EP1696183A1 - A mobile robot having a humidifier therein - Google Patents
A mobile robot having a humidifier therein Download PDFInfo
- Publication number
- EP1696183A1 EP1696183A1 EP05292156A EP05292156A EP1696183A1 EP 1696183 A1 EP1696183 A1 EP 1696183A1 EP 05292156 A EP05292156 A EP 05292156A EP 05292156 A EP05292156 A EP 05292156A EP 1696183 A1 EP1696183 A1 EP 1696183A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- mobile robot
- driving
- reservoir
- humidifier
- disposed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
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- 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
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- 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
- A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
- A47L7/04—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids for using the exhaust air for other purposes, e.g. for distribution of chemicals in a room, for sterilisation of the air
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F6/00—Air-humidification, e.g. cooling by humidification
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2110/00—Control inputs relating to air properties
- F24F2110/20—Humidity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2221/00—Details or features not otherwise provided for
- F24F2221/12—Details or features not otherwise provided for transportable
- F24F2221/125—Details or features not otherwise provided for transportable mounted on wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2221/00—Details or features not otherwise provided for
- F24F2221/42—Mobile autonomous air conditioner, e.g. robots
Definitions
- the present invention relates generally to the field of mobile robots, and in some embodiments, to robots having a humidifier therein.
- humidifiers can be classified into centrifugal spray humidifiers, ultrasonic humidifiers, heat humidifiers, and filter evaporative humidifiers according to how water is evaporated.
- the centrifugal spray humidifiers spray drawn-in water using a centrifugal force and have the water collide with an inner wall, thereby evaporating the water.
- the ultrasonic humidifiers transmit an electric signal of a predetermined frequency to a vibrator immersed in water and vibrate the vibrator, thereby evaporating the water.
- a heat humidifier heats water using a heater or an electrode rod, thereby generating vapor.
- the filter evaporative humidifiers pass air through a wet filter, thereby evaporating the water.
- Such humidifiers maintain indoor humidity at an appropriate level for a fresh room environment, and mostly are stationary at a predetermined place.
- the stationary humidifier has a disadvantage that its humidifying effect is limited to an area in proximity to a place where the humidifier is installed, particularly if there is no convection current caused by the humidifier. Therefore, it is difficult to achieve a desired level of humidity in the entire room, and humidifying efficiency deteriorates.
- the disclosed embodiments may solve one or more of the above problems and/or disadvantages and may provide one or more of the advantages described herein.
- a mobile robot is provided with a humidifier to more uniformly humidify an entire room.
- a mobile robot simultaneously performs cleaning and humidifying operations.
- a mobile robot comprises a driving part for movably supporting a body and providing a driving force to move the body, a humidifier disposed on the body, and a controller for controlling the driving part.
- the mobile robot may further comprise a humidity sensor detecting an indoor humidity level; and a cover for covering the body.
- the controller controls an ON/OFF switching of the humidifier according to the humidity level detected by the humidity sensor.
- the humidifier comprises a reservoir for containing a fluid, an evaporating module for converting the fluid supplied from the reservoir into vapor and distributing the vapor to the outside; and a connection pipe for connecting the reservoir to the evaporating module to supply the fluid contained in the reservoir to the evaporating module.
- the evaporating module comprises an evaporator for converting the fluid into vapor, and a discharge pipe for discharging the vapor to the outside.
- the reservoir is provided with an injection port for injecting the fluid therethrough, and the injection port and the discharge pipe are exposed to the outside through an injection port hole and a discharge pipe hole formed on a cover for covering the body.
- the driving part comprises at least one driving motor controlled by the controller, a pair of driving wheels connected to the driving motor and disposed at opposite sides of the body; a pair of driven wheels connected to the pair of driving wheel to transmit a driving force; and a pair of idle wheels for supporting the body.
- the reservoir is disposed on the body in such a way that the driving wheels, the driven wheels and the idle wheels are subjected to the same load of the reservoir.
