CN202714805U - Robotic vacuum cleaner - Google Patents

Robotic vacuum cleaner Download PDF

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Publication number
CN202714805U
CN202714805U CN 201220408571 CN201220408571U CN202714805U CN 202714805 U CN202714805 U CN 202714805U CN 201220408571 CN201220408571 CN 201220408571 CN 201220408571 U CN201220408571 U CN 201220408571U CN 202714805 U CN202714805 U CN 202714805U
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CN
China
Prior art keywords
mobile robot
battery
robot
charger cradle
battery charger
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Expired - Fee Related
Application number
CN 201220408571
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Chinese (zh)
Inventor
白吾鉉
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.)
Nanjing LG Panda Appliance Co Ltd
Original Assignee
LG Electronics Tianjin Appliances Co Ltd
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Priority to CN 201220408571 priority Critical patent/CN202714805U/en
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Publication of CN202714805U publication Critical patent/CN202714805U/en
Anticipated expiration legal-status Critical
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  • Electric Vacuum Cleaner (AREA)

Abstract

The utility model provides a robotic vacuum cleaner which comprises a first movable robot, a second movable robot and a chargeable platform. The first movable robot is provided with a chargeable first battery and can movably carry out a cleaning function; the second movable robot is provided with a chargeable second battery, and the second movable robot can move to the position of the first movable robot and be connected with the first movable robot in a butted mode; the chargeable platform is connected with the first movable robot and the second movable robot in a butted mode, the chargeable platform is used for obtaining current from exterior and charges the butted first battery of the first movable robot or the second battery of the second movable robot.

