate, and extends in a front-rear direction.
In accordance with an aspect of the present disclosure, the above and other objects
can be accomplished by providing a charging apparatus for a mobile robot, the charging
apparatus including: a main body having a power module; a plate connected to a lower end of the main body; a charging terminal, which is exposed upward from an upper surface of the plate, and is electrically connected to the power module; and a caster guide, which guides a moving direction of the mobile robot, and when the mobile robot moves forward, raises a height of one end of the mobile robot to a height above a reference height and lowers the height again, wherein the caster guide is disposed at a rear of the charging terminal, and a width of a front end of the caster guide is narrower than a width of a rear end of the caster guide.
The caster guide may include a separation prevention wall, which is disposed on both
sides of the guide surface, and protrudes upward.
The caster guide may further include a stopper, which is connected to a front end of
the third guide surface and protrudes upward.
The stopper may extend in a direction perpendicular to the plate.
The stopper may have a slope which is inclined forwardly and upwardly.
The stopper may have a slope which is inclined rearwardly and upwardly.
A height h3 of a highest point of the stopper may be greater than the height hl of the
connection portion between the first guide surface and the second guide surface.
A horizontal distance L2 from a vertical central axis to the caster guide may be larger
than a horizontal distance Li from the vertical central axis to the charging terminal.
The charging apparatus may further include a guide pin, which is disposed at an
upper center portion of the plate and protrudes upward.
The guide pin may extend along a vertical central axis of the plate.
A front end of the guide pin may be disposed at a rear of the rear end of the caster
guide.
A rear end of the guide pin may have a slope which is inclined forwardly and
upwardly.
The front end of the guide pin may have a slope which is inclined forwardly and
upwardly.
In accordance with another aspect of the present disclosure, the above and other
objects can be accomplished by providing a charging apparatus for a mobile robot, the
charging apparatus including: a main body having a power module; a plate connected to a
lower end of the main body; afirst charging terminal and a second charging terminal, which
are installed on the plate, are exposed upward from an upper portion of the plate, and are
electrically connected to the power module; and a guide pin, which is disposed at a rear of the
charging terminals on the upper portion of the plate, and protrudes upward, wherein the guide
pin extends in a first direction, and an extension line of the guide pin passes through a space
between the first charging terminal and the second charging terminal.
The charging apparatus may further include a caster guide, which includes a guide
surface for guiding the caster, and a separation prevention wall which defines a surface
crossing the guide surface at a side end of the guide surface.
The separation prevention wall may include a first separation prevention wall and a
second separation prevention wall, which protrude upward from both side ends of the guide
surface.
The charging apparatus may further include a mop positioning part, which is
disposed at a rear of the caster guide on the plate, and defines an area in which spin mops of
the mobile robot are positioned.
When viewed from above, the mop positioning part may be defined as a recess
region with open front and rear portions, and closed left and right portions.
The guide pin may protrude upward from the mop positioning part.
Details of other embodiments are included in the detailed description and the
accompanying drawings.
According to the present disclosure, the charging apparatus for the mobile robot has
one or more of the following effects.
Firstly, when viewed from the side, an arrangement of an upward slope-downward
slope-upward slope-stopper is provided, thereby allowing terminals to be readily directed
toward a position, in which the terminals may come into contact with each other, in a
longitudinal direction (vertical central axis direction).
Secondly, a caster guide has a wide rear portion, into which a caster enters, and a
narrow front portion, in which the caster is seated, thereby allowing terminals to be readily
directed toward a position, in which the terminals may come into contact with each other, in a
traverse direction (left-right direction).
Thirdly, a separation prevention wall is further provided on both sides of a guide
surface, thereby preventing separation.
Fourthly, a guide pin, which extends in a front-rear direction, is further included,
allowing terminals to be readily directed toward a position, in which the terminals may come
into contact with each other.
Fifthly, the charging apparatus and the caster guide protrude upward from the plate,
such that a portion of load on the mobile robot is exerted on the charging terminal during
docking of the mobile robot, thereby increasing the contact between the terminals and
extending life of a floor cloth.
Sixthly, in the present disclosure, the body has a circular shape, and a dry-type
module does not protrude outside of the body, such that rotation may be freely made at any
position in an area to be cleaned, and a wide width of an agitator may be maintained, thereby
allowing a wide range of cleaning, and performing mopping while collecting relatively large
foreign materials.
However, the effects of the present disclosure are not limited to the aforesaid, and other effects not described herein will be clearly understood by those skilled in the art from the following description of the appended claims.
FIG. 1 is a perspective view of a robot cleaner system, including a mobile robot and a
charging apparatus, according to an embodiment of the present disclosure.
FIG. 2A is a bottom view of the mobile robot of FIG. 1 and a plan view of the
charging apparatus of FIG. 1.
FIG. 2B is a perspective view of the mobile robot of FIG. 1.
FIG. 2C is a front cross-sectional view of the mobile robot of FIG. 1.
FIG. 2D is a bottom view of FIG. 1 illustrating a center of mass and a lowest end of a
spin mop according to an embodiment of the present disclosure.
FIG. 2E is a plan view of a center of mass as seen from above, in which a case is
removed from a body in FIG. 1.
FIG. 3 is a right cross-sectional view of a mobile robot combined with a charging
apparatus.
FIG. 4 is a perspective view of a caster guide.
FIG. 5 is a use state view of a caster which moves a caster guide.
FIGS. 6A to 6D are cross-sectional views of various shapes of a first guide surface.
FIGS. 7A to 7C are cross-sectional views of various shapes of a stopper.
FIG. 8 is a perspective view of a guide pin.
Advantages and features of the present disclosure and methods for accomplishing the
same will be more clearly understood from exemplary embodiments described below with reference to the accompanying drawings. However, the present disclosure is not limited to the following embodiments, but may be implemented in various different forms. The embodiments are provided only to complete disclosure of the present disclosure and to fully provide a person having ordinary skill in the art, to which the present disclosure pertains, with the category of the present disclosure, and the present disclosure will be defined by the scope of the appended claims. Wherever possible, like reference numerals generally denote like elements through the specification.
In the following description, the terms indicating directions, such as "front (F)," "rear
(R)," "left (Le)," "right (RI)," "up (U)," "down (D)," and the like, are defined based on a
traveling direction of a mobile robot. A direction, in which the mobile robot is docked on a
charging apparatus, is defined as a front direction, and a direction opposite to the front
direction is defined as a rear direction. A direction of the left side/right side of the charging
apparatus may be determined based on a position when viewed from above. These terms,
however, are used merely to provide a better understanding of the present disclosure, and it is
apparent that the directions can be defined differently by difference references.
For example, a direction parallel to a virtual line, formed by connecting central axes
of a left spin mop and a right spin mop, is defined as a left-right direction; a direction, which
vertically intersects with the left-right direction, is parallel to the central axes of the spin
mops, or has an error angle of less than 5 degrees, is defined as an up-down direction; and a
direction, which vertically intersects with the left-right direction and the up-down direction, is
defined as a front-rear direction. In this case, the front direction may refer to a main
traveling direction of the mobile robot, or a main traveling direction during pattern traveling
of the mobile robot. Here, the main traveling direction may refer to a value, obtained by
summing up vectors of directions while traveling during a predetermined period of time.
The terms, "first," "second," "third," etc., used in this disclosure, do not necessarily denote any order, importance, or hierarchy, but rather the terms are used to merely distinguish one element from another. For example, an invention may be configured to include only a second element without a first element.
The term "floor cloth" used herein may be made of various materials, such as fabric
or paper, and may be intended for repetitive use by washing or for one-time use.