- a pair of the reservoirs are disposed on opposite sides of the body to be located above the driving wheel, the driven wheels, and the idle wheels.
- the mobile robot may further comprise an optional dust suction part disposed on the body to perform a cleaning operation with respect to a surface.
- FIG. 1 is an exploded perspective view showing an exemplary embodiment of a mobile robot
- FIG. 2 is a bottom view showing the mobile robot of FIG. 1;
- FIG. 3 is a block diagram showing an exemplary embodiment of one control system that can be used with the mobile robot of FIG. 1;
- FIG. 4 is a perspective view showing the mobile robot of FIG. 1 in an assembled state.
- a mobile robot according to one exemplary embodiment of the present invention comprises a body 10, a cover 20 covering the body 10, a dust suction part 30, a driving part 40, an upper camera 50, a front camera 52, an obstacle sensor 54, a memory device 60, a transmitting/receiving part 70, a controller 80, and a humidifier 90.
- An arrow direction I indicates a forwarding direction of the mobile robot cleaner.
- the dust suction part 30 is disposed on the body 10 to draw in dust-laden air from a cleaning surface and collect the dust.
- the dust suction part 30 is used in order for the mobile robot to perform a cleaning operation, and it may employ a well-known dust suction part of a general robot cleaner.
- the dust suction part 30 comprises a suction motor (not shown), a suction port 31 formed on the body 10, for drawing in dust from a cleaning surface by using a suction force generated by the suction motor, a brush 31 exposed to the outside through the suction port 31 to scrub the dust, and a dust collecting chamber (not shown) for collecting dust drawn in through the suction port.
- the driving part 40 comprises a pair of driven wheels 41 disposed at front opposite sides of the body 10, a pair of driving wheels 42 disposed at rear opposite sides of the body 10, a pair of driving motors 43 for rotating the pair of driving wheels 42, respectively, a power transmitting member 44 for transmitting a driving force from the driving wheels 42 to the driven wheels 41, and a pair of idle wheels 45 disposed at rear sides of the body 10 for movably supporting the body 10.
- the power transmitting member 44 uses a timing belt, but the useful power transmission mechanisms are not limited to the timing belt, which is merely shown as an example.
- the power transmitting member 44 may adopt a gear pulley assembly or any other known method of transmitting power.
- a pair driving motors 43 are provided, but any number of motors may be used, for example, a single driving motor.
- the idle wheels 45 can be omitted if the driving wheels 42 and the driven wheels 41 are arranged appropriately to balance the mobile robot.
- Various well-known driving mechanisms may be applied, if they activate the mobile robot and maintain the balance of the mobile robot.
- the driving part 40 rotates the driving motors 43 independently in a forward direction or a backward direction according to a control signal of the controller 80.
- a traveling direction is determined by changing rotational speed (measured in RPM) of the respective driving motors 43.
- the upper camera 50 is disposed on the body 10 to photograph an upper image and outputs the photographed image to the controller 80.
- the upper camera 50 employs a fisheye lens (not shown).
- the structure of the fish eye lens is disclosed in Korean Patent Publication Nos. 1996-7005245, 1997-48669 and 1994-22112, and the fisheye lenses are readily available from various manufacturers, so it is not necessary to include a detailed description of the construction of the lens in this specification.
- the front camera 52 is disposed on the body to photograph a front image and outputs the photographed image to the controller 80.
- the obstacle sensor 54 is arranged around an edge of the body 10 to transmit signals to the outside and receive reflected signals.
- the obstacle sensor 54 may use an optic sensor or an ultrasonic sensor.
- the obstacle sensor 54 may be used to measure a distance to an obstacle or a wall.
- the memory device 60 stores the upper image photographed by the upper camera 50, and the controller 80 calculates location information or travel information based on image information stored in the memory device 60.
- the transmitting/receiving part 70 sends out data to an external device 72 and transmits signals received from the external device 72 to the controller 80.
