CN114174021B - Mobile robot charging station - Google Patents

Mobile robot charging station Download PDF

Info

Publication number
CN114174021B
CN114174021B CN202080055451.9A CN202080055451A CN114174021B CN 114174021 B CN114174021 B CN 114174021B CN 202080055451 A CN202080055451 A CN 202080055451A CN 114174021 B CN114174021 B CN 114174021B
Authority
CN
China
Prior art keywords
guide
guide surface
charging station
caster
cloth
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.)
Active
Application number
CN202080055451.9A
Other languages
Chinese (zh)
Other versions
CN114174021A (en
Inventor
张宰源
林志炫
金荣彬
郑璡皓
李荣宰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LG Electronics Inc
Original Assignee
LG Electronics Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from KR1020190176627A external-priority patent/KR20210015596A/en
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Publication of CN114174021A publication Critical patent/CN114174021A/en
Application granted granted Critical
Publication of CN114174021B publication Critical patent/CN114174021B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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 mobile robot charging station including a caster guide that guides a charging terminal provided to the charging station and a counterpart terminal corresponding to the charging terminal to be easily contacted. The mobile robot charging station includes a caster guide including first to third guide surfaces to determine a longitudinal contact position of the two terminals, the caster guide being wide at a rear and narrow at a front, thereby determining a lateral contact position of the two terminals to guide the two terminals to overlap in a vertical direction.