Description

Robot cleaner
Technical field
The utility model relates to robot cleaner, also can realize the robot cleaner of wireless charging when particularly separating with battery charger cradle.
Background technology
Robot cleaner is to utilize the battery that has charged to be power, at ground moving, automatically finishes the wireless automatic cleaner of cleaning works according to the program of having enrolled.This robot cleaner is different from traditional dust catcher, and the user need not spur dust catcher in person, but utilizes remote controller or simple movement buttons that dust catcher is automatically performed, and finishes cleaning works for the user.
In robot cleaner when work, separate with battery charger cradle 300, and automated movement is carried out cleaning works, and get back to battery charger cradle according to the dump energy of dust catcher and automatically perform and recharge, and continues cleaning after finishing charging.
When the dump energy of robot cleaner is lower than the minimum that can carry out cleaning works, interrupt cleaning, need to get back to battery charger cradle from purging zone, after battery charger cradle has rushed electricity, come back to the zone of interrupting cleaning and clean, process is loaded down with trivial details.
In the charging process, the zone of having cleaned may occur to pollute again, at this moment needs again to clean the zone of having cleaned, and causes efficient low.Therefore need robot cleaner away from battery charger cradle the time, also can charge, realize not having the cleaning process of interruption.
Summary of the invention
The utility model provides a kind of radio equipment people dust catcher, and also can charge under the battery charger cradle released state.
Problem of the present utility model does not limit on the above-mentioned problem, and other subject exercises person who does not mention can clearly understand from the content of claim record.
In order to reach described purpose, comprise the first mobile robot according to the embodiment of the present invention robot cleaner, be provided with chargeable the first battery, described the first mobile robot movably carries out cleaning function; The second mobile robot is provided with chargeable the second battery, and described the second mobile robot is movable to the first mobile robot docking; Battery charger cradle docks with described the first mobile robot or the second mobile robot, and described battery charger cradle is used for from outside acquisition electric current, and to the first battery of described first mobile robot of docking or the second battery charging of described the second mobile robot.The details of other embodiments are included in detailed explanation and drawing.
Advantage and the good effect that the utlity model has are:
Robot cleaner of the present utility model has following one or more effects.
First, carry out under the first mobile robot and the battery charger cradle released state when the first battery allowance is not enough in the cleaning way, the second mobile robot and battery charger cradle separate mobile are to docking with the first mobile robot, be the first battery charging with the second battery, therefore the first mobile robot need not get back to battery charger cradle, keeps the continuity of cleaning.
The second, the second mobile robot can be docked with battery charger cradle and also can be docked with the first mobile robot simultaneously, therefore can be the first mobile robot and the second mobile robot charging with a battery charger cradle.
Effect of the present utility model does not limit on the above-mentioned effect, and other effects operator who does not mention can clearly understand from the content of claim record.
Description of drawings
Mobile robot's main composition module map of Fig. 1 the utility model embodiment;
The robot cleaner charged state figure of Fig. 2 the utility model embodiment;
The schematic diagram that Fig. 3 charges with artificial the first mobile robot of the second telephone-moving device shown in Figure 2;
The robot cleaner module map of Fig. 4 another embodiment of the present utility model.
Critical piece symbol description in the accompanying drawing:
100,200: the mobile robot 300: battery charger cradle
120: input part 110: control part
130: induction part 150: wireless communication part
170: drive division 160: efferent
240: the second batteries of 140: the first batteries
The specific embodiment
The method of distinguishing characteristics of the present utility model and its function of realization can be with reference to the fact Example of drawings and detailed description.But the utility model is not limited in the embodiment of following discloses, but can embody with different modes.Present embodiment provides the category of invention just for complete open the present invention for the people who has common knowledge in the technical field under the utility model, the utility model limits its scope by claim.The same accompanying drawing figure number of specification and claim represents same inscape.
Below, the dust catcher that present invention will be described in detail with reference to the accompanying." module " below used in the explanation, " section " just consider easily to make specification and establish, and himself do not have other meanings or effect.
Fig. 1 is the mobile robot's 100 of embodiment of the present invention main composition module map.
As shown in Figure 1, the mobile robot 100 of the utility model the first embodiment comprises, input part 120, induction part 130, drive division 170, power supply provide section 140, wireless communication part 150, efferent 160 and control part.
Input part 120 is used for user's input of control commands.Input part 120 is provided with button or remote control etc., is used for input user's control command.
Induction part 130 is used for the relevant information of mobile robot's 100 surrounding environment such as induction persons or things.Induction part 130 comprises the upfront sensor of responding to the place ahead, the rear sensor at induction rear, the side sensor of induction side and the ground transaucer on induction ground etc.Induction part 130 is implemented by one or more position sensors, inertial sensor, ultrasonic sensor according to the specific embodiment.Induction part 130 passes to control part 110 by these sensors information that surrounding environment is relevant.
Power supply provides section 140 to provide power supply to mobile robot 100, is used for driving mobile robot 100.It is the secondary cells that can discharge and recharge that power supply provides section 140, simultaneously separable being arranged on the mobile robot 100.Power supply provides section 140 to charge by battery charger cradle 300.