- the external device 72 is generally a wireless relay device (not shown) or a remote controller (not shown) which are enabled to input and output data.
- the controller 80 processes the signal received from the transmitting/receiving part 70 and controls the respective parts based on the signals.
- the mobile robot may further comprise a key input device (not shown) having a plurality of keys for setting functions of the mobile robot. In this case, the controller 80 processes key signal input from the key input device.
- the controller 80 extracts an image of a location recognition mark, which is installed on a ceiling of a working area, from the upper image photographed by the upper camera 50, and recognizes a location of the mobile robot based on the image of the location recognition mark.
- the controller 80 controls the respective parts to perform a target work based on location information.
- the controller 80 controls an ON/OFF switching of the humidifier 90 according to a value inputted from a humidity sensor 97 (see FIG. 3).
- the humidifier 90 comprises a pair of reservoirs 91, an evaporating module 93 and a connection pipe 96 for supplying fluid contained in the reservoirs 91 to the evaporating module 93.
- the pair of reservoirs 91 contain the fluid to be evaporated and are disposed at opposite sides of the body 10 and above the pairs of wheels 41, 42, and 45 so that the pairs of wheels 41, 42, 45 are subjected to equal load of the reservoirs 91. That is, the reservoirs 91 are disposed on the body 10 in such a way that a center of gravity of the reservoirs 91 is the same as that of the mobile robot.
- the reservoirs 91 may be arranged on the body 10 in various manners. Preferably, their layout satisfies the condition that the center of gravity of reservoirs 91 is identical to that of the mobile robot.
- each reservoir 91 has an injection port 92 through which fluid is injected into the reservoir 19.
- the injection port 92 is exposed to the outside through an injection port hole 22 formed on the cover 20 so that a user can directly inject the fluid without opening the cover 20.
- An openable and closable cover 23 is provided at the injection port hole 22.
- the evaporating module 93 comprises an evaporator 94 for evaporating the fluid supplied from the reservoirs 91 and a discharge pipe 95 for guiding vapor generated by the evaporator 94 to the outside of the mobile robot.
- the evaporator 94 is disposed on the body 10 and at a lower position than the reservoir 91 so that the fluid contained in the reservoirs 91 is easily supplied to the evaporator 94.
- the evaporator 94 may use any of a variety of known humidifying methods. For example, and without limitation, a centrifugal spray method, an ultrasonic method, a heat method or a filter evaporative method may be used.
- the discharge pipe 95 is exposed to the outside through a discharge pipe hole 21 formed on the cover 20.
- connection pipes 96 are provided to connect the evaporating module 93 to the respective reservoirs 91.
- the controller 80 controls the driving part 40 in order for the mobile robot to travel a working area according to a travel pattern, creates an image map with respect to an upper area based on an image photographed by the upper camera 50, and stores the image map in the memory device 60.
- the mobile robot can be set to create the image map before performing its actual operation.
- the controller 80 determines a location of the mobile robot based on the image map created in advance. More specifically, when the controller 80 receives as an input a work request signal from the key input device or the external device 72 in a wireless manner, the controller 80 compares a current image inputted by the upper camera 50 or the upper camera 50 and the front camera 52 with a memorized image map, and thereby determines a current location of the mobile robot. The controller 80 controls the driving part 40 to correspond to a traveling path from the determined current location to a target location.
- the work request signal includes a signal for cleaning operation, a signal for monitoring operation to be performed by the cameras 50 and 52 and a signal for humidifying operation.
- the mobile robot When the mobile robot travels along the traveling path to the target, it calculates a traveling error by use of a traveling distance measured by an encoder and a current location determined by the comparison of a currently-photographed image with a memorized image map, and controls the driving part 40 to compensate for the traveling error and follow the traveling path to the target location.
- the controller 80 selectively activates the dust suction part 30 and the humidifier 90, or both of them, according to the work request signal.
- a dust suction motor (not shown) is driven.
- suction force generated by the driven suction motor the mobile robot draws in dust from a surface to be cleaned through the suction port 31.