Description

Mobile robot charging station
Technical Field
The present invention relates to a mobile robot charging station, and more particularly, to a mobile robot charging station including a caster guide that guides a charging terminal provided to the charging station and a corresponding terminal corresponding to the charging terminal to be easily contacted.
Background
Robots have been developed for use in industry and have become part of factory automation. In recent years, the field of application robots has been further expanded, medical robots, space robots, and the like have been developed, and home robots usable in general households have also been developed. Such robots include mobile robots capable of traveling by themselves.
A typical example of a mobile robot used in a home is a floor sweeping robot, which is a device that cleans a predetermined area by sucking in surrounding dust or foreign matter while autonomously traveling the area.
The sweeping robot is generally composed of a sweeping machine and a charging station. The floor sweeping machine is configured to include a chargeable battery, to be movable, to be automatically movable by an operating power supply of the battery, to sweep foreign matter sucked into the floor during movement, and to return to a charging station to charge the battery when necessary.
In prior art 1, a charging station has terminals electrically connected to a power source, and a mobile robot has corresponding terminals to be electrically connected to the terminals of the charging station. And if the terminal of the charging station is in contact with the terminal of the mobile robot, starting to charge the mobile robot.
The mobile robot can be electrically connected to the terminal of the charging station only when it moves to the charging station and stops at an accurate position. However, the prior art has a problem in that no device for allowing the mobile robot to autonomously travel and be positioned at an accurate parking interval is proposed.
In prior art 2, a mobile robot capable of moving by a cloth-drawing surface is known. In the above-described conventional art, the mobile robot has a first rotating member and a second rotating member that fix a pair of cloth covers arranged in the left-right direction with the vertical direction as an axis. The related art mobile robot moves as the first and second rotating members rotate in a state where only the mop faces fixed to the first and second rotating members are in contact with the floor.
In particular, in the case of prior art 1, the following structure is provided: the bottom surface of the charging station is obliquely arranged, when the general sweeping robot advances by the advancing force, the main body of the dust collector is lifted, and the charging terminal of the mobile robot is contacted with the corresponding terminal of the charging station. However, in the case of a mobile robot traveling by friction force between a spin mop (spin mop) and a floor, there is a problem in that the traveling force is very weak and the tilting of the main body can be lifted, and the traveling direction of the mobile robot cannot be finely and accurately adjusted.
In addition, in the case of the related art, since the floor sweeping robot travels only by means of the frictional force of the turn cloth and the water level stored in the tub varies, it is difficult to efficiently perform mopping, and there is a problem in terms of driving force.
In particular, since it is difficult for the conventional wet robot to adjust the traveling direction by friction with the rotating mop, there is a disadvantage in that it is possible to perform only the cleaning by random traveling, and it is impossible to perform the mode traveling in which the thorough cleaning is performed.
In addition, in the case of only random driving in the related art, there is a disadvantage in that it is difficult to thoroughly clean a corner near the ground or an area near a wall.
Disclosure of Invention
Problems to be solved by the invention
In the case of a mobile robot traveling by friction force of a turn head cloth and a floor, the forward force is weak, and it is necessary to cover the entire top and side surfaces of the mobile robot with a bumper to prevent the mobile robot from climbing up a carpet. It is necessary to form the corresponding terminals exposed to the lower side of the main body. The present invention has been made to solve the above problems, and an object of the present invention is to provide a mobile robot charging station that guides a charging terminal provided in the charging station and a corresponding terminal corresponding to the charging terminal to be in contact in the vertical direction, in consideration of the weak forward force of the rotating cloth and the structure of a main body that needs to be in contact in the vertical direction.
In the case of a mobile robot traveling by friction force between a turn cloth and a floor, it is very difficult to travel in an accurate direction, and another object of the present invention is to provide a mobile robot charging station that guides a parking direction of the mobile robot by a guide pin inserted into a space between two turn cloths.
Another object of the present invention is to provide a mobile robot charging station capable of automatically aligning a parking direction of a mobile robot by a structure of guiding a cloth position portion of a turn cloth even if the parking direction of the mobile robot is inaccurate, so that the mobile robot can be parked at an accurate position.
Another object of the present invention is to provide a mobile robot charging station that can improve the life of a mop located at the lower part of the mobile robot by dispersing the load applied to the mop during charging.
The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.
Another object of the present invention is to increase friction between a mop and the floor regardless of a change in a water level of a sink so that a floor sweeping robot effectively drags and travels and can perform a mode travel for achieving thorough sweeping by accurate travel.
Means for solving the problems
In order to achieve the above object, a mobile robot charging station according to an embodiment of the present invention is characterized in that a moving direction of a mobile robot is guided, a height of one end of the mobile robot is raised to be higher than a reference height as the mobile robot moves forward, and the height is lowered.
In addition, the present invention is characterized in that a guide pin located at an upper portion of the board extends in a front-rear direction, and is inserted between turn cloths of the mobile robot, thereby guiding movement of the mobile robot.
In addition, the present invention includes: the body is provided with a power supply module; a plate coupled to a lower end of the body; a charging terminal protruding in front of an upper portion of the board and electrically connected to the power module; and a caster guide disposed behind the charging terminal.
The caster guide includes a guide surface that guides the caster. When the entering direction of the caster is set to the front, the caster comprises a first guide surface having an inclination in the front direction. Comprises a second guide surface connected to the front end of the first guide surface and having a downward inclination in the front direction. Comprises a third guide surface connected to the front end of the second guide surface, having an inclination in the front direction. The second guide surface and the third guide surface may form a recess to rest on the caster when viewed from the side.
The first guide surface may include an inclination of a predetermined inclination, the inclination of the inclination may be gradually reduced, the inclination of the inclination may be gradually increased, or may include an inflection point, the inclination of the inflection point rear end is gradually increased, and the inclination of the inflection point front end is gradually reduced.
The caster guide may further include a separation preventing wall disposed on both sides of the guide surface and protruding upward.
The caster guide may further include a stopper coupled to a front end of the third guide surface and protruding upward.
The caster guide may be formed such that a width of the front end is narrower than a width of the rear end when viewed from the upper side.
The caster guide may further include a guide pin protruding from a central upper portion of the plate and extending forward/backward.
The present invention is characterized by comprising: the body is provided with a power supply module; a plate coupled to a lower end of the body; a charging terminal exposed from the top surface of the board to the upper part and electrically connected to the power module; and a caster guide for guiding a moving direction of the mobile robot, wherein the caster guide is disposed behind 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 as the mobile robot moves forward, so that a height of one end of the mobile robot is raised to be higher than a reference height, and then the height is lowered.
The caster guide may further include a detachment prevention wall disposed at a side surface of the guide surface and formed to protrude upward.
The caster guide may further include a stopper coupled to a front end of the third guide surface and protruding upward.
The stopper may extend in a direction perpendicular to the plate.
The stopper may include an inclination in the front direction.
The stopper may include an inclination in the rear direction.
The height h3 of the highest point of the stopper may be higher than the height h1 of the connecting portion of the first guide surface and the second guide surface.
The horizontal distance L2 from the vertical center axis to the caster guide may be greater than the horizontal distance L1 from the vertical center axis to the charging terminal.
And a guide pin disposed at a central upper portion of the plate and formed to protrude toward the upper portion.
The guide pin may be formed to extend along a vertical central axis of the plate.
The front end of the guide pin may be disposed rearward of the rear end of the caster guide.
The rear end of the guide pin may be formed with an inclination of the inclination in the front direction.
The front end of the guide pin may be formed with a slope of a front downward slope.
In addition, the present invention includes: the body is provided with a power supply module; a plate coupled to a lower end of the body; a first charging terminal and a second charging terminal provided on the board and exposed to the upper portion of the board, and electrically connected to the power module; and a guide pin protruding from an upper portion of the plate in a rear direction than the charging terminal, the guide pin extending in a first direction, an extension line of the guide pin passing between the first charging terminal and the second charging terminal.
The caster guide may include: a guide surface for guiding the caster; and a detachment prevention wall defining a surface intersecting the guide surface at a side end of the guide surface.
The separation preventing wall may include a first separation preventing wall and a second separation preventing wall formed to protrude upward at both side ends of the guide surface.
The present invention may further include a cloth position portion that is disposed behind the caster guide at an upper portion of the plate, and that defines an area where the plurality of turn cloths of the mobile robot are disposed.
The cloth position portion may be defined as a recessed area that is open in the front-rear direction and closed in the left-right direction when viewed from the top.
The guide pins may be formed to protrude from the cloth position portion toward the upper portion.
The details of other embodiments are included in the detailed description and accompanying drawings.
Effects of the invention
The mobile robot charging station according to the present invention has one or more of the following effects.
First, there is an advantage that the terminal has an arrangement form of upward-downward-upward-stopper when viewed from the side, so that the terminal is easily oriented toward the contact position in the longitudinal direction (the direction perpendicular to the central axis).
Second, there is an advantage in that the terminal is easily oriented to the contact position in the lateral direction (left/right direction) by making the rear of the caster guide, which is the portion where the caster enters, wider and the front of the caster guide, which is the portion where the caster is placed, narrower.
A third advantage is that the guide surface also includes anti-disengagement walls on both sides to prevent disengagement.
Fourth, there is an advantage in that a guide pin extending in the front-rear direction is further included, thereby further easily orienting the terminals toward the contacted position.
Fifth, there is an advantage in that since the charging station and the caster guide are formed to protrude upward of the board, a part of the load of the mobile robot is applied to the charging terminal at the time of parking, so that the terminal contact can be enhanced and the life of the mop can be increased.
Sixth, there is an advantage in that in the present invention, the main body is formed in a circular shape, the dry module does not protrude to the outside of the main body, so that free rotation can be achieved at any position of the cleaning area, a large width of the pulsator can be maintained, and thus the cleaning range is wide, and the mopping action is performed while collecting relatively large foreign materials.
The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those skilled in the art through the description in the claims.
Drawings
Fig. 1 is a perspective view of a mobile robot system including a mobile robot and a charging station.
Fig. 2a is a bottom view of the mobile robot of fig. 1 and a top view of the charging station.
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 the center of gravity and the lowermost end of the turn head cloth of the present invention.
Fig. 2e is a top view with the housing removed from the main body in fig. 1 and looking at the center of gravity of the present invention from above.
Fig. 3 is a right side cross-sectional view showing a configuration in which the mobile robot and the charging station are combined.