Th present disclosure may be applied to a mobile robot which may be manually
moved by a user, a robot cleaner which may move autonomously, and the like. The
following description will be given using a mobile robot as an example.
A mobile robot system of the present disclosure includes a mobile robot and a
charging apparatus for charging the mobile robot. Hereinafter, the mobile robot will be
described in detail.
Referring to FIGS. 2B and 2C, the cleaner 1 according to an embodiment of the
present disclosure includes a body 30 including a controller. The robot cleaner 1 includes a
mop module 40 configured to mop a floor while being in contact with the floor (surface to be
cleaned). The cleaner 1 includes a sweep module 2000 configured to collect foreign
materials from the floor.
The mop module 40 is disposed on a lower side of the body 30 and supports the body
30. The sweep module 50 is disposed on a lower side of the body 30 and supports the body
30. In the embodiment, the body 30 is supported by the mop module 40 and the sweep
module 2000. The body 30 forms an exterior of the cleaner 1. The body 30 is disposed to
connect the mop module 40 and the sweep module 2000.
The mop module 40 may form an exterior. The mop module 40 is disposed on a
lower side of the body 30 and at the rear of the sweep module 2000. The mop module 40
provides a driving force for movement of the cleaner 1. In order to move the cleaner 1, the
mop module 40 is preferably disposed at the rear of the cleaner 1.
The mop module 40 includes at least one floor cloth 411 which wipes the floor while
rotating. The mop module 40 includes at least one spin mop 41, which when viewed from
above, rotates clockwise or counter-clockwise. The spin mop 41 is in contact with the floor.
In the embodiment, the mop module 40 includes a pair of spin mops 41a and 41b.
The pair of spin mops 41a and 41b rotate clockwise or counter-clockwise when viewed from
above, and mops the floor while rotating. Of the pair of the spin mops 41a and 41b, a spin
mop, which is located at the left side when viewed from the front in a traveling direction of
the cleaner 1, is defined as a left spin mop 41a, and a spin mop located at the right side is
defined as a right spin mop 41b.
Each of the left spin mop 41a and the right spin mop 41b rotates about its own
rotation axis. The rotation axis is disposed vertically. The left spin mop 41a and the right
spin mop 41b may rotate independently of each other.
Each of the left spin mop 41a and the right spin mop 41b includes a rotary plate 412
and a spin shaft 414, to which the floor cloth 411 is attached. Each of the left spin mop 41a
and the right spin mop 41b includes a water accommodating part 413.
The sweep module 2000 may form an exterior. The sweep module 2000 is disposed
at the front of the mop module 40. In order to prevent the mop module 40 from first coming
into contact with foreign materials on the floor, the sweep module 2000 is desirably disposed
at the front in a traveling direction of the cleaner 1.
The sweep module 2000 is spaced apart from the mop module 40. The sweep
module 2000 is disposed at the front of the mop module 40 and is in contact with the floor.
The sweep module 2000 collects foreign materials from the floor.
While being in contact with the floor, the sweep module 2000 collects foreign
materials, located in front of the sweep module 2000, into the inside while the cleaner 1
moves. The sweep module 2000 is disposed on a lower side of the body 20. The sweep module 2000 has a horizontal width which is smaller than a horizontal width of the mop module 40.
The body 30 includes a case 31, which forms an exterior of the cleaner 1, and a base
32 which is disposed on a lower side the case 31.
The case 31 forms a side surface and a top surface of the body 30. The base 32
forms a bottom surface of the body 30.
In the embodiment, the case 31 has a cylindrical shape with an open bottom surface.
When viewed from the top, the overall shape of the case 31 is a circle. As a plane of the
case 31 has a circular shape, a radius of gyration during rotation may be minimized.
The case 31 includes: a top wall 311 having a circular overall shape; and a side wall
312 which is integrally formed with the top wall 311 and extends downward from the edge of
the top wall 311.
The side wall 312 is partially open. An open portion of the side wall 312 is defined
as a water tank insertion hole 313, through which a water tank 81 is detachably installed.
The water tank insertion hole 313 is formed at the rear in a traveling direction of the cleaner 1.
As the water tank 81 is inserted through the water tank insertion hole 313, the water tank
insertion hole 313 is preferably disposed adjacent to the mop module 40.
The mop module 40 is connected to the base 32, and the sweep module 50 is
connected to the base 32. A controller Co and a battery Bt are provided in an internal space
formed by the case 31 and the base 32. Further, a mop driving part 60 is disposed in the
body30. A water supply module is disposed at the body 30.
FIG. 2D illustrates a point, at which a spin shaft Osa and a lower surface of the left
spin mop 41a intersect, and a point at which a spin shaft Osb and a lower surface of the right
spin mop 41b intersect. When viewed from the bottom, a direction in which the left spin
mop 41a spins clockwise is defined as a first forward direction wlf, and a direction in which the left spin mop 41a spins counter-clockwise is defined as a first reverse direction wIr.
When viewed from the bottom, a direction in which the right spin mop 41b spins counter
clockwise is defined as a second forward direction w2f, and a direction in which the right
spin mop 41b spins clockwise is defined as a second reverse direction w2r. Further, when
viewed from the bottom, "an acute angle, formed between a tilt direction of the lower surface
of the left spin mop 41a and a left-right axis thereof," and "an acute angle, formed between a
tilt direction of the lower surface of the right spin mop 41b and a left-right axis thereof," are
defined as tilt direction angles Agla and AgIb. The tilt direction angle Agla of the left spin
mop 41a may be equal to the tilt direction angle AgIb of the right spin mop 41b. Further,
referring to FIG. 6, "an angle of the lower surface I of the left spin mop 41a with respect to a
virtual horizontal plane H" and "an angle of the lower surface I of the right spin mop 41b
with respect to a virtual horizontal plane H" are defined as tilt angles Ag2a and Ag2b.
In this case, a right end of the left spin mop 41a and a left end of the right spin mop
41b may come into contact with, or may be adjacent to, each other. Accordingly, a gap in
mopping between the left spin mop 41a and the right spin mop 41b may be reduced.
When the left spin mop 41a spins, a point Pla of the lower surface of the left spin
mop 41a, to which a maximum frictional force is applied from the floor, is located on the left
side of a center of rotation of the left spin mop 41a. As a greater load is transmitted to a
ground surface at the point Pla of the lower surface of the left spin mop 41a than other points,
the maximum frictional force may be generated at the point Pla. In the embodiment, the
point Pla is located at a front left side of the center of rotation Osa, but in other embodiment,
the point Pla may be disposed exactly at the left side or at the rear left side with respect to the
center of rotation Osa.
When the right spin mop 41b spins, a point Plb of the lower surface of the right spin
mop 41b, to which a maximum frictional force is applied from the floor, is located at the right side of a center of rotation Osb of the right spin mop 41b. Asa greater load is transmitted to a ground surface at the point at the point Plb of the lower surface of the right spin mop 41b than other points, the maximum frictional force may be generated at the point Plb. In the embodiment, the point Plb is located at a front right side of the center of rotation Osb, but in other embodiment, the point Plb may be disposed exactly at the right side or at the rear right side with respect to the center of rotation Osb.
The lower surface of the left spin mop 41a and the lower surface of the right spin
mop 41b may be tilted. The tilt angles Ag2a and Ag2b of the left spin mop 41a and the
right spin mop 41b may form an acute angle. The tilt angles Ag2a and Ag2b are at the
points Pla and Plb, at which the maximum frictional force is exerted, and the entire lower
area of the floor cloth 411 may be formed in a small size to touch the floor during spinning of
the left spin mop 41a and the right spin mop 41b.