- the controller 80 determines whether to humidify based on a value received from the humidity sensor 97 and a reference value pre-set in the memory device 60, and the humidifier performs a humidifying operation when a measured humidity level is determined to be below a desired humidity target.
- the mobile robot humidifies at the area where a humidity is low, and does not humidify at the area where a humidity is high. Accordingly, the mobile robot can maintain the indoor humidity in a constant level within an entire working area and improve the humidification efficiency. Meanwhile, the humidifying and the cleaning operations are performed simultaneously and separately.
- the mobile robot stays at a certain place but may continue cleaning or humidifying operation.
- the controller 80 stops the cleaning or the humidifying operation and returns the mobile robot to an initial location.
- the humidifier 90 is movable within a room, it can humidify the entire room.
- the humidifier 90 is mounted in the mobile robot having a cleaning function, an additional humidifier is not required and thus a cost-saving effect is achieved. Also, since the cleaning and the humidifying operations are performed simultaneously, a much fresher living space can be obtained.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Signal Processing (AREA)
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Abstract
A mobile robot, in an embodiment, comprises a humidifying device (90) and is capable of humidifying an entire room. The mobile robot comprises a driving part (40) for movably supporting a body (10) and providing a driving force to move the body, a humidifier disposed on the body; and a controller (80) for controlling the driving part.
Description
- This application claims the benefit 35 U. S. C. § 119(a) of Korean Patent Application No. 2005-15461, filed on February 24, 2005, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference in its entirety.
- This application may contain subject matter related to one or more of the following pending U.S. Patent Applications: "Air Cleaning Robot and System Thereof," Serial No. 10/822,653 filed April 13, 2004; "Robot Cleaner having Air Cleaning Function and System Thereof," Serial No. 10/804,078 filed March 19, 2004; and "Robot Cleaner Equipped with Negative Ion Generator,: Serial No. 10/887,918 filed July 12, 2004.
- The present invention relates generally to the field of mobile robots, and in some embodiments, to robots having a humidifier therein.
- In general, humidifiers can be classified into centrifugal spray humidifiers, ultrasonic humidifiers, heat humidifiers, and filter evaporative humidifiers according to how water is evaporated.
- The centrifugal spray humidifiers spray drawn-in water using a centrifugal force and have the water collide with an inner wall, thereby evaporating the water. The ultrasonic humidifiers transmit an electric signal of a predetermined frequency to a vibrator immersed in water and vibrate the vibrator, thereby evaporating the water. A heat humidifier heats water using a heater or an electrode rod, thereby generating vapor. The filter evaporative humidifiers pass air through a wet filter, thereby evaporating the water.
- Such humidifiers maintain indoor humidity at an appropriate level for a fresh room environment, and mostly are stationary at a predetermined place. The stationary humidifier, however, has a disadvantage that its humidifying effect is limited to an area in proximity to a place where the humidifier is installed, particularly if there is no convection current caused by the humidifier. Therefore, it is difficult to achieve a desired level of humidity in the entire room, and humidifying efficiency deteriorates.
- It is to be understood that both the following summary and the detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. Neither the summary nor the description that follows is intended to define or limit the scope of the invention to the particular features mentioned in the summary or in the description.
- In certain embodiments, the disclosed embodiments may solve one or more of the above problems and/or disadvantages and may provide one or more of the advantages described herein.
- In some exemplary embodiments, a mobile robot is provided with a humidifier to more uniformly humidify an entire room.
- In a further exemplary embodiment, a mobile robot simultaneously performs cleaning and humidifying operations.
- In more specific examples provided in the specification, a mobile robot comprises a driving part for movably supporting a body and providing a driving force to move the body, a humidifier disposed on the body, and a controller for controlling the driving part.
- In an embodiment, the mobile robot may further comprise a humidity sensor detecting an indoor humidity level; and a cover for covering the body. The controller controls an ON/OFF switching of the humidifier according to the humidity level detected by the humidity sensor.