Fig. 4 is a perspective view of the caster guide.
Fig. 5 is a use state diagram showing a case where the caster moves on the caster guide.
Fig. 6a, 6b, 6c and 6d are cross-sectional views showing various forms of the first guide surface.
Fig. 7a, 7b and 7c are cross-sectional views showing various forms of the stopper.
Fig. 8 is a perspective view showing the guide pin.
Detailed Description
The advantages and features of the present invention and the method of accomplishing the same may become more apparent by reference to the accompanying drawings and the detailed description of the embodiments. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms different from each other, which are provided to more completely complete the disclosure of the present invention and to more clearly understand the scope of the present invention by those skilled in the art to which the present invention pertains, and the present invention is limited only by the scope of the claims. Like reference numerals refer to like elements throughout the specification.
The expressions "front/rear/left/right/up/down" and the like mentioned below are defined with reference to the traveling direction of the mobile robot. The direction in which the mobile robot is stopped is referred to as a front direction, and the opposite direction to the front direction is referred to as a rear direction. The left/right direction is determined with reference to the charging station when viewed from the upper side. This is intended to be described with reference to the accompanying drawings so that the invention can ultimately be more clearly understood, and the directions can be defined differently depending on the reference.
For example, a direction parallel to a virtual line connecting the center axis of the left turn cloth and the center axis of the right turn cloth is defined as a left-right direction, a direction perpendicular to the left-right direction and parallel to the center axes of the plurality of turn cloths or having an error angle of 5 degrees or less is defined as an up-down direction, and a direction perpendicular to the left-right direction and the up-down direction is defined as a front-back direction. Of course, the front may refer to a main traveling direction of the mobile robot or a main traveling direction of a mode traveling of the mobile robot. Here, the main traveling direction may refer to a vector sum value of directions traveling in a certain time.
The terms "first", "second", and "third", etc., added to the above-mentioned constituent elements are merely for avoiding confusion of the constituent elements, and are not related to the order, importance, master-slave relationship, etc. between the constituent elements. For example, an invention may be implemented which includes only the second component and no first component.
The "mop" mentioned below may use various materials, such as fabric or paper materials, etc., and may be a reusable or disposable material for washing.
The invention can be applied to a dust collector which is manually moved by a user or a sweeping robot which runs independently, and the like. In the following, the present embodiment will be described with reference to a mobile robot.
The mobile robot system of the present invention includes a mobile robot and a charging station that charges the mobile robot. Hereinafter, the mobile robot will be described in detail.
Referring to fig. 2b and 2c, the cleaner 1 according to an embodiment of the present invention includes a main body 30 having a control part. The cleaner 1 comprises a cloth module 40, which cloth module 40 is brought into contact with the floor (surface to be cleaned) and mopped. The cleaner 1 includes a cleaning module 2000, and the cleaning module 2000 collects foreign materials of a floor.
The cloth module 40 is disposed below the main body 30, and can support the main body 30. The cleaning module 2000 is disposed below the main body 30 and can support the main body 30. In this embodiment, the main body 30 is supported by the cloth module 40 and the cleaning module 2000. The body 30 forms an external appearance. The main body 30 is configured to connect the cloth module 40 and the cleaning module 2000.
The cloth module 40 may form an external appearance. The cloth module 40 is disposed on the lower side of the main body 30. The cloth module 40 is disposed behind the cleaning module 2000. The cloth module 40 provides a propulsive force for moving the cleaner 1. In order to move the mobile robot 1, the cloth module 40 is preferably disposed on the rear side of the cleaner 1.
The cloth module 40 may include at least one mop 411, at least one of the mops 411 mopping the floor while rotating. The cloth module 40 includes at least one turn cloth 41, and the turn cloth 41 is reversely rotated in a clockwise direction or a counterclockwise direction when viewed from the upper side. The turner cloth 41 is in contact with the floor.
In this embodiment, the cloth module 40 may include a pair of swivel cloths 41a, 41b. When viewed from the upper side, the pair of swivel cloths 41a, 41b rotates in a clockwise direction or a counterclockwise direction, and mops up by rotating. When viewed from the front in the travelling direction of the cleaner, the pair of turn cloths 41a and 41b defines a turn cloth disposed on the left side as a left turn cloth 41a, and a turn cloth disposed on the right side as a right turn cloth 41b.
The left turn cloth 41a and the right turn cloth 41b rotate about respective rotation axes. The rotation shaft is disposed along the up-down direction. The left turn cloth 41a and the right turn cloth 41b can be rotated independently, respectively.
The left side turn cloth 41a and the right side turn cloth 41b respectively include a rotating plate 412 to which the mop 411 is attached and a turn rotating shaft 414. The left turn cloth 41a and the right turn cloth 41b include water supply accommodating portions 413, respectively.
The sweep module 2000 may form an external appearance. The cleaning module 2000 is disposed in front of the arrangement module 40. In order to prevent foreign matter on the floor from contacting the cloth module 40, the cleaning module 2000 is preferably disposed forward in the traveling direction of the cleaner 1.
The sweep module 2000 is spaced apart from the cloth module 40. The cleaning module 2000 is disposed in front of the cloth module 40 and contacts the floor. The cleaning module 2000 collects foreign materials of the floor.
The cleaning module 2000 contacts the floor, and foreign matter located in front of the cleaning module 2000 is collected inside the cleaner 1 when it moves. The cleaning module 2000 is disposed below the main body 30. The left-right width of the sweep module 2000 is smaller than the left-right width of the cloth module 40.
The main body 30 includes a housing 31 forming an external appearance and a base 32 disposed at a lower side of the housing 31.
The housing 31 forms a side surface and an upper side surface of the main body 30. The base 32 forms the bottom surface of the body 30.
In the present embodiment, the housing 31 is formed in a cylindrical shape with an opening at the bottom surface. The overall shape of the housing 31 is formed in a circular shape in plan view. Since the plane of the housing 31 is formed in a circular shape, the radius of rotation at the time of rotation can be minimized.
The housing 31 includes: an upper sidewall 311 formed in a circular overall shape; and a sidewall 312 integrally formed with the upper sidewall 311, extending downward from an edge of the upper sidewall 311.
A portion of the sidewall 312 is open formed. The opening of the side wall 312 is defined as a water tank insertion opening 313, and the water tank 81 can be attached to or detached from the water tank insertion opening 313. The water tank insertion port 313 is disposed rearward with reference to the traveling direction of the cleaner. Since the water tank 81 is inserted through the water tank insertion port 313, the water tank insertion port 313 is preferably disposed close to the cloth module 40.
The cloth module 40 is coupled to the base 32. The sweep module 50 is coupled to the base 32. A controller Co and a battery Bt are disposed in an internal space formed by the case 31 and the pedestal 32. The cloth driving unit 60 is disposed in the main body 30. The water supply module is disposed on the main body 30.
Referring to fig. 2d, a point where the turn rotation shaft Osa of the left turn cloth 41a and the lower side surface of the left turn cloth 41a intersect is shown, and a point where the turn rotation shaft Osb of the right turn cloth 41b and the lower side surface of the right turn cloth 41b intersect is shown. When viewed from the lower side, the clockwise direction in the rotation direction of the left turn cloth 41a is defined as a first forward direction w1f, and the counterclockwise direction is defined as a first reverse direction w1r. When viewed from the lower side, the counterclockwise direction in the rotation direction of the right turn cloth 41b is defined as a second positive direction w2f, and the clockwise direction is defined as a second negative direction w2r. When viewed from the lower side, "an acute angle formed by the inclination direction of the lower side surface of the left turn cloth 41a and the left-right direction axis" and "an acute angle formed by the inclination direction of the lower side surface of the right turn cloth 41b and the left-right direction axis" are defined as inclination direction angles Ag1a, ag1b. The inclination angle Ag1a of the left turn cloth 41a and the inclination angle Ag1b of the right turn cloth 41b may be the same. Referring to fig. 6, the "angle formed by the virtual horizontal plane H and the lower side surface I of the left turn cloth 41 a" and the "angle formed by the virtual horizontal plane H and the lower side surface I of the left turn cloth 41 a" are defined as inclination angles Ag2a and Ag2b.
Of course, the right side end of the left turn cloth 41a and the left side end of the right turn cloth 41b may be in contact with or close to each other. Therefore, the floor space that occurs between the left turn cloth 41a and the right turn cloth 41b can be reduced.
When the left turn cloth 41a rotates, a point Pla of the lower surface of the left turn cloth 41a, at which the maximum friction force is received from the floor, is disposed on the left side of the rotation center Osa of the left turn cloth 41 a. The point Pla in the lower side of the left turn head cloth 41a transmits a larger load to the ground than other points, thereby generating the greatest friction force at the point Pla. In the present embodiment, the point Pla is disposed forward and leftward of the rotation center Osa, but in another embodiment, the point Pla may be disposed rearward and leftward of the rotation center Osa.
When the right turn cloth 41b rotates, a point Plb on the lower side surface of the right turn cloth 41b, at which the maximum friction force is received from the floor, is disposed on the right side of the rotation center Osb of the right turn cloth 41 b. The spot Plb in the underside of the right turn head cloth 41b transfers a greater load to the ground than other spots, thereby creating the greatest friction at spot Plb. In the present embodiment, the spot Plb is disposed in front of the right side of the rotation center Osb, but in another embodiment, the spot Plb may be disposed on the right side with reference to the rotation center Osb or may be disposed behind the right side.
The lower side surface of the left turn cloth 41a and the lower side surface of the right turn cloth 41b are disposed obliquely, respectively. The inclination angle Ag2a of the left turn cloth 41a and the inclination angle Ag2b of the right turn cloth 41b form an acute angle. The inclination angles Ag2a and Ag2b are set to the points Pla and Plb where the friction force is the greatest, and are set to be small enough to allow the entire lower surface of the mop 411 to come into contact with the floor in accordance with the rotation operation of the left and right turn cloths 41a and 41 b.
The lower side surface of the left turn cloth 41a is inclined downward in the left direction as a whole. The lower side surface of the right turn cloth 41b is inclined downward in the right direction as a whole. Referring to fig. 6, the lower side surface of the left turn tarpaulin 41a forms the lowest point Pla at the left side portion. The lower side surface of the left turn cloth 41a forms the highest point phaat the right side portion. The lower side surface of the right turn cloth 41b forms a lowest point Plb on the right side portion. The lower side surface of the right turn cloth 41b forms the highest point Phb on the left side.
According to an embodiment, the inclination direction angles Ag1a, ag1b may be 0 degrees. In addition, according to the embodiment, the inclination direction of the lower side surface of the left turn cloth 41a forms an inclination direction angle Ag1a in the clockwise direction with respect to the left-right direction axis when viewed from the lower side, and the inclination direction of the lower side surface of the right turn cloth 41b may also form an inclination direction angle Ag1b in the counterclockwise direction with respect to the left-right direction axis. In the present embodiment, when viewed from the lower side, the inclination direction of the lower side surface of the left turn cloth 41a forms an inclination direction angle Ag1a in the counterclockwise direction with respect to the left-right direction axis, and the inclination direction of the lower side surface of the right turn cloth 41b forms an inclination direction angle Ag1b in the clockwise direction with respect to the left-right direction axis.
The movement of the cleaner 1 is achieved by friction with the floor surface created by the cloth module 40.
The cloth module 40 may generate a "forward moving frictional force" that moves the main body 30 forward or a "rearward moving frictional force" that moves the main body rearward. The cloth module 40 may generate a "left moment friction force" that turns the main body 30 left or a "right moment friction force" that turns the main body 30 right. The cloth module 40 may generate a friction force combining any one of the front moving friction force and the rear moving friction force and any one of the left moment friction force and the right moment friction force.