The overall lower surface of the left spin mop 41a is inclined leftwards and
downwards. The overall lower surface of the right spin mop 41b is inclined rightwards and
downwards. Referring to FIG. 6, the lower surface of the lower spin mop 41a has a lowest
point Pla on the left side. The lower surface of the left spin mop 41a has a highest point Pha
ontherightside. The lower surface of the right spin mop 41b has a lowest point Plb on the
right side. The lower surface of the right spin mop 41b has a highest point Pha on the left
side.
Depending on embodiments, the tilt direction angles Agla and AgIb may be zero
degrees. Further, depending on embodiments, when viewed from the bottom, a tilt direction
of the lower surface of the left spin mop 41a may form the tilt direction angle Agla in a
clockwise direction with respect to the left-right axis, and a tilt direction of the lower surface
of the right spin mop 41b may form the tilt direction angle Agb in a counter-clockwise
direction with respect to the left-right axis. In the embodiment of the present disclosure, when viewed from the bottom, a tilt direction of the lower surface of the left spin mop 41a may form the tilt direction angle Agla in a counter-clockwise direction with respect to the left-right axis, and a tilt direction of the lower surface of the right spin mop 41b may form the tilt direction angle AgIb in a clockwise direction with respect to the left-right axis.
The cleaner 1 moves with a frictional force with a ground surface, which is generated
by the mop module 40.
The mop module 40 may generate "a forward movement frictional force" for moving
the body 30 forward, or a "rearward movement frictional force" for moving the body 30
backwards. The mop module 40 may generate a "leftward moment frictional force" for
turning the body 30 to the left, or a "rightward moment frictional force" for turning the body
to the right. The mop module 40 may generate a frictional force by combining any one
of the forward movement frictional force and the rearward movement frictional force with
any one of the leftward moment frictional force and the rightward moment frictional force.
In order for the mop module 40 to generate the forward movement frictional force,
the left spin mop 41a spins at a predetermined rpm RI in the first forward direction wlf, and
the right spin mop 41b spins at the predetermined rpm RI in the second forward direction
w2f
In order for the mop module 40 to generate the rearward movement frictional force,
the left spin mop 41a spins at a predetermined rpm R2 in the first reverse direction wIr, and
the right spin mop 41b spins at the predetermined rpm R2 in the second reverse direction w2f
In order for the mop module 40 to generate the rightward moment frictional force,
the left spin mop 41a spins at a predetermined rpm R3 in the first forward direction wIf, and
the right spin mop 41b (i) spins in the second reverse direction w2r, (ii) is stopped without
spinning, or (iii) spins at an rpm R4, which is less than the rpm R3, in the second forward
direction w2f.
In order for the mop module 40 to generate the leftward moment frictional force, the
right spin mop 41b spins at a predetermined rpm R5 in the second forward direction w2f, and
the left spin mop 41a (i) spins in the first reverse direction wlf, (ii) is stopped without
spinning, or (iii) spins at an rpm R6, which is less than the rpm R5, in the first forward
direction w If
Hereinafter, an arrangement of each element for improving stability in a left-right
direction and a front-rear direction while increasing a frictional force of the spin mops 41
located at the left and right sides, and allowing safe traveling regardless of a water level in a
water tank 81.
Referring to FIGS. 2D and 2E, in order to increase a frictional force of the spin mop
41 and to prevent eccentricity from occurring in one direction when the mobile robot rotates,
a battery Bt and the mop motor 61, which are relatively heavy, may be disposed at the top of
the spin mop 41.
Specifically, the left mop motor 61a is disposed above the left spin mop 41a, and the
right mop motor 61b is disposed above the right spin mop 41b. That is, at least aportionof
the left mop motor 61a may overlap vertically with the left spin mop 41a. It is preferred that
the entire portion of the left mop motor 61a may overlap vertically with the left spin mop 41a.
At least a portion of the right mop motor 61b may overlap vertically with the right spin mop
41b. It is preferred that the entire portion of the right mop motor 61b may overlap vertically
with the right spin mop 41b.
More specifically, the left mop motor 61a and the right mop motor 61b may overlap
vertically with a virtual central horizontal line HL, formed by connecting the spin shaft Osa
ofthe left spin mop 41a andthe spin shaft Osb ofthe right spinmop 41b. It is preferred that
a center of mass MCa of the left mop motor 61a and a center of mass MCb of the right mop motor 61b may overlap vertically with the virtual central horizontal line HL which is formed by connecting the spin shaft Osa of the left spin mop 41a and the spin shaft Osb of the right spin mop 41b. Alternatively, a geometric center of the left mop motor 61a and a geometric center of the right mop motor 61b may overlap vertically with the virtual central horizontal line HL which is formed by connecting the spin shaft Osa of the left spin mop 41a and the spin shaft Osb of the right spin mop 41b. In this case, the left mop motor 61a and the right mop motor 61b are symmetrical to each other with respect to a vertical line Po of the robot cleaner.
As the center of mass MCa of the left mop motor 61a and the center of mass MCb of
the right mop motor 61b are symmetrical to each other without deviating from each spin mop
41, a frictional force of the spin mop 41 may increase, and driving performance and
horizontal balance may be maintained.
Hereinafter, the spin shaft OSa of the left spin mop 41a is defined as a left spin shaft
Osa, and the spin shaft Osb of the right spin mop 41b is defined as a right spin shaft Osb.
As the water tank 81 is disposed rearward of the central horizontal line HL, and the
amount of water in the water tank 81 is variable, the left mop motor 61a may be biased
leftward from the left spin shaft Osa in order to maintain a stable balance in the front-rear
direction regardless of a water level in the water tank 81. The left mop motor 61a may be
biased to the front left side from the left spin shaft Osa. It is preferred that the geometric
center or the center of mass MCa of the left mop motor 61a is biased leftward from the left
spin shaft Osa, or the geometric center or the center of mass MCa of the left mop motor 61a
is biased to the front left side from the left spin shaft Osa.
The right mop motor 61b may be biased rightward from the right spin shaft Osb.
The right mop motor 61b may be biased to the front right side from the right spin shaft Osb.
It is preferred that the geometric center or the center of mass MCb of the right mop motor 61b is biased rightward from the right spin shaft Osb, or the geometric center or the center of mass MCb of the right mop motor 61b is biased to the front right side from the right spin shaft Osb.
As the left mop motor 61a and the right mop motor 61b apply pressure at positions
which are biased toward a front outer side from the center of each spin mop 41, the pressure
is concentrated on the front outer side of each spin mop 41, such that driving performance
may be improved by the rotational force of the spin mop 41.
The left spin shaft Osa and the right spin shaft Osb are disposed rearward of the
center of the body 30. The central horizontal line HL is disposed rearward of a geometric
center of the body 30 and a center of mass WC of the mobile robot. The left spin shaft Osa
and the right spin shaft Osb are spaced apart equally from the vertical line Po of the mobile
robot.
A left master joint 65a is disposed on the left spin mop 41a, and a right master joint
b is disposed on the right spin mop 41b.
In the embodiment of the present disclosure, a single battery Bt is installed. At least
a portion of the battery Bt is disposed on the left spin mop 41a and the right spin mop 41b.
As the battery Bt, which is relatively heavy, is disposed on the spin mop 41, a frictional force
of the spin mop 41 may increase, and eccentricity occurring due to the rotation of the mobile
robot may be reduced.
Specifically, a portion of the left side of the battery Bt may vertically overlap with
the left spin mop 41a, and a portion of the right side of the battery Bt may vertically overlap
with the right spin mop 41b. The battery Bt may vertically overlap with the central
horizontal line HL and may vertically overlap with the vertical line Po of the mobile robot.