Drive division 170 comprises mobile device and functional device, and described mobile device is used for direct mobile mobile robot 100, and described functional device is used for carrying out the function that is input in the mobile mobile robot 100.Mobile device passes through the realizations such as directional wheel (omni-wheels) according to the specific embodiment.Functional device is used for carrying out mobile robot 100 function.Simultaneously, dock with other mobile robots 100 when having a plurality of mobile apparatus 100, give other mobile robot's 100 chargings, guide other mobile robots 100, control other mobile robots 100.
Wireless communication part 150 comprises more than one module, is used between a plurality of mobile robots 100 or carries out radio communication between mobile robot 100 and the battery charger cradle 300.According to embodiment, wireless communication part 150 comprises electric wire (not shown), proximity communication module, telecommunication module and GPS module etc.
The telecommunication module is the module for telecommunication.Telecommunication can utilize WLAN (Wireless LAN) (Wi-Fi), Wibro (Wireless broadband), Wimax (World Int eroperability for Microwave Access), the technology such as HSDPA (High Speed Downlink Pa cket Access).
GPS (Global Position System) module is used for obtaining mobile robot 100 position, obtains positional information by a plurality of GPS from moonlet.
Electric wire is communicator, is used for receiving all electric waves and the signal that sends mobile robot 100.Described electric wire can be arranged on mobile robot 100 inside or outside, the electric wave or the signal that send from the outside with the irrelevant reception of its title simultaneously.
Efferent 160 is used for output sound signal or vision signal or alarm signal, realizes by the display part of expression visual information and the sound equipment output module of auditory information according to true mode.
Control part 110 provides section 140, efferent 160 to be connected with described input part 120, induction part 130, drive division 170, wireless communication part, power supply, comprehensive control of control mobile robot 100.Simultaneously, control part 110 also comprises holder etc., is used for storing signal or the order of the described part of input.
Fig. 2 is robot cleaner 10 charged state figure of the present utility model, and Fig. 3 is that Fig. 4 is the logic chart of the robot cleaner 10 of another embodiment of the present invention with the schematic diagram of artificial the first mobile robot charging of the second telephone-moving device shown in Figure 2.
Referring to figs. 2 to Fig. 4, the robot cleaner 10 of the utility model embodiment comprises and is provided with chargeable the first battery 140, and the first mobile robot 100 of mobile execution cleaning function; Be provided with chargeable the second battery 240, and be movable to the second mobile robot 200 of the first mobile robot 100 docking; Can dock with the first mobile robot 100 or the second mobile robot 200, and obtain electric current from the outside to the first battery 140 of the first mobile robot 100 of docking and or the second mobile robot's 200 of docking battery charger cradle 300.
The first mobile robot 100 is embodiments of mobile robot 100, carries out cleaning function in moving process or after finishing movement.The first mobile robot 100 implements the cleaning function of setting, the field that cleaning is predetermined when the user inputs the cleaning order.
The first mobile robot 100 inside have the first battery 140.The first battery 140 is a kind of embodiments that described power supply provides section 140, and the first mobile robot 100 utilizes the electric current of the first battery 140 to carry out function when separating with battery charger cradle 300.The first mobile robot 100 execution cleaning functions or other predetermined functions are until default current limit value.The predetermined current limit value of the battery of the first battery 140 can be set to the magnitude of current that the first mobile robot 100 can get back to battery charger cradle 300, and is different and different according to the distance between the first mobile robot 100 and the battery charger cradle 300.
The first battery 140 is the secondary cells that can discharge and recharge, and separable being arranged on the first mobile robot 100.When the first battery charges and discharge for more than 140 time when reaching the life-span, replace the first original battery 140 with the first new battery 140.
The second mobile robot 200 is another embodiments of mobile robot the first mobile robot 100, and described the second mobile robot 200 is movably docked with the first mobile robot 100.Identical with the first mobile robot 100, described the second mobile robot 200 inside are provided with second battery 240 that can discharge and recharge, and the setting that can dock with the first mobile robot 100.At this moment, be provided with the first mobile robot docking section 101 on the first mobile robot 100, and be provided with on the second mobile robot 200 with the first mobile robot docking section 101 and can dock the second mobile robot docking section 201.
Battery charger cradle 300 is arranged on the building inwall, provides terminal to be combined with power supply simultaneously and obtains electric current from the outside, and battery charger cradle 300 1 sides are provided with docking section 301, are used for docking with the first mobile robot 100 or the second mobile robot 200.Battery charger cradle 300 provides electric current for the first mobile robot 100 of docking, thereby is the inner battery charging that possesses.
Battery charger cradle 300 is provided with radio communication device, be used for and the first mobile robot 100 or the second mobile robot 200 radio communications, described radio communication device and the first mobile robot 100 or the second mobile robot's 200 wireless communication part 150/250 interacts, and orders as required the first mobile robot 100 or the second mobile robot 200 to get back to battery charger cradle 300.
Any one can dock with battery charger cradle 300 among the first mobile robot 100 or the second mobile robot 200.When docking the first mobile robot 100 on the battery charger cradle 300, the second mobile robot 200 is not docked with battery charger cradle 300.On the contrary, when docking the second mobile robot 200 on the battery charger cradle 300, the first mobile robot 100 is docked with the second mobile robot 200.At this moment, battery charger cradle 300 is given the first battery 140 of the first mobile robot 100 and/or the second battery 240 chargings of the second mobile robot 200.The second mobile robot 200 is docked with battery charger cradle 300 and also can be docked with the first mobile robot 100 simultaneously, and therefore a battery charger cradle 300 can be the first mobile robot 100 and the second mobile robot 200 chargings.