In order to generate the forward movement friction force of the cloth module 40, the left turn cloth 41a may be rotated in the first positive direction w1f at a predetermined rpm (R1), and the right turn cloth 41b may be rotated in the second positive direction w2f at the rpm (R1).
In order to generate the rearward movement friction force of the cloth module 40, the left turn cloth 41a may be rotated in the first reverse direction w1R at a predetermined rpm (R2), and the right turn cloth 41b may be rotated in the second reverse direction w2R at the rpm (R2).
In order to generate right moment friction force in the cloth module 40, the left turn cloth 41a may be rotated in the first forward direction w1f at a predetermined rpm (R3), and the right turn cloth 41b may be rotated in the second reverse direction w2R, or stopped from being rotated, or rotated in the second forward direction w2f at an rpm (R4) smaller than the rpm (R3).
In order to generate a left moment friction force in the cloth module 40, the right turn cloth 41b may be rotated in the second forward direction w2f at a predetermined rpm (R5), and the left turn cloth 41a may be rotated in the first reverse direction w1R, stopped from being rotated, or rotated in the first forward direction w1f at an rpm (R6) smaller than the rpm (R5).
Hereinafter, the arrangement of each configuration for improving the frictional force of the turn cloth 41 arranged along the left and right sides, improving the stability in the left and right directions and the front and rear directions, and stably traveling irrespective of the water level in the water tank 81 will be described.
Referring to fig. 2d and 2e, in order to expand the friction force of the turn cloth 41 and restrict the eccentricity in one direction when the mobile robot rotates, a relatively heavy cloth motor 61 and a battery Bt may be disposed on the upper portion of the turn cloth 41.
Specifically, the left cloth motor 61a may be disposed above the left turn cloth 41a, and the right cloth motor 61b may be disposed above the right turn cloth 41 b. That is, at least a portion of the left cloth motor 61a may overlap with the left turn cloth 41a in the vertical direction. Preferably, the entire left cloth motor 61a may overlap with the left turn cloth 41a in the vertical direction. At least a portion of the right cloth motor 61b may overlap the right turn cloth 41b in the vertical direction. Preferably, the entire right cloth motor 61b may overlap with the right turn cloth 41b in the vertical direction.
More specifically, the left cloth motor 61a and the right cloth motor 61b may be arranged to overlap in the vertical direction with a virtual center horizontal line HL of the turn rotation shaft Osb connecting the turn rotation shaft Osa of the left turn cloth 41a and the turn rotation shaft Osb of the right turn cloth 41 b. Preferably, the center of gravity MCa of the left cloth motor 61a and the center of gravity MCb of the right cloth motor 61b may be arranged to overlap in the vertical direction with a virtual center horizontal line HL connecting the turn rotation shaft Osa of the left turn cloth 41a and the turn rotation shaft Osb of the right turn cloth 41 b. Alternatively, the geometric center of the left cloth motor 61a and the geometric center of the right cloth motor 61b may be arranged to overlap in the vertical direction with a virtual center horizontal line HL connecting the turn rotation shaft Osa of the left turn cloth 41a and the turn rotation shaft Osb of the right turn cloth 41 b. Of course, the left cloth motor 61a and the right cloth motor 61b are symmetrically arranged with respect to the robot vertical line Po.
Since the center of gravity MCa of the left cloth motor 61a and the center of gravity MCb of the right cloth motor 61b are arranged laterally symmetrically to each other without being separated from the upper side of the turn cloth 41, the running performance and the lateral balance can be maintained while improving the friction force of the turn cloth 41.
Hereinafter, the turn rotation shaft Osa of the left turn cloth 41a is referred to as a left turn rotation shaft Osa, and the turn rotation shaft Osb of the right turn cloth 41b is referred to as a right turn rotation shaft Osb.
The water tank 81 is disposed rearward of the center horizontal line HL, and the amount of water in the water tank 81 can be changed, so that the left cloth motor 61a can be biased in the left direction from the left turn shaft Osa in order to maintain stable front-rear balance regardless of the water level of the water tank 81. The left cloth motor 61a may be disposed so as to be biased in the left forward direction from the left turn shaft Osa. Preferably, the geometric center of the left cloth motor 61a or the center of gravity MCa of the left cloth motor 61a may be offset in the left direction from the left turn head rotation axis Osa, or the geometric center of the left cloth motor 61a or the center of gravity MCa of the left cloth motor 61a may be offset in the left front direction from the left turn head rotation axis Osa.
The right cloth motor 61b may be disposed so as to be biased in the right direction from the right turn shaft Osb. The right cloth motor 61b may be disposed so as to be biased in the rightward front direction from the right turn shaft Osb. Preferably, the geometric center of the right cloth motor 61b or the center of gravity MCb of the right cloth motor 61b may be offset from the right turn rotation shaft Osb toward the right, or the geometric center of the right cloth motor 61b or the center of gravity MCb of the right cloth motor 61b may be offset from the right turn rotation shaft Osb toward the right front.
Since the left cloth motor 61a and the right cloth motor 61b apply pressure at positions offset to the front outside from the center of each of the turnout cloths 41, the pressure is concentrated to the front outside of each of the turnout cloths 41, and therefore the running performance can be improved by the rotational force of the turnout cloths 41.
The left swivel rotation shaft Osa and the right swivel rotation shaft Osb are disposed rearward of the center of the main body 30. The center horizontal line HL is disposed rearward of the geometric center Tc of the main body 30 and the center of gravity WC of the mobile robot. The left swivel rotation shaft Osa and the right swivel rotation shaft Osb are arranged to be spaced apart from the robot vertical line Po by the same distance.
The left active joint 65a may be disposed above the left turn cloth 41a, and the right active joint 65b may be disposed above the right turn cloth 41 b.
In the present embodiment, the battery Bt is provided with one. At least a part of the battery Bt is placed above the left turn cloth 41a and the right turn cloth 41 b. The relatively heavy battery Bt is disposed on the turn-around cloth 41, so that the friction of the turn-around cloth 41 is increased, and the eccentricity caused by the rotation of the mobile robot can be reduced.
Specifically, a left part of the battery Bt may overlap the left turn cloth 41a in the vertical direction, and a right part of the battery Bt may overlap the right turn cloth 41b in the vertical direction. The battery Bt may be arranged to overlap the center horizontal line HL in the vertical direction, and may be arranged to overlap the robot vertical line Po in the vertical direction.
More specifically, the center of gravity BC of the battery Bt or the geometric center of the battery Bt may be disposed on the robot vertical line Po and may be disposed on the center horizontal line HL. Of course, the center of gravity BC of the battery Bt or the geometric center of the battery Bt may be disposed on the robot vertical line Po, may be disposed forward than the center horizontal line HL, and may be disposed rearward than the geometric center Tc of the main body 30.
The center of gravity BC of the battery Bt or the geometric center of the battery Bt may be disposed ahead of the water tank 81 or the center of gravity PC of the water tank 81. The center of gravity BC of the battery Bt or the geometric center of the battery Bt may be located rearward of the center of gravity SC of the sweep module 2000.
Since one battery Bt is disposed midway between the left turn cloth 41a and the right turn cloth 41b and on the center horizontal line HL and the robot vertical line Po, the heavier battery Bt helps to keep the center when the plural turn cloths 41 rotate and to increase the friction force of the turn cloth 41 by applying weight to the turn cloth 41.
The batteries Bt may be arranged at the same height (the height of the lower end) or on the same plane as the left cloth motor 61a and the right cloth motor 61 b. The battery Bt may be disposed between the left cloth motor 61a and the right cloth motor 61 b. The battery Bt is disposed in a hollow space between the left cloth motor 61a and the right cloth motor 61 b.
At least a portion of the water tank 81 is disposed above the left turn cloth 41a and the right turn cloth 41 b. The water tank 81 may be disposed rearward of the center horizontal line HL, and may be disposed to overlap the robot vertical line Po in the vertical direction.
In more detail, the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed on the robot vertical line Po and may be located forward of the center horizontal line HL. Of course, the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed on the robot vertical line Po, and may be disposed rearward of the center horizontal line HL. Here, the fact that the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 is disposed rearward with respect to the center horizontal line HL means that the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 overlaps with a region that is rearward with respect to the center horizontal line HL in the vertical direction. Of course, the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 is arranged to overlap the main body 30 in the vertical direction without being separated from the main body 30.
The center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed rearward of the center of gravity BC of the battery Bt. The center of gravity PC of the sump 81 or the geometric center of the sump 81 may be located rearward of the center of gravity SC of the sweeper module 2000.
The water tank 81 may be disposed at the same height (lower end height) or on the same plane as the left cloth motor 61a and the right cloth motor 61 b. The water tank 81 may be disposed to be offset rearward in a space between the left cloth motor 61a and the right cloth motor 61 b.
The cleaning module 2000 is disposed in the main body in front of the plural turner cloths 41, the batteries Bt, the water tank 81, the cloth driving unit 60, the right cloth motor 61b, and the left cloth motor 61 a.
The center of gravity SC of the sweep module 2000 or the geometric center of the sweep module 2000 may be located on the robot vertical line Po and may be disposed in front of the geometric center Tc of the main body 30. The body 30 has a circular shape when viewed from above, and the base 32 may be circular in shape. When the body 30 is circular, the geometric center Tc of the body 30 refers to the center thereof. Specifically, when viewed from the top, the main body 30 has a circular shape with a radius error of 3% or less.
Specifically, the center of gravity SC of the sweep module 2000 or the geometric center of the sweep module 2000 is located on the robot vertical line Po, and may be disposed in front of the center of gravity BC of the battery Bt, the center of gravity PC of the water tank 81, the center of gravity Mca of the left cloth motor 61a, the center of gravity MCb of the right cloth motor 61b, and the center of gravity WC of the mobile robot.
Preferably, the center of gravity SC of the sweeping module 2000 or the geometric center of the sweeping module 2000 is located forward of the center horizontal line HL and the front ends of the plurality of turn cloths 41.
As described above, the cleaning module 2000 may include the dust cover 2100 having the storage space 2104, the agitator 2200, and the cleaning motor 2330.
The agitator 2200 is rotatably provided to the cleaning module 2000 and disposed rearward of the storage space 2104, so that an appropriate length of the left and right turn head cloths 41b41 can be covered while preventing the agitator 2200 from protruding outside from the main body.
The rotation axis of the stirrer 2200 is arranged in parallel with the center horizontal line HL, and the center of the stirrer 2200 is located on the virtual robot vertical line Po. Accordingly, the large foreign matter flowing into the turn cloth 41 is effectively removed by the agitator 2200. The rotational axis of the stirrer 2200 is located forward of the geometric center Tc of the main body 30. The length of the stirrer 2200 is preferably longer than the distance from the left-hand turn head rotation axis Osa to the right-hand turn head rotation axis Osb. The rotation shaft of the agitator 2200 may be disposed adjacent to the front end of the turn-around cloth 41.
Both ends of the sweeper module 2000 may also include left and right casters 58a, 58b that contact the floor. The left caster 58a and the right caster 58b contact the floor and roll, and can be moved up and down by elastic force. The left and right casters 58a, 58b support the sweeper module 2000, supporting a portion of the main body. Left caster 58a and right caster 58b protrude from the lower end of dust cover 2100 toward the lower portion.
The left caster 58a and the right caster 58b are disposed on a line parallel to the center horizontal line HL, and may be disposed in front of the center horizontal line HL and the agitator 2200. The virtual line connecting the left caster 58a and the right caster 58b may be disposed forward of the center horizontal line HL, the agitator 2200, and the geometric center Tc of the main body 30. Of course, the left caster 58a and the right caster 58b may be symmetrically disposed on the left and right sides with respect to the robot vertical line Po. The left caster 58a and the right caster 58b may be configured to be spaced apart from the robot vertical line Po by the same distance.