More specifically, a center of mass BC or a geometric center of the battery Bt may be
disposed on the vertical line Po of the mobile robot, and may be disposed on the central horizontal line HL. In this case, the center of mass BC or the geometric center of the battery
Bt may be disposed on the vertical line Po of the mobile robot, may be disposed forward of
the central horizontal line HL, or may be disposed rearward of the geometric center Tc of the
body 30.
The center of mass BC or the geometric center of the battery Bt may be disposed
forward of the water tank 81 or the center of mass PC of the water tank 81. The center of
mass BC or the geometric center of the battery Bt may be disposed rearward of a center of
mass SC of the sweep module 2000.
As one battery Bt is interposed between the left spin mop 41a and the right spin mop
41b, and is disposed on the central horizontal line HL and the vertical line Po of the mobile
robot, the heavy battery Bt maintains the balance during the spinning of the spin mops 41,
and puts weight on the spin mops 41, thereby increasing a frictional force of the spin mops 41.
The battery Bt may be disposed at the same height (height of a lower end) as the left
mop motor 61a and the right mop motor 61b. The battery Bt maybe interposed between the
left mop motor 61a and the right mop motor 61b. The battery Bt is disposed in an empty
space between the left mop motor 61a and the right mop motor 61b.
At least a portion of the water tank 81 is disposed on the left spin mop 41a and the
right spin mop 41b. The water tank 81 may be disposed rearward of the central horizontal
line HL, and may vertically overlap with the vertical line Po of the mobile robot.
More specifically, the center of mass PC or a geometric center of the water tank 81
may be disposed on the vertical line Po of the mobile robot and disposed forward of the
central horizontal line HL. In this case, the center of mass PC or the geometric center of the
water tank 81 may be disposed on the vertical line Po of the mobile robot and disposed
rearward of the central horizontal line HL. Here, the position of the center of mass PC or
the geometric center of the water tank 81, which is disposed rearward of the central horizontal line HL, indicates that the center of mass PC or the geometric center of the water tank 81 vertically overlaps with one region which is positioned rearward of the central horizontal line HL. In this case, the center of mass PC or the geometric center of the water tank 81 may vertically overlap with the body 30 without deviating from the body 30.
The center of mass PC or the geometric center of the water tank 81 may be disposed
rearward of the center of mas BC of the battery Bt. The center of mass PC or the geometric
center of the water tank 81 may be disposed rearward of the center of mass SC of the sweep
module 2000.
The water tank 81 may be disposed at the same height (height of a lower end) as the
left mop motor 61a and the right mop motor 61b. The water tank 81 may be disposed
rearward of a space between the left mop motor 61a and the right mop motor 61b.
The sweep module 2000 is disposed forward of the spin mops 41, the battery Bt, the
water tank 81, a mop driving part 60, the right mop motor 61b, and the left mop motor 61a in
the case 30.
The center of mass PC or a geometric center of the sweep module 2000 may be
disposed on the vertical line Po of the mobile robot, and may be disposed forward of the
geometric center Tc of the body 30. The body 30 may have a circular shape when viewed
from the top, and the base 32 may have a circular shape. The geometric center Tc of the
body 30 refers to the center when the body 30 has a circular shape. Specifically, when
viewed from the top, the body 30 is a circle with a radius error being less than 3%.
Specifically, the center of mass SC or the geometric center of the sweep module 2000
may be disposed on the vertical line Po of the mobile robot, and may be disposed forward of
the center of mass BC of the battery Bt, the center of mass of PC of the water tank 81, the
center of mass MCa of the left mop motor 61a, the center of mass MCb of the right mop motor 61b, and the center of mass WC of the mobile robot.
It is preferred that the center of mass SC or the geometric center of the sweep module
2000 is disposed forward of the central horizontal line HL and the front end of the spin mops
41.
As described above, the sweep module 2000 has a dust housing 2100 having a
storage space 2104, an agitator 2200, and a sweep motor 2330.
The agitator 2200 is rotatably installed in the sweep module 2000, and is disposed
rearward of the storage space 2104, such that the agitator 2200 may maintain a length
appropriate to cover the left and right spin mops 41a and 41b, without protruding outside of
the body 30.
A rotational axis of the agitator 2200 is parallel to the central horizontal line HL, and
the center of the agitator 2200 is disposed on the virtual vertical line Po of the mobile robot,
thereby allowing large foreign materials, introduced by the spin mops 41, to be removed
effectively by the agitator 2200. The rotational axis of the agitator 2200 is disposed forward
of the geometric center Tc of the body 30. The length of the agitator 2200 is desirably larger
than a distance between the left spin shaft Osa and the right spin shaft Osb. The rotational
axis of the agitator 2200 may be disposed adjacent to the front end of the spin mop 41.
The sweep module 2000 may further include a left caster 58a and a right caster 58b,
which are provided on both ends thereof, and which come into contact with the floor. The
left caster 58a and the right caster 58b may roll while being in contact with the floor, and may
be moved vertically by an elastic force. The left caster 58a and the right caster 58b support
the sweep module 2000 and a portion of the body 30. The left caster 58a and the right caster
58b protrude downward from a lower end of the dust housing 2100.
The left caster 58a and the right caster 58b are disposed parallel to the central
horizontal line HL, and may be disposed forward of the central horizontal line HL and the agitator 2200. A virtual line, formed by connecting the left caster 58a and the right caster
58b, may be disposed forward of the central horizontal line HL, the agitator 2200, and the
geometric center Tc of the body 30. In this case, the left caster 58a and the right caster 58b
may be symmetrical to each other with respect to the vertical line Po of the mobile robot.
The left caster 58a and the right caster 58b may be equally spaced apart from the vertical line
Po of the mobile robot.
In a virtual square, formed by sequentially connecting the left caster 58a, the right
caster 58b, the right spin shaft Osb, and the left spin shaft Osa, the geometric center Tc of the
body 30, the center of mass WC of the mobile robot, the center of mass SC of the sweep
module 2000, and the center of mass BC of the battery Bt are disposed; and the battery Bt,
which is relatively heavy, the left spin shaft Osa, and the right spin shaft Osb are disposed
adjacent to the central horizontal line HL. In this arrangement, a primary load of the mobile
robot is applied to the spin mops 41, and a remaining secondary load is applied to the left
caster 58a and the right caster 58b.
If the sweep motor 2330 is disposed on the vertical line Po of the mobile robot, or if
the sweep motor 2330 is disposed on one side with respect to the vertical line Po of the
mobile robot, the pump 85 is disposed on the other side (see FIG. 19), such that a combined
center of mass of the sweep motor 2330 and the pump 85 may be disposed on the vertical line
Po of the mobile robot.
Accordingly, the center of mass of the mobile robot, which is biased forward, may be
maintained regardless of a water level in the water tank 81 which is disposed rearward. In
this case, while increasing a frictional force of the spin mop 41, the center of mass WC of the
mobile robot may be positioned near the geometric center Tc of the body 30, thereby enabling
stable movement.
A center of mass COC or a geometric center of a controller Co may be disposed forward of the geometric center Tc of the body 30 and the central horizontal line HL. At least 50% or more of the controller Co may vertically overlap with the sweep module 2000.
The center of mass WC of the mobile robot may be disposed on the vertical line Po
of the mobile robot; may be disposed forward of the central horizontal line HL; may be
disposed forward of the center of mass BC of the battery BC; may be disposed forward of the
center of mass PC of the water tank 81; may be disposed rearward of the center of mass SC
of the sweep module 2000; and may be disposed rearward of the left caster 58a and the right
caster 58b.
These elements may be disposed to be symmetrical to each other with respect to the
vertical line Po of the mobile robot; or by considering their weight, the center of mass WC of
the mobile robot may be positioned on the vertical line Po of the mobile robot. When the
center of mass WC of the mobile robot is positioned on the vertical line Po of the mobile
robot, there is an effect of improving stability in a left-right direction.