- The humidifier comprises a reservoir for containing a fluid, an evaporating module for converting the fluid supplied from the reservoir into vapor and distributing the vapor to the outside; and a connection pipe for connecting the reservoir to the evaporating module to supply the fluid contained in the reservoir to the evaporating module.
- In exemplary embodiments, the evaporating module comprises an evaporator for converting the fluid into vapor, and a discharge pipe for discharging the vapor to the outside. The reservoir is provided with an injection port for injecting the fluid therethrough, and the injection port and the discharge pipe are exposed to the outside through an injection port hole and a discharge pipe hole formed on a cover for covering the body.
- In an embodiment, the driving part comprises at least one driving motor controlled by the controller, a pair of driving wheels connected to the driving motor and disposed at opposite sides of the body; a pair of driven wheels connected to the pair of driving wheel to transmit a driving force; and a pair of idle wheels for supporting the body. The reservoir is disposed on the body in such a way that the driving wheels, the driven wheels and the idle wheels are subjected to the same load of the reservoir. A pair of the reservoirs are disposed on opposite sides of the body to be located above the driving wheel, the driven wheels, and the idle wheels.
- In some exemplary embodiments the mobile robot may further comprise an optional dust suction part disposed on the body to perform a cleaning operation with respect to a surface.
- The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate exemplary embodiments and, together with the description, further serve to enable a person skilled in the pertinent art to make and use these embodiments and others that will be apparent to those skilled in the art.
- FIG. 1 is an exploded perspective view showing an exemplary embodiment of a mobile robot;
- FIG. 2 is a bottom view showing the mobile robot of FIG. 1;
- FIG. 3 is a block diagram showing an exemplary embodiment of one control system that can be used with the mobile robot of FIG. 1; and
- FIG. 4 is a perspective view showing the mobile robot of FIG. 1 in an assembled state.
- A mobile robot having various inventive features will now be disclosed in terms of several exemplary embodiments. This specification discloses one or more embodiments that incorporate the features of this invention. The embodiment(s) described, and references in the specification to "one embodiment", "an embodiment", "an example embodiment", etc., indicate that the embodiment(s) described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, persons skilled in the art may effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.
- In the following description, similar drawing reference numerals may be used for the same elements even in different drawings. The embodiments described, and their detailed construction and elements, are merely provided to assist in a comprehensive understanding of the invention. Thus, it is apparent that the present invention can be carried out in a variety of ways, and does not require any of the specific features described herein. Also, well-known functions or constructions are not described in detail since they would obscure the invention with unnecessary detail.
- Referring to FIGS. 1 to 4, a mobile robot according to one exemplary embodiment of the present invention comprises a
body 10, acover 20 covering thebody 10, adust suction part 30, a drivingpart 40, anupper camera 50, afront camera 52, anobstacle sensor 54, amemory device 60, a transmitting/receivingpart 70, acontroller 80, and ahumidifier 90. An arrow direction I indicates a forwarding direction of the mobile robot cleaner. - In the exemplary embodiment shown, the
dust suction part 30 is disposed on thebody 10 to draw in dust-laden air from a cleaning surface and collect the dust. Thedust suction part 30 is used in order for the mobile robot to perform a cleaning operation, and it may employ a well-known dust suction part of a general robot cleaner. For example, thedust suction part 30 comprises a suction motor (not shown), asuction port 31 formed on thebody 10, for drawing in dust from a cleaning surface by using a suction force generated by the suction motor, abrush 31 exposed to the outside through thesuction port 31 to scrub the dust, and a dust collecting chamber (not shown) for collecting dust drawn in through the suction port. - As shown in FIG. 2, in an exemplary embodiment, the driving
part 40 comprises a pair of drivenwheels 41 disposed at front opposite sides of thebody 10, a pair ofdriving wheels 42 disposed at rear opposite sides of thebody 10, a pair ofdriving motors 43 for rotating the pair ofdriving wheels 42, respectively, apower transmitting member 44 for transmitting a driving force from thedriving wheels 42 to the drivenwheels 41, and a pair ofidle wheels 45 disposed at rear sides of thebody 10 for movably supporting thebody 10. In this embodiment, thepower transmitting member 44 uses a timing belt, but the useful power transmission mechanisms are not limited to the timing belt, which is merely shown as an example. Thepower transmitting member 44 may adopt a gear pulley assembly or any other known method of transmitting power. In this example, apair driving motors 43 are provided, but any number of motors may be used, for example, a single driving motor. Also, theidle wheels 45 can be omitted if the drivingwheels 42 and the drivenwheels 41 are arranged appropriately to balance the mobile robot. Various well-known driving mechanisms may be applied, if they activate the mobile robot and maintain the balance of the mobile robot. - The driving
part 40 rotates thedriving motors 43 independently in a forward direction or a backward direction according to a control signal of thecontroller 80. A traveling direction is determined by changing rotational speed (measured in RPM) of therespective driving motors 43. - In an embodiment, the
upper camera 50 is disposed on thebody 10 to photograph an upper image and outputs the photographed image to thecontroller 80. Preferably, theupper camera 50 employs a fisheye lens (not shown). The structure of the fish eye lens is disclosed in Korean Patent Publication Nos. 1996-7005245, 1997-48669 and 1994-22112, and the fisheye lenses are readily available from various manufacturers, so it is not necessary to include a detailed description of the construction of the lens in this specification. - In the embodiment shown, the
front camera 52 is disposed on the body to photograph a front image and outputs the photographed image to thecontroller 80. - In an embodiment, the
obstacle sensor 54 is arranged around an edge of thebody 10 to transmit signals to the outside and receive reflected signals. Theobstacle sensor 54 may use an optic sensor or an ultrasonic sensor. Theobstacle sensor 54 may be used to measure a distance to an obstacle or a wall. - In one method of operation that will be described herein as an example, the
memory device 60 stores the upper image photographed by theupper camera 50, and thecontroller 80 calculates location information or travel information based on image information stored in thememory device 60. - In this embodiment, the transmitting/receiving
part 70 sends out data to anexternal device 72 and transmits signals received from theexternal device 72 to thecontroller 80. Theexternal device 72 is generally a wireless relay device (not shown) or a remote controller (not shown) which are enabled to input and output data. - According to this embodiment, the
controller 80 processes the signal received from the transmitting/receivingpart 70 and controls the respective parts based on the signals. The mobile robot may further comprise a key input device (not shown) having a plurality of keys for setting functions of the mobile robot. In this case, thecontroller 80 processes key signal input from the key input device. - In an embodiment, the
controller 80 extracts an image of a location recognition mark, which is installed on a ceiling of a working area, from the upper image photographed by theupper camera 50, and recognizes a location of the mobile robot based on the image of the location recognition mark. Thecontroller 80 controls the respective parts to perform a target work based on location information. Also, thecontroller 80 controls an ON/OFF switching of thehumidifier 90 according to a value inputted from a humidity sensor 97 (see FIG. 3). - In the exemplary embodiment shown, the
humidifier 90 comprises a pair ofreservoirs 91, an evaporating module 93 and aconnection pipe 96 for supplying fluid contained in thereservoirs 91 to the evaporating module 93. - In this embodiment, the pair of
reservoirs 91 contain the fluid to be evaporated and are disposed at opposite sides of thebody 10 and above the pairs ofwheels wheels reservoirs 91. That is, thereservoirs 91 are disposed on thebody 10 in such a way that a center of gravity of thereservoirs 91 is the same as that of the mobile robot. Thereservoirs 91 may be arranged on thebody 10 in various manners. Preferably, their layout satisfies the condition that the center of gravity ofreservoirs 91 is identical to that of the mobile robot. In the example shown, eachreservoir 91 has aninjection port 92 through which fluid is injected into the reservoir 19. Theinjection port 92 is exposed to the outside through aninjection port hole 22 formed on thecover 20 so that a user can directly inject the fluid without opening thecover 20. An openable andclosable cover 23 is provided at theinjection port hole 22. - In an embodiment, the evaporating module 93 comprises an
evaporator 94 for evaporating the fluid supplied from thereservoirs 91 and adischarge pipe 95 for guiding vapor generated by theevaporator 94 to the outside of the mobile robot. Theevaporator 94 is disposed on thebody 10 and at a lower position than thereservoir 91 so that the fluid contained in thereservoirs 91 is easily supplied to theevaporator 94. Theevaporator 94 may use any of a variety of known humidifying methods. For example, and without limitation, a centrifugal spray method, an ultrasonic method, a heat method or a filter evaporative method may be used. Since the structure and principle of various useful forms ofevaporator 94 are well-known to those skilled art in the art, a detailed description of evaporator operation is omitted. Thedischarge pipe 95 is exposed to the outside through adischarge pipe hole 21 formed on thecover 20. - In this embodiment, two (2)
connection pipes 96 are provided to connect the evaporating module 93 to therespective reservoirs 91. - Hereinafter, one example of the method of operation of the mobile robot having the above construction will be described.
- The
controller 80 controls the drivingpart 40 in order for the mobile robot to travel a working area according to a travel pattern, creates an image map with respect to an upper area based on an image photographed by theupper camera 50, and stores the image map in thememory device 60. Alternatively, when the mobile robot receives a working command from a key input device or anexternal device 72 in a wireless manner, the mobile robot can be set to create the image map before performing its actual operation. - The
controller 80 determines a location of the mobile robot based on the image map created in advance. More specifically, when thecontroller 80 receives as an input a work request signal from the key input device or theexternal device 72 in a wireless manner, thecontroller 80 compares a current image inputted by theupper camera 50 or theupper camera 50 and thefront camera 52 with a memorized image map, and thereby determines a current location of the mobile robot. Thecontroller 80 controls the drivingpart 40 to correspond to a traveling path from the determined current location to a target location. In here, the work request signal includes a signal for cleaning operation, a signal for monitoring operation to be performed by thecameras - When the mobile robot travels along the traveling path to the target, it calculates a traveling error by use of a traveling distance measured by an encoder and a current location determined by the comparison of a currently-photographed image with a memorized image map, and controls the driving
part 40 to compensate for the traveling error and follow the traveling path to the target location. - While the mobile robot travels, the
controller 80 selectively activates thedust suction part 30 and thehumidifier 90, or both of them, according to the work request signal. - That is, when power is supplied from a power source (not shown) provided in the
body 10, a dust suction motor (not shown) is driven. As a result of suction force generated by the driven suction motor, the mobile robot draws in dust from a surface to be cleaned through thesuction port 31. - In an embodiment, the
controller 80 determines whether to humidify based on a value received from thehumidity sensor 97 and a reference value pre-set in thememory device 60, and the humidifier performs a humidifying operation when a measured humidity level is determined to be below a desired humidity target. Under the control of thecontroller 80, the mobile robot humidifies at the area where a humidity is low, and does not humidify at the area where a humidity is high. Accordingly, the mobile robot can maintain the indoor humidity in a constant level within an entire working area and improve the humidification efficiency. Meanwhile, the humidifying and the cleaning operations are performed simultaneously and separately. - If a user inputs a signal to stop the operation of the driving
part 40 through theexternal device 72, the mobile robot stays at a certain place but may continue cleaning or humidifying operation. - If the user inputs a work stopping command through the
external device 72 when the cleaning or the humidifying operation is completed, thecontroller 80 stops the cleaning or the humidifying operation and returns the mobile robot to an initial location. - As described above, since the
humidifier 90 is movable within a room, it can humidify the entire room. - Since the
humidifier 90 is mounted in the mobile robot having a cleaning function, an additional humidifier is not required and thus a cost-saving effect is achieved. Also, since the cleaning and the humidifying operations are performed simultaneously, a much fresher living space can be obtained. - The foregoing embodiments and advantages are merely exemplary and are not to be construed as limiting the present invention. The description of the present invention is intended to be illustrative, and not to limit the scope of the claims. Many alternatives, modifications, and variations will be apparent to those skilled in the art. In the claims, means-plus-function clauses are intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures.
Claims (9)
- A mobile robot comprising:a driving part for movably supporting a body and providing a driving force to move the body;a humidifier disposed on the body; anda controller for controlling the driving part.
- The mobile robot as claimed in claim 1, further comprising a humidity sensor detecting an indoor humidity level, wherein the controller controls an ON/OFF switching of the humidifier according to the humidity level detected by the humidity sensor.
- The mobile robot as claimed in any of claims 1 and 2, wherein the humidifier comprises:a reservoir for containing a fluid; andan evaporating module for converting the fluid supplied from the reservoir into vapor and distributing the vapor to the outside.
- The mobile robot as claimed in claim 3, wherein the evaporating module comprises:an evaporator for converting the fluid into vapor; anda discharge pipe for discharging the vapor to the outside.
- The mobile robot as claimed in claim 4, wherein the reservoir is provided with an injection port for injecting the fluid therethrough, and the injection port and the discharge pipe are exposed to the outside through an injection port hole and a discharge pipe hole formed on a cover for covering the body.
- The mobile robot as claimed in any of claims 3 to 5, wherein the driving part comprises:at least one driving motor controlled by the controller;a pair of driving wheels connected to the driving motor and disposed at opposite sides of the body;a pair of driven wheels connected to the pair of driving wheel to transmit a driving force; anda pair of idle wheels for supporting the body,wherein the reservoir is disposed on the body in such a way that the driving wheels, the driven wheels and the idle wheels are subjected to the same load of the reservoir.
- The mobile robot as claimed in claim 6, wherein a pair of the reservoirs are disposed on opposite sides of the body to be located above the driving wheel, the driven wheels, and the idle wheels.
- The mobile robot as claimed in any of claims 4 to 7, wherein the humidifier further comprise a connection pipe for connecting the reservoir and the evaporator to supply the fluid from the reservoir to the evaporator.
- A mobile robot comprising:a driving part for movably supporting a body and providing a driving force to move the body;a humidifier disposed on the body;a humidity sensor for detecting an indoor humidity level;a dust suction part disposed in the body to perform a cleaning operation with respect to a surface; anda controller for controlling the driving of the driving part and an ON/OFF switching of the humidifier according to the indoor humidity level detected by the humidity sensor.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020050015461A KR100633446B1 (en) | 2005-02-24 | 2005-02-24 | Mobile robot having humidifier |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1696183A1 true EP1696183A1 (en) | 2006-08-30 |
Family
ID=36294896
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP05292156A Withdrawn EP1696183A1 (en) | 2005-02-24 | 2005-10-13 | A mobile robot having a humidifier therein |
Country Status (7)
Country | Link |
---|---|
US (1) | US20060186561A1 (en) |
EP (1) | EP1696183A1 (en) |
JP (1) | JP2006234372A (en) |
KR (1) | KR100633446B1 (en) |
CN (1) | CN1824468A (en) |
AU (1) | AU2005227372B2 (en) |
RU (1) | RU2322644C2 (en) |
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Also Published As
Publication number | Publication date |
---|---|
KR20060094354A (en) | 2006-08-29 |
JP2006234372A (en) | 2006-09-07 |
AU2005227372B2 (en) | 2007-08-30 |
RU2322644C2 (en) | 2008-04-20 |
RU2005132943A (en) | 2007-05-10 |
US20060186561A1 (en) | 2006-08-24 |
KR100633446B1 (en) | 2006-10-13 |
AU2005227372A1 (en) | 2006-09-07 |
CN1824468A (en) | 2006-08-30 |
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