In the virtual quadrangle in which the left caster 58a, the right caster 58b, the right swivel rotation shaft Osb, and the left swivel rotation shaft Osa are sequentially connected, the geometric center Tc of the main body 30, the center of gravity WC of the mobile robot, the center of gravity SC of the sweep module 2000, and the center of gravity BC of the battery Bt are arranged, the battery Bt having a relatively heavy weight, the left swivel rotation shaft Osa, and the right swivel rotation shaft Osb are arranged close to the center horizontal line HL, so that the main load of the mobile robot is applied to the swivel cloth 41, and the remaining sub-load is applied to the left caster 58a and the right caster 58b.
If the sweep motor 2330 is located on the robot vertical line Po or if the sweep motor 2330 is disposed on one side with respect to the robot vertical line Po, the pump 85 is disposed on the other side, and thus the total center of gravity of the sweep motor 2330 and the pump 85 may be disposed on the robot vertical line Po.
Therefore, the center of gravity of the mobile robot that is displaced forward is maintained irrespective of the water level of the water tank 81 that is disposed rearward, the friction force of the turn head cloth 41 is increased, and the center of gravity WC of the mobile robot can be placed at a position close to the geometric center Tc of the main body 30, so that stable running can be realized.
The center of gravity COC of the controller Co or the geometric center of the controller Co may be disposed forward of the geometric center Tc of the main body 30 and the center horizontal line HL. At least 50% or more of the controller Co may be disposed to overlap the sweep module 2000 in the vertical direction.
The center of gravity WC of the mobile robot may be located on the robot vertical line Po and may be located forward of the center horizontal line HL and may be located forward of the center of gravity BC of the battery Bt and may be located forward of the center of gravity PC of the water tank 81 and may be located rearward of the center of gravity SC of the sweep module 2000 and may be located rearward of the left and right casters 58a and 58 b.
The respective structures are symmetrically arranged with respect to the robot vertical line Po or are arranged in consideration of the weight of each other, whereby the center of gravity WC of the mobile robot is located on the robot vertical line Po. If the center of gravity WC of the mobile robot is located on the robot vertical line Po, there is an advantage in that stability in the left-right direction is improved.
The caster 58 is disposed at the lower part of the mobile robot and supports a part of the load of the mobile robot. The caster 58 may be disposed in front of the mobile robot. Casters 58 may be disposed on either side of the front. Casters 58 may be disposed in front of the cloth module. Casters 58 may be disposed in front of the sweeper module. The casters include wheels that enable the mobile robot to move.
A portion of each turn cloth 41 may overlap with the main body 30 in a vertical direction, and another portion may be exposed to the outside of the main body 30.
Preferably, the proportion of the area where each turn cloth 41 overlaps the main body 30 in the vertical direction is 85% to 95% of each turn cloth. Specifically, an angle between a line connecting the right side end of the main body and the right side end of the right turn cloth 41b and a vertical line connected from the right side end of the main body to be parallel to the center vertical line Po may be 0 degrees to 5 degrees.
The length of the region of each turn cloth 41 exposed to the outside of the main body is preferably 1/2 to 1/7 of the radius of each turn cloth 41. The length of the region of each turn cloth 41 exposed to the outside of the main body may refer to a distance from one end of each turn cloth 41 exposed to the outside of the main body to the rotation axis of each turn cloth 41.
The distance from one end of the region of each turn cloth 41 exposed to the outside of the main body to the geometric center TC may be greater than the average radius of the main body.
The exposed position of each turn cloth is between the side and rear of the main body 30 in consideration of the relationship with the sweep module. That is, when the main body is viewed from below, the exposed positions of the respective turnout cloths may be in the 2/4 quadrant or the 3/4 quadrant of the main body 30 when the quadrants are arranged in the clockwise direction.
A mobile robot charging station 2 comprising a castor guide 24 is illustrated, centred on fig. 1 and 2 a.
The mobile robot enters the charging station 2 along a first guide line A1 (one-dot chain line) of fig. 2 and stops.
The charging station 2 may include: a body 21 having a power supply module; and a plate 22 coupled to a lower end of the body 21. The mobile robot may rest on top of the plate 22.
The plate 22 includes a caster guide 24 for guiding casters provided at the front lower end of the mobile robot. The board 22 guides the mobile robot to a parking area by a caster guide 24, guiding the charging terminal 23 and the counterpart terminal 23' to be in overlapping contact in the vertical direction.
< charging station body >
In describing the charging station, the direction is defined as a left-right direction (LeRi) with respect to the direction of fig. 1 and 2, a direction orthogonal to the left-right direction is defined as a front-rear direction (FR), and a direction orthogonal to the left-right direction and the front-rear direction is defined as a up-down direction (UD).
The charging station body 21 is coupled to the front end of the plate 22 and may protrude upward to form a wall. In this case, it functions as a wall that prevents the mobile robot from coming off when it comes off the appropriate landing area on the plate 22 and proceeds further.
The body 21 may have a power module inside. The power module is electrically connected with an external power supply and can receive external power. The power supply module is electrically connected to the charging terminal 23, and supplies the received electricity to the charging terminal 23.
The plate 22 may have a circular shape. The plate 22 may have a shape similar to that of a mobile robot. However, the shape of the plate 22 is not limited thereto, and it includes simple modifications such as polygonal shapes to those of ordinary skill.
A space in which the mobile robot is disposed, a caster guide 24 guiding the mobile robot, and a charging terminal 23 may be disposed on the top surface of the board 22. Of course, a guide pin 25 may be provided on the top surface of the plate 22.
The mobile robot rests on the upper end of the plate 22. Referring to fig. 1, the mobile robot rests on a circular flat surface, which is referred to as a rest area or cloth position portion 226.
The cloth position portion 226 is disposed at the rear of the caster guide 24 at the upper portion of the plate 22, and defines an area where the plural turn cloths of the mobile robot are disposed. The cloth position portion 226 may be disposed at the rear of the charging terminal 23 at the upper portion of the plate 22.
The cloth position portion 226 may be defined as a recessed area that is open in the front-rear direction and blocked in the left-right direction when viewed from above. The caster guide 24 is located at the front end of the cloth position portion 226.
An entry inclined surface 227 for allowing the mobile robot to easily enter may be formed at the rear end of the cloth position portion 226. The entry inclined surface 227 is formed to be inclined in the forward direction at the rear end of the plate 22. The length of the entry inclined surface 227 may be equal to or greater than a value that adds the diameters of the two turn cloths 41.
The mobile robot climbs up into the inclined surface 227 facing the docking area 226. The entry slope 227 may be formed at a rear end edge of the plate 22.
A mop guide 221 protruding upward and guiding the mop may be formed at the side or/and front of the plate 22. The mop guide 221 is connected to both ends of an entry inclined surface 227 formed at the rear of the plate 22.
The mop guide 221 is provided in two, and each mop guide 221 is connected to the left end of the entrance inclined surface 227 and the right end of the entrance inclined surface 227.
The mop guide 221 forms together with the entry ramp 227 at least a part of the outer circumference of the docking area 226. An inclined portion may be formed at the rear outer circumference of the parking area 226, and the mop guide 221 may be formed at the end of the inclined portion. The mop guide 221 prevents the mobile robot from exiting the docking area 226 and guides the casters to the caster guide 24.
Mop guide 221 may be formed protruding from the top surface of plate 22 in a manner having a curvature. The height of the rear of the mop guide 221 may be lower than the height of the front of the mop guide 221. The height of the mop guide 221 may be formed to be inclined in the front direction from the rear direction.
The mop guide 221 may be formed to be wide at the rear and narrow at the front. The mop guide 221 may be formed at a side portion and a front portion along the outer peripheral portion of the circular plate 22. The mop guide 221 may be formed in an arc shape.
The two mop guides 221 are arranged to be spaced apart in the left-right direction, and the distance between the two mop guides 221 may be larger than the distance between the two caster guides 24. Two caster guides 24 may be arranged between two mop guides 221.
Accordingly, in the case where the mobile robot enters out of the parking area 226, the casters may be guided to the caster guides 24 located at the inner front.
< charging terminal >
The charging terminal 23 is electrically connected to the mobile robot and charges a battery disposed inside the mobile robot, and is exposed to the upper portion from the top surface of the plate 22 of the charging station 2.
Which is electrically connected with the power module of the charging station. The charging terminal 23 may be disposed in front of the board 22. The charging terminals 23 may be arranged in a pair on the left and right sides about the vertical center axis Ay. Preferably, the pair of charging terminals 23 are symmetrically arranged with respect to the vertical center axis Ay. The vertical center axis Ay is a line parallel to the front-rear direction and passing through the center of the charging station 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' corresponding to the charging terminal 23 of the charging station. The corresponding terminal 23' of the mobile robot may be exposed to the lower portion of the body 3 to be electrically connected with the charging terminal 23 of the charging station. The charging terminal 23' of the mobile robot may be disposed at the front end of the main body 3.
< form of Caster guide >
Referring to fig. 4, the form of the caster guide 24 is described.
The caster guide 24 guides the moving direction of the mobile robot, and may have a structure in which the height of one end of the mobile robot is raised to be higher than a reference height as the mobile robot moves forward, and the height is lowered. Here, the reference height refers to the height of the cloth position portion 226.
The caster guides 24 are formed as part of the top surface of the plate 22 or may be coupled to the top surface of the plate 22 by additional members. The caster guide 24 is disposed behind the charging terminal 23 and in front of the cloth position portion 226.
The caster guide 24 may include: a guide surface 241 on the upper portion of which the caster is in contact and capable of rolling movement; a separation preventing wall 242 located on a side surface of the guide surface 241; and a stopper 2417 positioned in front of the guide surface 241. The caster guide 24 is formed with a pair on the left/right sides centering on the vertical center axis Ay. The pair of caster guides 24 are symmetrically arranged with respect to the vertical center axis Ay.
< guiding surface is horizontal >
The casters roll on the guide surface 241 from the rear to the front. The guide surface 241 may be formed as a horizontal surface or a surface having an angle of 5 degrees or less with respect to the horizontal in a cross section in the left-right direction.
The left/right guide surface 241 may be formed to be low at the middle and high at both side surfaces in the left-right direction cross section. As another example, the left/right guide surface 241 may have a downward inclination toward the vertical center axis in a left-right direction cross section. In the right-left direction cross section, the right guide surface 241 may be inclined downward in the right direction, and the right guide surface 241 may be inclined downward in the right direction.
Accordingly, the casters receive a force toward the vertical center axis while climbing up the guide surface 241, with the result that they can come in and go out at the midpoint of the plate 22.
The left/right guide surface 241 may have an upward inclination toward the vertical center axis in a left-right direction section. In the right-left direction cross section, the right guide surface 241 may be inclined upward in the right direction, and the right guide surface 241 may be inclined upward in the right direction.
Therefore, the caster receives a force in a direction opposite to the vertical center axis while climbing up the guide surface 241, and as a result, can come in and go out at the midpoint of the plate 22.
Each guide surface 241 may include a first guide surface 2411 and a second guide surface 2412. The guide surfaces 241 may include a first guide surface 2411, a second guide surface 2412, and a third guide surface 2413.
The first guide surface 2411 has a tilt in the front direction in the front-rear section. The rear end of the first guide surface 2411 is connected to the plate 22, and the front end is connected to the rear end of a second guide surface 2412 described later.
The inclination formed by the extension lines of the rear end and the front end of the first guide surface 2411 is smaller than the inclination formed by the lowermost end of the mobile robot and the front lower end edge of the mobile robot. Accordingly, the casters may reach the first guide surface 2411 and climb up to incline before the front lower end edge of the mobile robot collides with the first guide surface 2411.