The caster 58 is disposed at a lower side of the mobile robot, and partially supports
the load of the mobile robot. The caster 58 may be disposed at the front of the mobile robot.
The caster 58 may be disposed on both front sides of the mobile robot. The caster 58 may
be disposed forward of the mop module 40. The caster 58 may be disposed forward of the
sweep module 2000. The caster 58 has wheels to move the mobile robot.
One portion of each spin mop 41 may vertically overlap with the body 30, and the
other portion thereof may be exposed outside of the body 30.
A percentage of the overlapping portion of each spin mop 41 with the body 30 is
preferably in a range of 85% to 95% of each spin mop 41. Specifically, an included angle
between a line, formed by connecting the right end of the body 30 and the right end of the
right spin mop 41b, and a vertical line, formed by horizontally connecting the right end of the
body 30 and the central vertical line Po, may be in a range of zero degrees to five degrees.
A length of the region of each spin mop 41, which is exposed outside of the body 30,
is preferably in a range of 1/2 to 1/7 of a radius of each spin mop 41. The length of the
region of each spin mop 41, which is exposed outside of the body 30, may refer to a distance
between one end of each pin mop 41, which is exposed outside of the body 30, to the spin
shaft of each spin mop 41.
A distance between the end of the region of each spin mop 41, which is exposed
outside of the body 30, and the geometric center Tc of the body 30 may be greater than a
mean radius of the body 30.
By considering a relationship with the sweep module 2000, a position, at which each
spin mop 41 is exposed, is between a side portion and a rear portion of the body 30. That is,
if quadrants are sequentially positioned in a clockwise direction when the body 30 is viewed
from below, the position, at which each spin mop 41 is exposed, may be located in the second
quadrant or the third quadrant.
A charging apparatus 2 of the mobile robot including a caster guide 24 will be
described below with reference to FIGS. 1 and 2A.
Along a first guide line Al (dashed dotted line) of FIG. 2, the mobile robot enters the
charging apparatus 2 to be docked therewith.
The charging apparatus 2 includes a main body 21 including a power module, and a
plate 22 coupled to a lower end of the main body 21. The mobile robot may be docked on
the plate 22.
The plate 22 includes the caster guide 24, to guide the caster provided at the front
lower end of the mobile robot. The plate 22 guides the mobile robot to a docking area
through the caster guide 24, and guides a charging terminal 23 and a corresponding terminal
23'to come into contact with each other while vertically overlapping each other.
The description of the charging apparatus 2 will be given based on directions of
FIGS. 1 and 2, in which a direction connecting two charging terminals 23 is defined as a left
right direction LeRi, a direction crossing at right angles to the left-right direction is defined as
a front-rear direction, and a direction crossing at right angles to the left-right direction and the
front-rear direction FR is defined as an up-down direction UD.
The main body 21 of the charging apparatus 2 may be connected to a front end of the
plate 22 and protrudes upward to form a wall. In this case, the wall may function to prevent
separation when the mobile robot moves forward away from a docking area on the plate 22.
The main body 21 may include a power module. The power module is electrically
connected to an external power source, to be supplied with external electricity. The power
module is electrically connected to the charging terminal 23, to supply the received electricity
to the charging terminal 23.
The plate 22 may have a circular shape. The plate 22 may have a similar shape as
the shape of the mobile robot. However, the shape of the plate 22 is not limited thereto, and
may include simple changes to a polygonal shape and the like, which may be made by those
skilled in the art.
The plate 22 has a top surface, on which a space for positioning the mobile robot, the
caster guide 24 for guiding the mobile robot, and the charging terminal 23 may be disposed.
In this case, a guide pin 25 may be disposed on the top surface of the plate 22.
The mobile robot is docked to an upper end of the plate 22. Referring to FIG. 1, the
mobile robot is docked to a circular flat surface, which is referred to as a docking area or a
mop positioning part 226.
The mop positioning part 226 is disposed at the rear of the caster guide 24 on the
plate 22, and defines an area in which the spin mops 41 of the mobile robot are positioned.
The mop positioning part 226 may be disposed at the rear of the charging terminal 23 on the
plate 22.
When viewed from above, the mop positioning part 226 is defined as a recess region
with open front and rear portions, and closed left and right portions. The caster guide 24 is
positioned on a front end of the mop positioning part 226.
An inclined entry surface 227 for facilitating entry of the mobile robot is formed on a
rear end of the mop positioning part 226. The inclined entry surface 227 is positioned at the
rear end of the plate 22, and is inclined forwardly and upwardly. A length of the inclined
entry surface 227 may be equal to or greater than a value obtained by adding together
diameters of the two spin mops 41.
The mobile robot may climb the inclined entry surface 227 toward the docking area
226. The inclined entry surface 227 may be formed over a rear edge of the plate 22.
A floor cloth guide 221, which protrudes upward and guides the floor cloth, may be
formed on a side surface and/or a front surface of the plate 22. The floor cloth guide 221 is
connected to both ends of the inclined entry surface 227 which is formed at the rear of the
plate 22.
Two floor cloth guides 221 are disposed, each of which is connected to a left end and
a right end of the inclined entry surface 227.
The floor cloth guides 221 may be formed on at least a portion of the circumference
of the docking area 226 along with the inclined entry surface 227. An inclined portion may
be formed at a rear circumference of the docking area 226, and the floor cloth guide 221 may
be formed at the end of the inclined portion. The floor cloth guide 221 prevents the mobile
robot from being separated from the docking area 226, and guides the caster to the caster
guide 24.
The floor cloth guide 221 has a curvature and protrudes from the top surface of the plate 22. A height of a rear portion of the floor cloth guide 221 may be lower than a height of a front portion of the floor cloth guide 221. The height of the floor cloth guide 221 is inclined upward from the rear to the front.
The floor cloth guide 221 may have a wide rear portion and a narrow front portion.
The floor cloth guide 221 may be formed on a portion of the side and front surfaces of the
circular plate 22 along the circumference of the circulate plate 22.
Two floor cloth guides 221 are spaced apart from each other in a left-right direction,
and a distance between the two floor cloth guides 221 may be larger than a distance between
two caster guides 24. The two caster guides 24 may be interposed between the two floor
cloth guides 221.
Accordingly, when the mobile robot enters while moving away from the docking
area 226, it is possible to guide the caster to the caster guide 24 which is positioned at an
inner front portion.
The charging terminal 23 is a device which is electrically connected to the mobile
robot to charge a battery provided in the mobile robot. The charging terminal 23 is exposed
upward from the top surface of the plate 22 of the charging apparatus 2.
The charging terminal 23 is electrically connected to the power module. The
charging terminal 23 may be disposed at the front of the plate 22. A pair of left and right
charging terminals 23 may be disposed to be symmetrical to each other with respect to a
vertical central axis Ay. It is preferred that the pair of charging terminals 23 are symmetrical
to each other with respect to the vertical central axis Ay. The vertical central axis Ay is a
line which is parallel to the front-rear direction, and which passes the center of the charging apparatus 2. The charging terminal 23 may include a first charging terminal 23a and a second charging terminal 23b.
The mobile robot includes a corresponding terminal 23', which corresponds to the
charging terminal 23 of the charging apparatus 2. The corresponding terminal 23' of the
mobile robot may be exposed at the bottom of the body 30, so as to be electrically connected
to the charging terminal 23 of the charging apparatus 2. The charging terminal 23' of the
mobile robot may be disposed at a front end of the body 30.
The shape of the caster guide 24 will be described below with reference to FIG. 4.