The second mobile robot 200 can with battery charger cradle 300 separate mobiles.When the second mobile robot 200 loads difference in functionality, according to function the second mobile robot 200 and battery charger cradle 300 separate mobiles who loads.At this moment the second mobile robot 200 obtains electric current, the function that mobile execution loads by the second battery 240.
Under the first mobile robot 100 and the state that battery charger cradle 300 separates, obtain electric currents from the first battery 140, movably carry out cleaning function.Judge batteries when the first battery 140 and exhausted can't continue to carry out the time, the first battery 140 need to be got back to battery charger cradle 300 chargings.The first mobile robot 100 can leave purging zone when getting back to battery charger cradle 300 in order to charge, and comes back to purging zone after the charging and causes inconvenience.
In order to address this problem under the first mobile robot 100 and battery charger cradle 300 released states, in the process of carrying out cleaning function, it is the first mobile robot 100 chargings that the second mobile robot 200 is docked with the first mobile robot 100.That is, when the first battery 140 electric surpluses can't continue to carry out cleaning function, the first mobile robot 100 did not need to get back to battery charger cradle 300, was charged to the first battery 140 by the second mobile robot 200 usefulness the second battery 240 that docks with the first mobile robot 100.Because because the first mobile robot 100 does not need to get back to battery charger cradle 300, realized charging by the second mobile robot 200, so under the prerequisite of not leaving purging zone, the first battery 140 is charged, thereby can keep the continuity of cleaning.
The second battery 240 is included as main battery 243 and the boosting battery 241 of the second mobile robot 200 chargings, after described boosting battery 241 charges by battery charger cradle 300, can be 140 chargings of the first battery when the second mobile robot 200 is docked with the first mobile robot 100.
Main battery 243 provides the electric current of function necessity of the second mobile robot 200 for the second mobile robot 200.Battery charger cradle 300 is main battery 243 chargings when the second mobile robot 200 is docked with battery charger cradle 300.Main battery 243 was the second mobile robot 200 power supplies when the second mobile robot 200 separated with battery charger cradle 300, made the second mobile robot 200 carry out predetermined function.
When boosting battery 241 docks with battery charger cradle 300 the second mobile robot 200, obtain electric currents and store from battery charger cradle 300.With before the first mobile robot 100 is docked, the electric current of boosting battery 241 is kept the state of preservation.
Boosting battery 241 was the first battery 140 chargings of the first mobile robot 100 when the first mobile robot 100 was docked with the second mobile robot 200.The second mobile robot 200 with move to the first mobile robot 100 docking of just carrying out cleaning function after battery charger cradle 300 separates, the electric current that boosting battery 241 is preserved is the first battery 140 chargings of the first mobile robot 100.With battery charger cradle 300 released states under the first mobile robot 100 when the first battery 140 electric weight are not enough when carrying out cleaning function, the first battery 140 realizes that by the second mobile robot's 200 boosting battery 241 chargings the first mobile robot 100 does not get back to the continuity that battery charger cradle 300 is kept cleaning.
The first mobile robot 100 also comprises recoil simulator 151, be used for generating the signal to the charging of the first battery of inviting to the second mobile robot 200 when the battery allowance of the first battery 140 arrives default limit value under the first mobile robot 100 and battery charger cradle 300 released states.In this situation, recoil simulator 151 can be implemented by an embodiment of above-mentioned wireless communication part 150.
Under the first mobile robot 100 and the state that battery charger cradle 300 separates in the cleaning way the electric surplus of the first battery 140 can be judged as and only remain the electric weight that can get back to battery charger cradle 300, when the described electric surplus that can get back to battery charger cradle 300 was defined as default limit value, control part 110 was transmitted an order to recoil simulator 151 when the first battery 140 electric surpluses reach default limit value.
Recoil simulator 151 receives the order of control part 110, sends the invitation signal that the first battery 140 needs charging to the second mobile robot 200.At this moment the second mobile robot 200 also comprises receiving device 251, is used for receiving the signal that sends from recoil simulator 151, and the second mobile robot's 200 receiving device 251 is another embodiment of wireless communication part 250.
No matter whether the second mobile robot 200 is with battery charger cradle 300 docking or separate, and receiving device 251 receives that the invitation signal of the first battery 140 chargings that recoil simulator 151 sends just moves to the first mobile robot 100.The second mobile robot 200 seeks the first mobile robot 100, moves and docks with the first mobile robot 100.The second mobile robot 200 drives induction part 130 judgements the first mobile robot's 100 position and docks with the first mobile robot 100.Second mobile robot 200 of docking with the first mobile robot 100 utilizes the second battery 240 to 140 chargings of the first battery.
The utility model is not limited on the described specific implementations, but also might form multiple variation by the mode of all or part of embodiment combination.
Simultaneously; the utility model is not limited on diagram and the explanation embodiment; under the prerequisite that is no more than the utility model claim protection domain; anyone utilize the common technology of ability to its multiple variation of carrying out all in interest field of the present utility model, and this variation can not be understood individually from technological thought of the present utility model.

Claims (8)

1. robot cleaner is characterized in that comprising:
The first mobile robot is provided with chargeable the first battery, and movably carries out cleaning function;
The second mobile robot is provided with chargeable the second battery, and is movable to the first mobile robot and docks with it;
Battery charger cradle docks with described the first mobile robot or the second mobile robot, and described battery charger cradle is used for from outside acquisition electric current, and to the first battery of described first mobile robot of docking or the second battery charging of described the second mobile robot.
2. robot cleaner according to claim 1 is characterized in that: described the second mobile robot with can move after described battery charger cradle separates.
3. robot cleaner according to claim 1, it is characterized in that: under described the first mobile robot and the described battery charger cradle released state, by charging to described the first battery to fetching with described the second battery of described the second mobile robot and described the first mobile robot.
4. robot cleaner according to claim 1, it is characterized in that: described the second mobile robot is docked with described battery charger cradle, and when described the first mobile robot was docked with described the second mobile robot, described battery charger cradle charged to described the first battery.
5. robot cleaner according to claim 1 is characterized in that, described the second battery comprises:
Supply with the main battery of electric current for the second mobile robot;
Obtain electric current and after storing from above-mentioned battery charger cradle, when the second mobile robot is docked to the first mobile robot, the boosting battery that the first battery is charged.
6. robot cleaner according to claim 1, it is characterized in that, described the first mobile robot also comprises recoil simulator, thereby under the first mobile robot and state that battery charger cradle separates, when the battery allowance of the first battery reaches default limit value, generate the signal to the charging of the first battery of inviting to above-mentioned the second mobile robot.
7. robot cleaner according to claim 6 is characterized in that, described the second mobile robot also comprises receiving device, is used for receiving the signal that described recoil simulator generates.
8. robot cleaner according to claim 7, it is characterized in that, seeking described the first mobile robot when described the second mobile robot receives described signal, and move to described the first mobile robot and dock, is described the first battery charging with described the second battery.
CN 201220408571 2012-08-17 2012-08-17 Robotic vacuum cleaner Expired - Fee Related CN202714805U (en)

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Application Number Priority Date Filing Date Title
CN 201220408571 CN202714805U (en) 2012-08-17 2012-08-17 Robotic vacuum cleaner

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Application Number Priority Date Filing Date Title
CN 201220408571 CN202714805U (en) 2012-08-17 2012-08-17 Robotic vacuum cleaner

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Publication Number Publication Date
CN202714805U true CN202714805U (en) 2013-02-06

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CN (1) CN202714805U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103349530A (en) * 2013-07-24 2013-10-16 莱克电气股份有限公司 Method for improving reliability of charging butt joint of robotic vacuum cleaner
CN103545885A (en) * 2013-10-14 2014-01-29 松下家电研究开发（杭州）有限公司 Dust collector powered by two battery packs and discharging control method of dust collector
CN105573311A (en) * 2014-10-11 2016-05-11 苏州宝时得电动工具有限公司 Self-movement robot
CN113054694A (en) * 2019-12-27 2021-06-29 江苏美的清洁电器股份有限公司 Parameter display method, cleaning equipment and charging base

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103349530A (en) * 2013-07-24 2013-10-16 莱克电气股份有限公司 Method for improving reliability of charging butt joint of robotic vacuum cleaner
CN103349530B (en) * 2013-07-24 2016-06-22 莱克电气股份有限公司 Improve the method that robot cleaner charging returns docking reliability
CN103545885A (en) * 2013-10-14 2014-01-29 松下家电研究开发（杭州）有限公司 Dust collector powered by two battery packs and discharging control method of dust collector
CN105573311A (en) * 2014-10-11 2016-05-11 苏州宝时得电动工具有限公司 Self-movement robot
CN113054694A (en) * 2019-12-27 2021-06-29 江苏美的清洁电器股份有限公司 Parameter display method, cleaning equipment and charging base
CN113054694B (en) * 2019-12-27 2023-06-09 江苏美的清洁电器股份有限公司 Parameter display method, cleaning equipment and charging base

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C14 Grant of patent or utility model
GR01 Patent grant
C41 Transfer of patent application or patent right or utility model
TR01 Transfer of patent right

Effective date of registration: 20160509

Address after: 210014 Yongfeng Road, Qinhuai District, Jiangsu, No. 28, No.

Patentee after: Nanjing LG Panda Appliances Co., Ltd.

Address before: 300402 Beichen District, Tianjin Jin Wai Road, No. 9

Patentee before: Lejin Electronic and Electric Appliance Co., Ltd. (Tianjin)

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130206

Termination date: 20170817