The casters roll forward on the upper portion of the plate 22. The casters first contact the rear end of the first guide surface 2411 and roll up the incline of the first guide surface 2411. The first guide surface 2411 may be formed to be wide at the rear and narrow at the front.
The inclination of the first guide surface 2411 may be set to between 1 degree and 10 degrees in consideration of the weak advancing force of the mobile robot.
Referring to fig. 7a to 7c, the shape of the first guide surface 2411 is explained according to each embodiment.
Fig. 7a is a first embodiment, wherein the first guide surface 2411a may form an incline of a prescribed inclination when viewed from the right side. A connection portion between the rear end of the first guide surface 2411a and the plate 22 may form an arc. A connecting portion between the front end of the first guide surface 2411a and the rear end of the second guide surface 2412 may form an arc.
Fig. 7b is a second embodiment, wherein the first guide surface 2411b may form an incline with gradually decreasing inclination when viewed from the right side. A connection portion between the rear end of the first guide surface 2411b and the plate 22 may form an arc. In the case of forming the inclination in which the inclination of the first guide surface 2411b gradually decreases, the inclination change is most intense at the rear end of the first guide surface 2411b, and thus the point of time when the caster enters the caster guide 24 can be clearly sensed.
Fig. 7c is a third embodiment, wherein the first guide surface 2411c may form an inclination gradually increasing in inclination when viewed from the right side. A connecting portion between the front end of the first guide surface 2411c and the rear end of the second guide surface 2412 may form an arc. When the inclination of the first guide surface 2411c gradually increases, the inclination changes gently at the rear end of the first guide surface 2411c, and thus the first guide surface 2411c can be easily entered. Conversely, the change in inclination is most severe at the connection of the first guide surface 2411c and the second guide surface 2412, and thus the point of time of entering the second guide surface 2412 can be clearly sensed.
The inclination of the rear end 2411d having an inflection point may gradually increase and the inclination of the front end 2411e of the inflection point gradually decreases. The first guide surface may form an S-shaped slope when viewed from the side. At this time, the inclination of the rear end 2411d of the first guide surface is gently changed, so that the caster can easily enter the first guide surface 2411d, and since the inclination of the connection portion of the front end 2411e of the first guide surface and the rear end of the second guide surface 2412 is gently changed, the caster can easily enter the second guide surface 2412, and thus the reaction force applied to the caster can be minimized.
The second guide surface 2412 may be formed to be inclined in the front direction in a front-rear direction cross section. The casters may roll down along the second guide surface 2412. As the front end of the mobile robot is lifted up and then descends toward the front end of the second guide surface 2412, the corresponding terminal 23' provided to the main body 3 is brought into contact with the charging terminal 23 of the charging station.
The third guide surface 2413 may be formed to be inclined in the front direction in the front-rear direction cross section. The rear end of the third guide surface 2413 is connected to the front end of the second guide surface 2412. The connection point of the second guide surface 2412 and the third guide surface 2413 is a stable position so that casters can be placed. Preferably, the corresponding terminal 23' and the charging terminal 23 may contact before the caster reaches the third guide surface 2413.
< relation to charging terminal >
The height of the guide surface formed by the caster guide is described with reference to fig. 6.
The height h1 of the connecting portion of the first guide surface and the second guide surface may be higher than the height h2 of the connecting portion of the second guide surface and the third guide surface. By the height h1 of the connecting portion of the first guide surface and the second guide surface being higher than the height h2 of the connecting portion of the second guide surface and the third guide surface, the counterpart terminal 23' can be accessed from above when the counterpart terminal 23 is accessed.
The height h2 of the connecting portion of the second guide surface and the third guide surface may be lower than the height h4 of the charging terminal. More specifically, the height h4 of the charging terminal may be a height of a metal terminal disposed at an upper portion of the charging terminal 23. At this time, the counter terminal 23' and the charging terminal 23 are brought into contact and vertically overlap before the caster reaches the connection portion of the second guide surface 2412 and the third guide surface 2413, and thus, there is an effect that a part of the load of the mobile robot is applied to the overlapping charging terminal 23 to further strengthen the contact between the terminals. In addition, a part of the load applied to the mop is dispersed to the charging terminal 23, thereby having an effect of further increasing the life of the mop. In addition, a part of the load applied to the caster is dispersed to the charging terminal 23, thereby having an effect of further increasing the life of the caster. In addition, in the case where the caster is provided with a Cliff Sensor (Cliff Sensor), a wheel Drop (wheeldrop) phenomenon of the caster occurs, and the Cliff Sensor can confirm whether the mobile robot is accurately parked at the charging station 2 by sensing the phenomenon.
The caster guide 24 further includes a detachment prevention wall 242, the detachment prevention wall 242 defining a surface intersecting the guide surface 241 at a side end of the guide surface 241. The detachment prevention wall may be disposed at left and right side ends of the guide surface 241 and extend in the front-rear direction, and may define a surface having a height in the up-down direction.
Specifically, the detachment prevention wall 242 may be formed to protrude upward at the left and right side ends of the guide surface 241.
The escape prevention wall 242 may be formed at a side end of at least one of the first to third guide surfaces 2411c to 2413. The escape prevention wall 242 functions to prevent the casters moving on the guide surface from escaping from the guide surface.
The escape prevention wall 242 includes: a first escape prevention wall 242a formed to protrude upward at a left end of the guide surface 241; and a second escape prevention wall 242b formed to protrude upward at the right side end of the guide surface 241. The separation distance between the first and second escape prevention walls 242a and 242b gradually becomes narrower from the rear toward the front.
< stopper >
Referring to fig. 4, 7a to 7c, the stopper 2417 is described.
The stopper 2417 is disposed in front of the caster guide 24, and functions to prevent the caster from being detached by 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 to third guide surfaces 2411c to 2413.
Of course, according to an embodiment, the stopper 2417 may be omitted and the third guide surface 2413 may also function as the stopper 2417.
The height h3 of the highest point of the stopper may be higher than the height h1 of the connecting portion of the first guide surface and the second guide surface. If the height h1 of the connecting portion of the first guide surface and the second guide surface is higher than the height h3 of the highest point of the stopper according to the law of conservation of energy, a problem occurs in that the caster may be detached through the stopper 2417. Therefore, the height h3 of the highest point of the stopper is formed to be higher than the height h1 of the connecting portion of the first guide surface and the second guide surface, thereby preventing the caster from being detached (m×g×h1< m×g×h3).
Referring to fig. 7a to 7c, the shape of the stopper 2417 is explained.
Referring to fig. 7a, the stopper 2417 may form a plane perpendicular to the ground when viewed from the right side.
Alternatively, the stopper 2417 may include an inclination in the front direction when viewed from the right side, referring to fig. 7 b. The mobile robot may further advance than the front end of the third guide surface 2413 due to inertial force, excessive thrust, or the like. At this time, the caster is allowed to advance to a certain extent to prevent damage, and when the inertial force or the like is lost, the caster can be retracted and placed on the connecting portion between the second guide surface 2412 and the third guide surface 2413.
Alternatively, the stopper 2417 may include an inclination in the rear direction when viewed from the right side, referring to fig. 7 c. If necessary, the forward movement restriction line of the mobile robot may be determined by having a slope in the rear direction if the forward movement restriction line does not pass through the front end of the third guide surface 2413.
< front narrow rear broad >
Referring to fig. 2, when the caster guide 24 is viewed from the upper side, the width L3 of the front end of the caster guide 24 may be formed to be narrower than the width L4 of the rear end. The caster guide 24 may be formed to be narrow in front and wide in rear as viewed from the upper side. The width of the rear end of the first guide may be formed wider than the width of the front end of the third guide.
The width of the connection portion of the second guide surface 2412 and the third guide surface 2413 may be narrower than the width of the metal terminal plus the width of the caster. If the width of the connection portion of the second guide surface 2412 and the third guide surface 2413 is wider than the width of the metal terminal plus the width of the caster, the charging terminal 23 and the counterpart terminal 23' may not contact according to the position where the caster is seated. Accordingly, by forming the width of the connection portion of the second guide surface 2412 and the third guide surface 2413 to be narrower than the width of the caster plus the width of the caster, the electrical connection of the charging terminal 23 and the counterpart terminal 23' can be maintained regardless of the position of the caster at the connection portion of the second guide surface 2412 and the third guide surface 2413.
< position of Caster guide >
The castor guide 24 is located in front of the plate 22. The pair of caster guides may be disposed on both sides with respect to the vertical center axis Ay.
The caster guide 24 may be located at the rear than the charging terminal 23. In the mobile robot, the corresponding terminal 23 'may be disposed in front of the mobile robot, and the caster may be disposed behind the side surface of the corresponding terminal 23'. In order to correspond to this, the charging terminal 23 may be disposed in front of the plate 22, and the caster guide 24 may be disposed in rear of the side surface than the charging terminal 23.
The distance L2 from the vertical center axis to the center of the caster guide 24 may be greater than the distance L1 from the vertical center axis to the charging terminal 23, based on the vertical center axis Ay.
In the case where the mobile robot is circular, the caster may be disposed on the same circle as the metal terminal of the charging terminal 23 at the center position where the caster guide 24 is disposed. The connection portions of the second guide surface 2412 and the third guide surface 2413 on the caster guide 24 and the metal terminals of the charging terminal 23 may be arranged on the same circle. Therefore, in the case of caster placement, the charging terminal 23 and the counterpart terminal 23' may overlap in the vertical direction, and may be contacted and electrically connected.
< guide pin >
The guide pin 25 is a component which is disposed at the upper center of the plate 22, is inserted between the two turn cloths, and guides the mobile robot.
The guide pin 25 is disposed at the upper center of the plate 22. The guide pin 25 may be disposed in a parking area (cloth position portion 226). Specifically, the guide pin 25 is disposed at the rear side of the charging terminal 23 and the caster guide 24 above the plate 22.
In more detail, the guide pin 25 extends along the first direction (front-rear direction), and an extension line of the guide pin 25 passes between the first charging terminal and the second charging terminal (between the pair of charging terminals 23). The guide pin 25 is located on the vertical central axis Ay.
The guide pin 25 is formed to protrude upward. The guide pin 25 may be integrally formed with the plate 22, may be separately formed and combined.
The guide pin 25 may be formed to extend along a vertical central axis at a central upper portion of the plate 22. Two turner cloths or rotating discs may be adjacent to both side faces of the guide pin 25.
The front end 251 of the guide pin may be disposed rearward of the rear end of the caster guide 24. Thus, the swivel cloth 41 can reach the guide pin 25 before the casters reach the caster guide 24.
The rear end 253 of the guide pin may be formed with an inclination of the inclination in the front direction. Therefore, the lower side of the turn cloth is brought into contact with the front end 251 of the guide pin, and the guide pin 25 can be smoothly inserted between the turn cloths of the moving robot.
The front end 251 of the guide pin may be formed with a slope of a forward downward slope. Therefore, the lower side of the turn cloth is brought into contact with the rear end 253 of the guide pin, and the guide pin 25 can be smoothly inserted between the turn cloths of the moving robot that moves in and out.
While the preferred embodiments of the present invention have been shown and described, the present invention is not limited to the embodiments of the features described above, and various modifications may be made by those skilled in the art without departing from the gist of the present invention as claimed in the claims, and of course, such modifications should not be construed as in any way limiting the technical spirit or scope of the present invention.