The caster guide 24 may guide a moving direction of the mobile robot; and as the
mobile robot moves forward, the caster guide 24 may have a structure for increasing a height
of one end of the mobile robot above a reference height, and then reducing the height again.
Here, the reference height refers to a height of the mop positioning part 226.
The caster guide 24 may be formed as a part of the top surface of the plate 22, or may
be connected to the top surface of the plate 22 as a separate member. The caster guide 24 is
disposed at the rear of the charging terminal 23, and is disposed at the front of the mop
positioning part 226.
The caster guide 24 may include: a guide surface 241, on which the caster, being in
contact with the guide surface 241, moves by rolling; a separation prevention wall 242 which
is disposed on a side surface of the guide surface 241; and a stopper 2417 which is disposed
at the front of the guide surface 241. A pair of left and right caster guides 24 maybe formed
with respect to the vertical central axis Ay. The pair of caster guides 24 may be symmetrical
to each other with respect to the vertical central axis Ay.
The caster moves by rolling on the guide surface 241 from the rear to the front. The
guide surface 241 may form a horizontal surface in a left-right cross section, or a surface
having an angle of less than 5 degrees from the horizontal.
The left/right guide surfaces 241 may have a low middle portion and high side
portions in the left-right cross section. In another example, the left/right guide surfaces 241
may be inclined downward toward the vertical central axis in the left-right cross section. In
the left-right cross section, the left guide surface 241 is inclined downward toward the right
side and the right guide surface 241 is inclined downward toward the left side.
Accordingly, while the caster climbs the guide surfaces 241, a force acting in the
opposite direction of the vertical central axis is exerted on the caster, causing the caster to be
located exactly at the center of the plate 22 and to enter the plate 22.
Each guide surface 241 may include a first guide surface 2411 and a second guide
surface 2412. Further, each guide surface 241 may include the first guide surface 2411, the
second guide surface 2412, and a third guide surface 2413.
The first guide surface 2411 has a slope, which is inclined forwardly and upwardly in
a front-rear cross section. A rear end of the first guide surface 2411 is connected to the plate
22, and a front end thereof is connected to a rear end of the second guide surface 2412 which
will be described later.
A slope formed by an extension line of the rear end and the front end of the first
guide surface 2411 is lower than an inclination formed by corners at a lowest end and a front
rear end of the mobile robot. Accordingly, before the comer at the front lower end of the
mobile robot collides with the first guide surface 2411, the caster arrives at the first guide
surface 2411 to climb the slope.
The caster moves forward by rolling on the plate 22. The caster first meets the rear
end of the first guide surface 2411, and climbs the slope of the first guide surface 2411 by rolling. The first guide surface 2411 has a wide rear portion and a narrow front portion.
By considering weak forward force of the mobile robot, the slope of the first guide
surface 2411 may be set in a range of one to ten degrees.
The shape of the first guide surface 2411 will be described for each embodiment with
reference to FIGS. 7A to 7D.
FIG. 7A illustrates a first embodiment, in which when viewed from the right side, a
first guide surface 2411a may form a slope having a predetermined inclination. A
connection portion between the rear end of the first guide surface 2411a and the plate 22 may
berounded. A connection portion between the front end of the first guide surface 2411a and
the rear end of the second guide surface 2412 may be rounded.
FIG. 7B illustrates a second embodiment, in which when viewed from the right side,
a first guide surface 2411b may have a slope with an inclination decreasing gradually. A
connection portion between the rear end of the first guide surface 241lb and the plate 22 may
be rounded. If the inclination of the first guide surface 2411b decreases gradually, the
inclination changes most significantly at the rear end of first guide surface 2411b, such that it
is possible to accurately detect a time when the caster enters the caster guide 24.
FIG. 7C illustrates a third embodiment, in which when viewed from the right side, a
first guide surface 2411b may have a slope with an inclination increasing gradually. A
connection portion between the front end of the first guide surface 2411c and the rear end of
the second guide surface 2412 may be rounded. If the inclination of the first guide surface
2411c increases gradually, the inclination changes smoothly at the rear end of the first guide
surface 2411c, such that the caster may readily enter the first guide surface 2411c. By
contrast, the inclination changes most significantly at a connection portion between the first
guide surface 2411c and the second guide surface 2412, such that it is possible to accurately detect a time when the caster enters the second guide surface 2412.
FIG. 7D illustrates a fourth embodiment, in which when viewed from the right side,
the first guide surfaces 2411d and 2411e may have an infection point 2415 which may be
located preferably in the middle of the first guide surface. However, the location of the
infection point 2415 is not limited thereto, and may be readily changed by those skilled in the
art.
An inclination of the slope at a rear end (2411d) with respect to the inflection point
increases gradually, and an inclination of the slope at a front end (2411e) with respect to the
inflection point decreases gradually. When viewed from the side of the first guide surface,
an S-shaped slope is formed. In this case, as the inclination at the rear end (2411d) of the
first guide surface changes smoothly, the caster may readily enter the first guide surface
2411d; and as an inclination at a connection portion between the front end (2411e) of the first
guide surface and the rear end of the second guide surface 2412 changes smoothly, the caster
may readily enter the second guide surface 2412, thereby minimizing a reaction force acting
on the caster.
The second guide surface 2412 may have a slope, which is inclined forwardly and
downwardly in a front-rear cross section. The caster may move downward along the second
guide surface 2412. While moving toward the front end of the second guide surface 2412,
the front end of the mobile robot is lifted up and let down, causing the corresponding terminal
23', included in the body 3, to come into contact with the charging terminal 23 of the
charging apparatus 2.
The third guide surface may have a slope, which is inclined forwardly and upwardly
in a front-rear cross section. A rear end of the third guide surface 2413 is connected to the
front end of the second guide surface 2412. A connection point between the second guide surface 2412 and the third guide surface 2413 is located at a stable position, at which the caster may be seated. It is preferred that before the caster reaches the third guide surface
2413, the corresponding terminal 23' and the charging terminal 23 may come into contact
with each other.
A height of the guide surface, formed by the cater guide, will be described below
with reference to FIG. 6.
A height hl of the connection portion between the first guide surface and the second
guide surface may be greater than a height h2 of the connection portion between the second
guide surface and the third guide surface. As the height hl of the connection portion
between the first guide surface and the second guide surface is greater than the height h2 of
the connection portion between the second guide surface and the third guide surface, the
corresponding terminal 23' may move toward the charging terminal 23 from above.
The height h2 of the connection portion between the second guide surface and the
third guide surface may be lower than a height h4 of the charging terminal 23. More
specifically, the height h4 of the charging terminal 23 may be a height of a metal terminal
formed on the charging terminal 23. In this case, before the caster arrives at the connection
portion between the second guide surface 2412 and the third guide surface 2413, the
corresponding terminal 23' and the charging terminal 23 first come into contact with each
other while vertically overlapping each other, such that a portion of the load on the mobile
robot is exerted on the overlapping charging terminal 23, thereby producing an effect of
further increasing the contact between the terminals. In addition, a portion of the load on
the floor cloth is distributed to the charging terminal 23, thereby producing an effect of
further extending life of a floor cloth. Furthermore, a portion of the load on the caster is
distributed to the charging terminal 23, thereby producing an effect of further increasing life of a caster. Moreover, if the caster is provided with a cliff sensor, the cliff sensor may detect a wheel drop occurring in the caster, such that it is possible to check whether the mobile robot is appropriately docked with the charging apparatus 2.
The caster guide 24 may further include the separation prevention wall 242 which
defines a surface crossing the guide surface 241 at a side end of the guide surface 241. The
separation prevention wall 242 may be disposed at the left and right ends of the guide surface
241, may extend in a front-rear direction, and may define a surface having a height in an
upward direction.