Claims (27)

1. A mobile robotic charging station, comprising:
the body is provided with a power supply module;
a plate coupled to a lower end of the body;
a charging terminal exposed from the top surface of the board to the upper part and electrically connected to the power module; and
a caster guide for guiding the moving direction of the mobile robot, and raising the height of one end of the mobile robot to be higher than the reference height and lowering the height along with the forward movement of the mobile robot,
the caster guide is disposed at the rear of the charging terminal, the width of the front end of the caster guide is narrower than the width of the rear end,
the caster guide includes a guide surface for guiding the caster,
the guide surface includes:
a first guide surface disposed rearward of the guide surface and having a tilt in a forward direction;
a second guide surface connected to a front end of the first guide surface and having a downward front inclination; and
a third guide surface connected to a front end of the second guide surface and having an inclination in a front direction;
the charging terminal is provided with a plate, and a guide pin is disposed at the upper part of the plate rearward of the charging terminal and protrudes upward.
2. The mobile robotic charging station of claim 1, wherein,
The first guide surface has an inclination of a predetermined inclination.
3. The mobile robotic charging station of claim 1, wherein,
the inclination of the first guide surface gradually decreases.
4. The mobile robotic charging station of claim 1, wherein,
the inclination of the first guide surface gradually increases.
5. The mobile robotic charging station of claim 4, wherein,
the first guide surface further includes an inflection point disposed at an incline,
the inclination of the slope of the rear end of the inflection point gradually increases, and the inclination of the slope of the front end of the inflection point gradually decreases.
6. The mobile robotic charging station of claim 1, wherein,
the height (h 1) of the connecting portion of the first guide surface and the second guide surface is higher than the height (h 2) of the connecting portion of the second guide surface and the third guide surface.
7. The mobile robotic charging station of claim 1, wherein,
the height (h 2) of the connecting portion of the second guide surface and the third guide surface is lower than the height (h 4) of the charging terminal.
8. The mobile robotic charging station of claim 1, wherein,
the caster guide further includes a detachment prevention wall disposed on a side surface of the guide surface and protruding upward.
9. The mobile robotic charging station of claim 1, wherein,
the caster guide further includes a stopper attached to a front end of the third guide surface and protruding upward.
10. The mobile robotic charging station of claim 9, wherein,
the stopper extends in a direction perpendicular to the plate.
11. The mobile robotic charging station of claim 9, wherein,
the stopper has an inclination in the front direction.
12. The mobile robotic charging station of claim 9, wherein,
the stopper has an inclination in the rear direction.
13. The mobile robotic charging station of claim 9, wherein,
the highest point of the stopper has a height higher than the height of the connecting portion of the first guide surface and the second guide surface.
14. The mobile robotic charging station of claim 1, wherein,
the horizontal distance from the vertical center axis to the caster guide is greater than the horizontal distance from the vertical center axis to the charging terminal.
15. The mobile robotic charging station of claim 1, wherein,
the guide pin is formed to extend along a vertical center axis of the plate.
16. The mobile robotic charging station of claim 1, wherein,
the front end of the guide pin is disposed rearward of the rear end of the caster guide.
17. The mobile robotic charging station of claim 1, wherein,
the rear end of the guide pin is formed with a slope of inclination in the front direction.
18. The mobile robotic charging station of claim 1, wherein,
the front end of the guide pin is formed with a slope of forward downward inclination.
19. The mobile robotic charging station of claim 1, wherein,
and a mop guide protruding upward from the plate to guide the mop.
20. The mobile robotic charging station of claim 19, wherein,
the mop guide is formed at a side portion of the plate and a front portion of the plate along an outer peripheral portion of the plate, and has a curvature.
21. A mobile robotic charging station, comprising:
the body is provided with a power supply module;
a plate coupled to a lower end of the body;
a first charging terminal and a second charging terminal provided on the board and exposed to the upper portion of the board, and electrically connected to the power module; and
A guide pin disposed at the upper part of the plate rearward of the charging terminal and protruding upward,
the guide pin extends in a first direction,
an extension line of the guide pin passes between the first charging terminal and the second charging terminal.
22. The mobile robotic charging station of claim 21, wherein,
and a caster guide that guides casters of the mobile robot and is disposed on the board between the guide pin and the charging terminal,
the caster guide includes:
a guide surface for guiding the caster; and
and a detachment prevention wall defining a surface intersecting the guide surface at a side end of the guide surface.
23. The mobile robotic charging station of claim 22, wherein,
the guide surface has a front end with a width narrower than a rear end.
24. The mobile robotic charging station of claim 22, wherein,
the separation preventing wall includes a first separation preventing wall and a second separation preventing wall formed to protrude upward at both side ends of the guide surface.
25. The mobile robotic charging station of claim 22, wherein,
the robot further includes a cloth position portion disposed behind the caster guide at an upper portion of the plate, and defining an area where the plurality of turn cloths of the mobile robot are disposed.
26. The mobile robotic charging station of claim 25, wherein,
the cloth position portion is defined as a recessed area that is open in the front-rear direction and closed in the left-right direction when viewed from the top.
27. The mobile robotic charging station of claim 25, wherein,
the guide pins are formed to protrude from the cloth position portion toward the upper portion.
CN202080055451.9A 2019-07-31 2020-01-29 Mobile robot charging station Active CN114174021B (en)