Specifically, the separation prevention wall 242 may protrude upward from the left
and right ends of the guide surface 241.
The separation prevention wall 242 may be formed on at least one or more side ends
of the first guide surface 2411c to the third guide surface 2413. The separation prevention
wall 242 may function to prevent the caster, moving on the guide surface 241, from being
separated from the guide surface 241.
The separation prevention wall 242 includes a first separation prevention wall 242a,
which protrudes upward from the left end of the guide surface 241, and a second separation
prevention wall 242b which protrudes upward from the right end of the guide surface 241.
A distance between the first separation prevention wall 242a and the second separation
prevention wall 242b may become narrower from the rear toward the front.
A stopper 2417 will be described below with reference to FIGS. 4 and 7A to 7D.
The stopper 2417 is disposed at the front of the caster guide 24 to prevent the caster
from being separated by passing the caster guide 24. The stopper 2417 is connected to the
front end of the third guide surface 2413 and protrudes upward. The stopper 2417 may be
integrally formed with the first guide surface 2411c to the third guide surface 2413.
In this case, depending on embodiments, the stopper 2417 may be omitted and the
third guide surface 2413 may act as the stopper 2417.
A height h3 of a highest point of the stopper 2417 may be greater than the height 1 of
the connection portion between the first guide surface and the second guide surface.
According to the principle of the conservation of energy, if the height hl of the connection
portion between the first guide surface and the second guide surface is greater than the height
h3 of the highest point of the stopper 2417, a problem occurs in that the caster may be
separated by passing the stopper 2417. Accordingly, by having the height h3 of the highest
point of the stopper 2417, which is greater than the height hl of the connection portion
between the first guide surface and the second guide surface, it is possible to prevent
separation of the caster (m*g*hl < m*g*h3).
The shape of the stopper 2417 will be described below with reference to FIGS. 7A to
7C.
Referring to FIG. 7A, when viewed from the right surface, the stopper 2417 may
have a surface which is perpendicular to the ground surface.
Alternatively, referring to FIG. 7B, when viewed from the right side, the stopper
2417 may have a slope, which is inclined forwardly and upwardly. Due to an inertial force
or an excessive driving force, the mobile robot may move forward beyond the front end of
the third guide surface 2413. In this case, damage to the caster may be prevented by
allowing the forward movement to some degree; and after the inertial force or the like
disappears, the mobile robot moves back to be seated at the connection portion between the
second guide surface 2412 and the third guide surface 2413.
Alternatively, referring to FIG. 7C, when viewed from the right side, the stopper
2417 may have a slope, which is inclined rearwardly and upwardly. If it is required to prevent the mobile robot from moving beyond the front end of the third guide surface 2413, a boundary line for restricting the forward movement of the mobile robot may be determined as the stopper 2417 has the slope which is inclined rearwardly and upwardly.
Referring to FIG. 2, when the caster guide 24 is viewed from above, a width L3 of
the front end of the caster guide 24 is narrower than a width L4 of the rear end of the caster
guide 24. When viewed from above, the caster guide 24 may have a narrow front and wide
rear shape. The width of the rear end of the first guide may be wider that the width of the
front end of the third guide.
A width of the connection portion between the second guide surface 2412 and the
third guide surface 2413 may be narrower than a width, obtained by adding a width of the
caster to a width of the metal terminal. If the width of the connection portion between the
second guide surface 2412 and the third guide surface 2413 is wider than the width obtained
by adding the width of the caster to the width of the metal terminal, the charging terminal 23
and the corresponding terminal 23' may not come into contact with each other depending on
the position in which the caster is seated. Accordingly, by having the width of the
connection portion between the second guide surface 2412 and the third guide surface 2413,
which is narrower than the width obtained by adding the width of the caster to the width of
the metal terminal, the charging terminal 23 and the corresponding terminal 23' may be
electrically connected regardless of a position of the caster, which is positioned at the
connection portion between the second guide surface 2412 and the third guide surface 2413.
The caster guide 24 is disposed at the front of the plate 22. A pair of caster guides may be disposed on both sides with respect to the vertical central axis Ay.
The caster guide 24 may be disposed at the rear of the charging terminal 23. In the
mobile robot, the corresponding terminal 23' may be disposed at the front of the mobile robot,
and the caster may be disposed at the rear of a side surface of the corresponding terminal 23'.
In order to correspond thereto, the charging terminal 23 is disposed at the front of the plate 22,
and the caster guide 24 may be disposed at the rear of a side surface of the charging terminal
23.
With respect to the vertical central axis Ay, a distance L2 from the vertical central
axis to the center of the caster guide 24 may be larger than a distance LI from the vertical
central axis to the charging terminal 23.
If the mobile robot has a circular shape, a center position of the caster guide 24, in
which the caster is seated, and the metal terminal of the charging terminal 23 may be
disposed on the same circle. In the caster guide 24, the connection portion between the
second guide surface 2412 and the third guide surface 2413 and the metal terminal of the
charging terminal 23 may be disposed on the same circle. Accordingly, in the case where
the caster is seated, the charging terminal 23 and the corresponding terminal 23' may
vertically overlap each other, and may come into contact with each other to be electrically
connected.
A guide pin 25 is disposed at an upper center portion of the plate 22, and is inserted
between two spin mops to guide the mobile robot.
The guide pin 25 is disposed at the upper center portion of the plate 22. The guide
pin 25 may be disposed in the docking area (mop positioning part 226). Specifically, the
guide pin 25 may be disposed at the rear of the charging terminal 23 and the caster guide 24
on the upper portion of the plate 22.
More specifically, the guide pin 25 extends in afirst direction (front-rear direction),
and an extension line of the guide pin 25 passes through a space between thefirst charging
terminal and the second charging terminal (between a pair of charging terminals 23). The
guide pin 25 may be positioned on the vertical central axis Ay.
The guide pin 25 protrudes upward. The guide pin 25 may be integrally formed
with the plate 22, or may be formed separately and connected to the plate 22.
The guide pin 25 may extend from the upper center portion of the plate 22 along the
vertical central axis Ay. Two spin mops or a rotary plate may be adjacent to both side
surfaces of the guide pin 25.
A front end 251 of the guide pin 25 may be disposed at the rear of a rear end of the
caster guide 24. Accordingly, before the caster reaches the caster guide 24, the spin mop 41
may first reach the guide pin 25.
A rear end 253 of the guide pin 25 may have a slope which is inclined forwardly and
upwardly. Starting from the lower side of the spin mop 41, the spin mop 41 comes into
contact with a front end 251 of the guide pin 25, and the guide pin 25 may be smoothly
inserted into a space between the spin mops 41 of the mobile robot when the mobile robot
enters.
The front end 251 of the guide pin 25 may have a slope which is inclined forwardly
and downwardly. Starting from the lower side of the spin mop 41, the spin mop 41 comes
into contact with the rear end 253 of the guide pin 25, and the guide pin 25 may be smoothly
inserted into a space between the spin mops 41 of the mobile robot when the mobile robot
enters.
While the present disclosure has been shown and described with reference to the
preferred embodiments thereof, it should be understood that the present disclosure is not
limited to the aforementioned specific embodiments, and various modifications and variations may be made by those skilled in the art without departing from the scope and spirit of the invention as defined by the appended claims, and the modified implementations should not be construed independently of the technical idea or prospect of the present disclosure.
Claims (29)
1. A charging apparatus for a mobile robot, the charging apparatus comprising:
a main body having a power module;
a plate connected to a lower end of the main body;
a charging terminal, which is exposed upward from an upper surface of the plate, and
is electrically connected to the power module; and
a caster guide, which guides a moving direction of the mobile robot, and when the
mobile robot moves forward, raises a height of one end of the mobile robot to a height above
a reference height and lowers the height again,
wherein the caster guide is disposed at a rear of the charging terminal, and a width of
a front end of the caster guide is narrower than a width of a rear end of the caster guide.
2. The charging apparatus of claim 1, wherein the caster guide has a guide surface for
guiding a caster,
wherein the guide surface has a first guide surface, which is disposed at a rear of the
guide surface and has a slope which is inclined forwardly and upwardly, a second guide
surface, which is disposed at a front end of the first guide surface and has a slope which is
inclined forwardly and downwardly, and a third guide surface, which is disposed at a front
end of the second guide surface and has a slope which is inclined forwardly and upwardly.
3. The charging apparatus of claim 2, wherein the first guide surface has a slope
having a predetermined inclination.
4. The charging apparatus of claim 2, wherein the slope of the first guide surface has an inclination which decreases gradually.
5. The charging apparatus of claim 2, wherein the slope of the first guide surface has
an inclination which increases gradually.
6. The charging apparatus of claim 5, wherein the first guide surface further has an
inflection point which is disposed on the slope,
wherein an inclination of the slope at a rear end with respect to the inflection point
increases gradually, and an inclination of the slope at a front end with respect to the inflection
point decreases gradually.
7. The charging apparatus of claim 2, wherein a height hl of a connection portion
between the first guide surface and the second guide surface is greater than a height h2 of a
connection portion between the second guide surface and the third guide surface.
8. The charging apparatus of claim 2, wherein the height h2 of the connection portion
between the second guide surface and the third guide surface is greater than a height h4 of the
charging terminal.
9. The charging apparatus of claim 2, wherein the caster guide comprises a separation
prevention wall, which is disposed on both sides of the guide surface, and protrudes upward.
10. The charging apparatus of claim 2, wherein the caster guide further comprises a
stopper, which is connected to a front end of the third guide surface and protrudes upward.
11. The charging apparatus of claim 10, wherein the stopper extends in a direction
perpendicular to the plate.
12. The charging apparatus of claim 10, wherein the stopper has a slope which is
inclined forwardly and upwardly.
13. The charging apparatus of claim 10, wherein the stopper has a slope which is
inclined rearwardly and upwardly.
14. The charging apparatus of claim 10, wherein a height of a highest point of the
stopper is greater than the height of the connection portion between the first guide surface
and the second guide surface.
15. The charging apparatus of claim 1, wherein a horizontal distance from a vertical
central axis to the caster guide is larger than a horizontal distance from the vertical central
axis to the charging terminal.
16. The charging apparatus of claim 1, further comprising a guide pin, which is
disposed at an upper center portion of the plate and protrudes upward.
17. The charging apparatus of claim 16, wherein the guide pin extends along a vertical
central axis of the plate.
18. The charging apparatus of claim 16, wherein a front end of the guide pin is
disposed at a rear of the rear end of the caster guide.
19. The charging apparatus of claim 16, wherein a rear end of the guide pin has a
slope which is inclined forwardly and upwardly.
20. The charging apparatus of claim 16, wherein the front end of the guide pin has a
slope which is inclined forwardly and upwardly.
21. A charging apparatus for a mobile robot, the charging apparatus comprising:
a main body having a power module;
a plate connected to a lower end of the main body;
a first charging terminal and a second charging terminal, which are installed on the
plate, are exposed upward from an upper portion of the plate, and are electrically connected
to the power module; and
a guide pin, which is disposed at a rear of the charging terminals on the upper portion
of the plate, and protrudes upward,
wherein the guide pin extends in a first direction, and an extension line of the guide
pin passes through a space between the first charging terminal and the second charging
terminal.
22. The charging apparatus of claim 21, further comprising a caster guide, which
guides a caster of the mobile robot, and is disposed on the plate between the guide pin and the
charging terminal,
wherein the caster guide has a guide surface for guiding the caster, and a separation
prevention wall which defines a surface crossing the guide surface at a side end of the guide
surface.
23. The charging apparatus of claim 22, wherein a width of a front end of the guide
surface is greater than a width of a rear end of the guide surface.
24. The charging apparatus of claim 22, wherein the separation prevention wall
comprises a first separation prevention wall and a second separation prevention wall, which
protrude upward from both side ends of the guide surface.
25. The charging apparatus of claim 22, further comprising a mop positioning part,
which is disposed at a rear of the caster guide on the plate, and defines an area in which spin
mops of the mobile robot are positioned.
26. The charging apparatus of claim 25, wherein when viewed from above, the mop
positioning part is defined as a recess region with open front and rear portions, and closed left
and right portions.
27. The charging apparatus of claim 25, wherein the guide pin protrudes upward from
the mop positioning part.
28. The charging apparatus of claim 1, further comprising a floor cloth guide, which
protrudes upward from the plate, and guides a floor cloth.
29. The charging apparatus of claim 28, wherein the floor cloth guide is formed on a
portion of a side surface and a front surface of the plate along a circumference of the plate,
and has a curvature.
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR20190093483 | 2019-07-31 | ||
| KR10-2019-0093483 | 2019-07-31 | ||
| KR20190093484 | 2019-07-31 | ||
| KR10-2019-0093484 | 2019-07-31 | ||
| KR1020190176627A KR20210015596A (en) | 2019-07-31 | 2019-12-27 | Charging apparatus for the moving robot |
| KR10-2019-0176627 | 2019-12-27 | ||
| PCT/KR2020/001339 WO2021020671A1 (en) | 2019-07-31 | 2020-01-29 | Charging stand for moving robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AU2020322423A1 true AU2020322423A1 (en) | 2022-03-24 |
| AU2020322423B2 AU2020322423B2 (en) | 2023-09-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2020322423A Active AU2020322423B2 (en) | 2019-07-31 | 2020-01-29 | Charging stand for moving robot |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN114174021B (en) |
| AU (1) | AU2020322423B2 (en) |
| WO (1) | WO2021020671A1 (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006204758A (en) * | 2005-01-31 | 2006-08-10 | Toshiba Tec Corp | Robot cleaner |
| KR101483541B1 (en) * | 2010-07-15 | 2015-01-19 | 삼성전자주식회사 | Autonomous cleaning device, maintenance station and cleaning system having them |
| KR20130001841A (en) * | 2011-06-28 | 2013-01-07 | 삼성전자주식회사 | Step overpassing device for moving robot, step overpassing system for moving robot and step overpassing method for moving robot |
| CN102717778B (en) * | 2012-06-29 | 2014-06-11 | 山东电力集团公司电力科学研究院 | Chassis battery change system for electric passenger cars and method of the system |
| KR20150073735A (en) * | 2013-12-23 | 2015-07-01 | 서울바이오시스 주식회사 | Robot cleaner having charging apparatus and operating method of the same |
| JP6411794B2 (en) * | 2014-07-04 | 2018-10-24 | 東芝ライフスタイル株式会社 | Electric vacuum cleaner |
| US10383499B2 (en) * | 2017-08-31 | 2019-08-20 | Irobot Corporation | Wet robot docking station |
| CN109662657A (en) * | 2019-01-07 | 2019-04-23 | 云鲸智能科技（东莞）有限公司 | A kind of base station and parking scheme |
-
2020
- 2020-01-29 WO PCT/KR2020/001339 patent/WO2021020671A1/en active Application Filing
- 2020-01-29 CN CN202080055451.9A patent/CN114174021B/en active Active
- 2020-01-29 AU AU2020322423A patent/AU2020322423B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021020671A1 (en) | 2021-02-04 |
| CN114174021B (en) | 2023-12-15 |
| CN114174021A (en) | 2022-03-11 |
| AU2020322423B2 (en) | 2023-09-28 |
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