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
CN114174021A CN114174021A (en) 2022-03-11
CN114174021B true CN114174021B (en) 2023-12-15

Family

ID=74229193

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080055451.9A Active CN114174021B (en) 2019-07-31 2020-01-29 Mobile robot charging station

Country Status (3)

Country Link
CN (1) CN114174021B (en)
AU (1) AU2020322423B2 (en)
WO (1) WO2021020671A1 (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006204758A (en) * 2005-01-31 2006-08-10 Toshiba Tec Corp Robot cleaner
KR20120007943A (en) * 2010-07-15 2012-01-25 삼성전자주식회사 Autonomous cleaning device, maintenance station and cleaning system having them
CN102717778A (en) * 2012-06-29 2012-10-10 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
CN102849138A (en) * 2011-06-28 2013-01-02 三星电子株式会社 Step climbing device for moving robots
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

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006204758A (en) * 2005-01-31 2006-08-10 Toshiba Tec Corp Robot cleaner
KR20120007943A (en) * 2010-07-15 2012-01-25 삼성전자주식회사 Autonomous cleaning device, maintenance station and cleaning system having them
CN102849138A (en) * 2011-06-28 2013-01-02 三星电子株式会社 Step climbing device for moving robots
CN102717778A (en) * 2012-06-29 2012-10-10 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
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

Also Published As

Publication number Publication date
WO2021020671A1 (en) 2021-02-04
AU2020322423A1 (en) 2022-03-24
CN114174021A (en) 2022-03-11
AU2020322423B2 (en) 2023-09-28

Similar Documents

Publication Publication Date Title
US20210030228A1 (en) Charging apparatus for mobile robot
AU2020356055B2 (en) Robot cleaner and method for controlling robot cleaner
US20210228043A1 (en) Cleaner washing apparatus
EP4032455A1 (en) Cleaner
KR20130037448A (en) Robot cleaner
KR20120042642A (en) Autonomous cleaning device
CN208973678U (en) Dampproofing pad and clean system of intelligence
CN114449934B (en) Robot cleaner
CN114929080B (en) Charging seat of sweeping robot
CN114174021B (en) Mobile robot charging station
KR20210086458A (en) Charging apparatus for robot cleaner
US20230292974A1 (en) Robot cleaner
TWI779324B (en) Charging apparatus for mobile robot
US20220322908A1 (en) Robotic cleaner
KR20120112292A (en) Autonomous cleaning device
CN215959650U (en) Base station and cleaning system
US20230284855A1 (en) Robot cleaner
CN114174011B (en) Mobile robot
CN217013907U (en) Base station and self-cleaning subassembly
CN215078049U (en) Base seat
KR20220084857A (en) Robot cleaner

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant