EP2433542A1 - Automatischer reiniger - Google Patents

Automatischer reiniger Download PDF

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Publication number
EP2433542A1
EP2433542A1 EP10853033A EP10853033A EP2433542A1 EP 2433542 A1 EP2433542 A1 EP 2433542A1 EP 10853033 A EP10853033 A EP 10853033A EP 10853033 A EP10853033 A EP 10853033A EP 2433542 A1 EP2433542 A1 EP 2433542A1
Authority
EP
European Patent Office
Prior art keywords
moving
driving
moving part
force
automatic cleaner
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Withdrawn
Application number
EP10853033A
Other languages
English (en)
French (fr)
Inventor
Jong-Hyun Seo
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
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Publication of EP2433542A1 publication Critical patent/EP2433542A1/de
Withdrawn legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A47L1/03—Power-driven machines or devices cleaning both sides of a window simultaneously
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present disclosure relates to an automatic cleaner, and more particularly, to an automatic cleaner for cleaning an object inclined from a ground.
  • Driving force for moving an automatic cleaner may be generated by a driving motor. Since a floor of houses or buildings is generally horizontal, an automatic cleaner easily travels on the floor by means of the driving motor.
  • traveling of an automatic cleaner may be limited.
  • Embodiments provide an automatic cleaner movably attached to an inclined object and cleaning the inclined object.
  • Embodiments also provide an automatic cleaner capable of simultaneously cleaning two surfaces.
  • an automatic cleaner includes: a first moving part movably disposed at a side of an object to be cleaned; a second moving part movably disposed at another side of the object; a moving wheel disposed on at least one of the first moving part and the second moving part; a driving motor providing driving force to the moving wheel; a fixing member fixing the first moving part and the second moving part to each other through the object; and a control part increasing or decreasing the driving force output from the driving motor according to a moving direction of the first or second moving part.
  • an automatic cleaner in another embodiment, includes: at least one moving part movably disposed on a window; a moving wheel provided to the moving part; a driving motor providing driving force to the moving wheel; a fixing member providing fixing force for attaching the moving part to the window; a cleaning member provided to the moving part, and cleaning at least one surface of the window; and a control part controlling electric current applied to the driving motor such that an output of the driving motor is equal to or greater than a sum of an unloaded weight of the moving part and the fixing force of the fixing member.
  • an automatic cleaner in another embodiment, includes: a driving part movably disposed on a surface of a window; a driven part disposed on another surface of the window, and moved according to a movement of the driving part; a moving wheel moving the driving part or the driven part; a driving motor providing driving force to the moving wheel; a plurality of magnetic members provided to the driving part and the driven part; a cleaning member cleaning one of the surfaces of the window; and a control part controlling the driving force of the driving motor to vary according to whether the driving part or the driven part moves toward an upper, lower, or lateral side of the window.
  • an automatic cleaner in another embodiment, includes: a driving part movably disposed on a surface of an object to be cleaned, the object being inclined from a ground; a driven part disposed on another surface of the object, and moved according to a movement of the driving part; a moving wheel moving the driving part or the driven part; a driving motor providing driving force to the moving wheel; a plurality of magnetic members disposed at both sides of the object; and a control part controlling electric current applied to the driving motor such that the driving motor generates a preset amount of driving force according to a moving direction of the driving part or the driven part.
  • Fig. 1 is a cross-sectional view illustrating an automatic cleaner attached to an object to be cleaned, according to a first embodiment.
  • Fig. 2 is a perspective view illustrating the bottom of a first moving part according to the first embodiment.
  • Fig. 3 is a perspective view illustrating the bottom of a second moving part according to the first embodiment.
  • Fig. 4 is a cross-sectional view illustrating an automatic cleaner fixed to an object, according to the first embodiment.
  • Fig. 5 is a cross-sectional view illustrating an automatic cleaner moving toward the upper side of an object, according to the first embodiment.
  • Fig. 6 is a cross-sectional view illustrating an automatic cleaner moving from the left side of an object to the right side thereof, according to the first embodiment.
  • Fig. 7 is a cross-sectional view illustrating an automatic cleaner moving toward the lower side of an object, according to the first embodiment.
  • Fig. 8 is a block diagram illustrating a first moving part according to the first embodiment.
  • Fig. 9 is a perspective view illustrating the bottom of a second moving part according to a second embodiment.
  • Fig. 10 is a cross-sectional view illustrating an automatic cleaner attached to an object, according to a third embodiment.
  • Fig. 11 is a perspective view illustrating the bottom of a first moving part according to a fourth embodiment.
  • Fig. 12 is a cross-sectional view illustrating an automatic cleaner fixed to an object, according to a firth embodiment.
  • Fig. 13 is a cross-sectional view illustrating an automatic cleaner attached to an object, according to a sixth embodiment.
  • Fig. 14 is a block diagram illustrating an automatic cleaner, according to the sixth embodiment.
  • Fig. 1 is a cross-sectional view illustrating an automatic cleaner attached to an object to be cleaned, according to a first embodiment.
  • an automatic cleaner 10 includes a first moving part 100 and a second moving part 200 at both sides of an object 20 to be cleaned.
  • the object 20 is inclined from a ground.
  • the object 20 may be perpendicular to the ground, and the ground may be a surface corresponding to a bottom surface of a building or a certain area.
  • the first moving part 100 includes: a first main body 110 movably disposed at a side of the object 20; and a first magnetic member 150 coupled to the lower portion of the first main body 110, and fixing the first moving part 100 to the second moving part 200.
  • At least one portion of the first magnetic member 150 is disposed in the first main body 110, and the other portion thereof is disposed under the bottom surface of the first main body 110, and is exposed.
  • the first magnetic member 150 protrudes from the first main body 110 toward the object 20, and is close to a magnetic member 250 of the second moving part 200, thereby maximizing a magnetic effect.
  • the first moving part 100 includes a first cleaning member 170 that contacts and cleans a surface of the object 20.
  • the first cleaning member 170 may be removably coupled to the bottom of the first main body 110 and the bottom of the first magnetic member 150.
  • the first cleaning member 170 may be formed of a sponge or fabric to adsorb dust and absorb moisture.
  • the bottom of the first main body 110 may be provided with a coupling member to couple the first cleaning member 170.
  • the coupling member may include a tape or a Velcro.
  • the first moving part 100 includes moving wheels 130 to efficiently move the first main body 110.
  • the moving wheels 130 may contact the surface of the object 20.
  • the first main body 110 is provided with an input part 115 to input a predetermined command for operating the automatic cleaner 10.
  • the input part 115 may include a power input part.
  • the second moving part 200 has a shape corresponding to the first moving part 100, and is opposed to the first moving part 100 with respect to the object 20.
  • the second moving part 200 includes: a second main body 210 movable at the other side of the object 20; and the second magnetic member 250 coupled to the lower portion of the second main body 210, and fixing the second moving part 200 to the first moving part 100.
  • the second magnetic member 250 and the first magnetic member 150 function as a fixing member for fixing the first moving part 100 and the second moving part 200 to the object 20.
  • At least one portion of the second magnetic member 250 is disposed in the second main body 210, and the other portion thereof is disposed under the bottom surface of the second main body 210, and is exposed.
  • the second magnetic member 250 protrudes from the second main body 210 toward the object 20, and is close to the first magnetic member 150, thereby maximizing a magnetic effect.
  • the first moving part 100 and the second moving part 200 are fixed to each other by the first magnetic member 150 and the second magnetic member 250.
  • An attraction is exerted between the first magnetic member 150 and the second magnetic member 250.
  • the attraction has a magnitude to fix the first moving part 100 and the second moving part 200 to both the surfaces of the object 20.
  • the second moving part 200 includes a second cleaning member 270 that contacts and cleans the other surface of the object 20.
  • the second cleaning member 270 may be removably coupled to the bottom of the second main body 210 and the bottom of the second magnetic member 250.
  • a material used to form the second cleaning member 270 and a coupling method for the second cleaning member 270 may be the same as those of the first cleaning member 170.
  • the first cleaning member 170 and the second cleaning member 270 may be referred to as adsorbing members for removing an impurity.
  • a portion of the second cleaning member 270 corresponding to the second magnetic member 250 may be thinner that the other portion thereof.
  • Fig. 2 is a perspective view illustrating the bottom of a first moving part according to the first embodiment.
  • Fig. 3 is a perspective view illustrating the bottom of a second moving part according to the first embodiment.
  • the first main body 110 has a first bottom surface 112 constituting the bottom surface of the first main body 110.
  • the first cleaning member 170 protrudes downward from the first bottom surface 112.
  • the moving wheels 130 may be disposed at both sides of the first cleaning member 170. Outer circumferential surfaces of the moving wheels 130 are provided with sliding prevention recesses 132 to maintain predetermined frictional force against the object 20.
  • the sliding prevention recesses 132 prevent the moving wheels 130 from sliding on the object 20. While the moving wheels 130 rotate, the first main body 110 moves over the object 20.
  • the first main body 110 includes a plurality of driving motors 135 for providing driving force to the moving wheels 130, and a plurality of driving shafts 136 for transmitting the driving force to the moving wheels 130.
  • the driving motors 135 and the driving shafts 136 are disposed in the first main body 110. At least one portion of the moving wheels 130 protrudes downward from the first bottom surface 112. When the first main body 110 is disposed over the object 20, the moving wheels 130 and the first cleaning member 170 may contact the object 20.
  • the first main body 110 includes a first sensor 180 and a second sensor 182 to sense an obstacle in a moving path of the first moving part 100.
  • the first sensor 180 and the second sensor 182 may be referred to as sensing parts.
  • Each of the first sensor 180 and the second sensor 182 may be provided in plurality at both the sides of the first main body 110.
  • the first sensor 180 is disposed on the front or rear portion of the first main body 110.
  • the first moving part 100 When a distance between an obstacle and the front portion of the first main body 110 is within a predetermined distance in a moving direction of the first moving part 100, the first moving part 100 may be stopped and turned. The first moving part 100 may be turned by controlling a driving direction of the driving motors 135.
  • one of the driving motors 135 may rotate clockwise, and the other one may rotate counterclockwise, to thereby turn the first moving part 100 in a certain direction.
  • the driving motors 135 may be synchronous motors capable of rotating in both directions, or be inverter motors having a variable motor output.
  • the second sensor 182 is disposed on the first bottom surface 112 to sense a protrusion or a bent portion (a break of a path) in a moving path of the first moving part 100.
  • the first moving part 100 may be stopped and turned.
  • the first sensor 180 or the second sensor 182 provided to the front portion of the first main body 110 is operated.
  • the first sensor 180 or the second sensor 182 provided to the rear portion of the first main body 110 is operated.
  • the first sensor 180 and the second sensor 182 may be provided to the second moving part 200. That is, the first sensor 180 and the second sensor 182 may be provided to at least one of the first moving part 100 and the second moving part 200.
  • the second main body 210 of the second moving part 200 has a second bottom surface 212 constituting the bottom surface of the second main body 210.
  • the second bottom surface 212 is provided with the second magnetic member 250 and the second cleaning member 270.
  • the second magnetic member 250 may be disposed in a position corresponding to the first magnetic member 150.
  • the first moving part 100 may be referred to as a driving part moved by driving force from a driving motor.
  • the second moving part 200 may be referred to as a driven part moved by both the driving force from the driving motor and the attraction between the first magnetic member 150 and the second magnetic member 250.
  • the driving motors 135 are driven to rotate the moving wheels 130, to thereby move the first moving part 100 in a predetermined direction.
  • the second moving part 200 is moved according to the moving of the first moving part 100 by the attraction between the first magnetic member 150 and the second magnetic member 250.
  • Fig. 4 is a cross-sectional view illustrating an automatic cleaner fixed to an object, according to the first embodiment.
  • the first moving part 100 and the second moving part 200 may be fixed at the both sides of the object 20.
  • the object 20 may be a slope forming an angle Q with a ground 30.
  • the angle Q may be about 90°.
  • a plurality of forces is applied to the first moving part 100 and the second moving part 200.
  • an unloaded weight F 1 is applied in the gravity direction to the first moving part 100.
  • the mass of the first moving part 100 is denoted by m 1
  • An unloaded weight F 2 is applied in the gravity direction to the second moving part 200.
  • the attraction exerted between the first magnetic member 150 and the second magnetic member 250 is denoted by F m .
  • the attraction F m may be a force that pulls the first magnetic member 150 and the second magnetic member 250 closer together by magnetic force therebetween.
  • a shear force (shear magnetic force) F t which is directed toward the upper side of the object 20, is applied between the first magnetic member 150 and the second magnetic member 250.
  • the shear force F t is parallel to the object 20, and may be generated by magnetic force between the first magnetic member 150 and the second magnetic member 250.
  • the attraction F m and the shear force F t may be fixed forces generated by the first magnetic member 150 and the second magnetic member 250.
  • a wheel frictional force F 3 which is generated by friction between the moving wheel 130 and the object 20, is applied to the moving wheel 130.
  • the wheel frictional force F 3 which is generated by contact between the moving wheel 130 and the object 20, may be applied toward the upper side of the object 20. That is, the wheel frictional force F 3 and the shear force F t may be applied in the same direction.
  • the first moving part 100 and the second moving part 200 are fixed to each other by the attraction F m applied in a left and right direction of the object 20 in Fig. 4 .
  • a value of F t + F 3 may be greater than a value of F 1 + F 2 .
  • the first moving part 100 and the second moving part 200 may be prevented from moving downward along the object 20 in Fig. 4 .
  • Fig. 5 is a cross-sectional view illustrating an automatic cleaner moving toward the upper side of an object, according to the first embodiment.
  • Fig. 6 is a cross-sectional view illustrating an automatic cleaner moving from the left side of an object to the right side thereof, according to the first embodiment.
  • Fig. 7 is a cross-sectional view illustrating an automatic cleaner moving toward the lower side of an object, according to the first embodiment.
  • the automatic cleaner 10 may move upward (in a direction A) along the object 20.
  • the terms 'move upward' denote 'to move against gravity ⁇ .
  • the second moving part 200 may be disposed at the opposite side of the object 20 to the first moving part 100. While the automatic cleaner 10 moves from the lower side of the object 20 to the upper side thereof, the force of F 1 + F 2 + F t as described in Fig. 4 may be applied downward to the automatic cleaner 10.
  • a wheel frictional force F 4 which is generated by contact between the object 20 and the moving wheels 130, is applied to the moving wheel 130.
  • the kinematic coefficient of friction ⁇ k may be smaller than the static coefficient of friction ⁇ s .
  • the wheel frictional force F 4 is applied in the opposite direction of a moving direction of the automatic cleaner 10, that is, to the lower side of the object 20.
  • the driving motors 135 may output a force F M to provide the driving force for moving the automatic cleaner 10.
  • the force F M may be greater than the force of F 1 + F 2 + F 4 + F t to move the automatic cleaner 10 upward.
  • the automatic cleaner 10 may move from the upper left side of the object 20 to the upper right side thereof (in a direction B). As a matter of course, the automatic cleaner 10 may move from the upper right side of the object 20 to the upper left side thereof.
  • the force of F 4 + F t may be applied to the automatic cleaner 10 in the opposite direction of a moving direction of the automatic cleaner 10.
  • the force F M output by the driving motors 135 may be greater than the force of F 4 + F t to move the automatic cleaner 10.
  • the automatic cleaner 10 may move from the upper side of the object 20 to the lower side thereof (in a direction C).
  • the force of F 4 + F t as described in Fig. 4 may be applied upward to the automatic cleaner 10.
  • the force of F 1 + F 2 which is the unloaded weight of the automatic cleaner 10, may be applied downward.
  • the force F M is applied to the driving motors 135 to move the automatic cleaner 10 to the lower side of the object 20.
  • the driving motors 135 may be apply brake force to the automatic cleaner 10, so that the automatic cleaner 10 can stably move downward.
  • the brake force may be predetermined driving force for rotating the moving wheels 130 in the opposite direction to a moving direction of the automatic cleaner 10.
  • the force F M output from the driving motors 135 has the maximum value when the automatic cleaner 10 moves upward, and has the minimum value when the automatic cleaner 10 moves downward.
  • the force F M is between the maximum value and the minimum value.
  • Fig. 8 is a block diagram illustrating a first moving part according to the first embodiment.
  • the first moving part 100 includes: an acceleration sensor 185 for sensing a velocity change of the automatic cleaner 10 or the first moving part 100; a height sensor 186 for sensing a height change of the automatic cleaner 10 or the first moving part 100; and a control part 180 for controlling the acceleration sensor 185 and the height sensor 186.
  • the automatic cleaner 10 or the first moving part 100 is controlled to move at a preset velocity on the object 20. That is, the automatic cleaner 10 may move at a constant velocity, regardless of a moving direction (upward direction, downward direction, or lateral direction).
  • the acceleration sensor 185 may sense a velocity change of the automatic cleaner 10 or the first moving part 100.
  • control part 180 controls the driving motors 135 to adjust the velocity within the present velocity range.
  • the height sensor 186 may sense a height change of the first moving part 100. For example, the height sensor 186 may sense whether the first moving part 100 moves upward, downward, or laterally.
  • the control part 180 may control an output of the driving motors 135 according to a moving direction of the first moving part 100. That is, the control part 180 may control electric current applied to the driving motors 135. That is, the force F M calculated in Figs. 5 to 7 may be appropriately adjusted according to a moving direction of the first moving part 100. Accordingly, the driving motors 135 can output an appropriate amount of power according to a moving direction of the first moving part 100, without outputting an excessive amount of power.
  • Fig. 9 is a perspective view illustrating the bottom of a second moving part according to the second embodiment.
  • a second moving part 200 includes: a second main body 210 movably attached to an object 20; a second cleaning member 270 provided to a second bottom surface 212 of the second main body 210; and a plurality of magnetic members 280 having magnetic force.
  • the second cleaning member 270 may be disposed approximately in the central portion of the second bottom surface 212.
  • the magnetic members 280 may be disposed at the corners of the second bottom surface 212.
  • the first moving part 100 may be provided with magnetic members in positions corresponding to the magnetic members 280.
  • the magnetic members of the first moving part 100 may be referred to as first magnetic members.
  • the magnetic members 280 of the second moving part 200 may be referred to as second magnetic members.
  • the bottom of the second moving part 200 is provided with the magnetic members 280, and the bottom of the first moving part 100 is provided with the magnetic members, thereby improving coupling force between the first moving part 100 and the second moving part 200.
  • Fig. 10 is a cross-sectional view illustrating an automatic cleaner attached to an object, according to the third embodiment.
  • a first moving part 100 according to the third embodiment is provided with first moving wheels 130, and a second moving part 200 is provided with second moving wheels 230.
  • a driving motor and a driving shaft as described in Fig. 2 may be disposed at a side of the first moving wheels 130. Also, a driving motor and a driving shaft may be disposed at a side of the second moving wheels 230. A rotation sensing part 235 is disposed at a side of the second moving wheels 230 to sense the rotation of the second moving wheel 230.
  • the second moving part 200 When the second moving part 200 is moved according to a movement of the first moving part 100, the second moving wheels 230 are rotated, and the rotation sensing part 235 senses the rotation of the second moving wheel 230
  • the rotation sensing part 235 senses the rotation of the second moving wheel 230 to transmit a sensed value to a control part (not shown) of the second moving part 200, and the control part drives the driving motors to efficiently rotate the second moving wheels 230. Since the second moving wheels 230 are provided to the second moving part 200, the second moving part 200 as a driven part is efficiently moved.
  • the control part of the second moving part 200 may be removed.
  • a wire or wireless communication method may be used to transmit a value sensed by the rotation sensing part 235 to a control part of the first moving part 100 (such as the control part 180 according to the first embodiment).
  • the second moving wheels 230 may be rotated just by pulling force of the first moving part 100. That is, the driving motors and the driving shafts disposed at the sides of the second moving wheels 230 may be removed, and the second moving wheels 230 may be rotated by friction between the object 20 and the second moving wheels 230 according to a movement of the second moving part 200.
  • Fig. 11 is a perspective view illustrating the bottom of a first moving part according to the fourth embodiment.
  • a first main body 110 includes a first cleaning member 170 on a first bottom surface 112.
  • a first moving wheel 130 and a second moving wheel 138 are rotatably disposed at both sides of the first cleaning member 170.
  • the first main body 110 includes a first driving motor 135 and a first driving shaft 136 to transmit driving force to the first moving wheel 130. Further, the first main body 110 includes a second driving motor 137 and a second driving shaft 139 to transmit driving force to the second moving wheel 138.
  • Agitators 145 and 146 are rotatably disposed in the front and rear portions of the first bottom surface 112 to remove an impurity from an object 20.
  • the agitators 145 and 146 may be referred to as rotary cleaning members.
  • the agitators 145 and 146 include: a first agitator (also denoted by 145) disposed in the rear portion of the first main body 110, and rotated by driving force of the first driving motor 135; and a second agitator (also denoted by 146) disposed in the front portion of the first main body 110, and rotated by driving force of the second driving motor 137.
  • the first cleaning member 170 may be disposed between the first agitator 145 and the second agitator 146.
  • the first agitator 145 or the second agitator 146 may perform a cleaning process, and then, the first cleaning member 170 may remove an impurity.
  • a first transmission 141 is disposed between the first driving motor 135 and the first agitator 145 to transmit driving force of the first driving motor 135.
  • a second transmission 142 is disposed between the second driving motor 137 and the second agitator 146 to transmit driving force of the second driving motor 137.
  • the first transmission 141 extends rearward from the first driving motor 135, and the second transmission 142 extends forward from the second driving motor 137.
  • the first transmission 141 may be wound around a shaft of the first driving shaft 136 and a shaft of the first agitator 145, and the second transmission 142 may be wound around a shaft of the second driving shaft 139 and a shaft of the second agitator 146.
  • the first and second transmissions 141 and 142 may include a belt or a rope.
  • a second moving part 200 may also be provided with the first and second agitators 145 and 146.
  • the first and second agitators 145 and 146 may be rotated by driving motors, or be rotated by friction between the object 20 and the first and second agitators 145 and 146 according to a movement of the second moving part 200.
  • Fig. 12 is a cross-sectional view illustrating an automatic cleaner fixed to an object, according to the firth embodiment.
  • an automatic cleaner 10 may move along an object 20 as a slope that obliquely extends upward from a ground 30.
  • the object 20 may form an angle ⁇ with the ground 30.
  • the angle ⁇ may range from about 0 ° to about 90°.
  • An unloaded weight F 1 of a first moving part 100 may be divided into a force of F 1 sin ⁇ in a direction parallel to the object 20, and a force of F 1 cos ⁇ in a direction perpendicular to the object 20. The force of F 1 cos ⁇ is applied in a direction in which the first moving part 100 moves away from the object 20.
  • An unloaded weight F 2 of a second moving part 200 may be divided into a force of F 2 sin ⁇ in the direction parallel to the object 20, and a force of F 2 cos ⁇ in the direction perpendicular to the object 20. The force of F 2 cos ⁇ is applied in a direction in which the second moving part 200 moves close to the object 20.
  • An attraction F m is exerted between the first moving part 100 and the second moving part 200 by magnetic force of a first magnetic member 150 and a second magnetic member 250.
  • the attraction F m may be applied in the direction perpendicular to the object 20.
  • a shear magnetic force F t which is generated by magnetic force of the first magnetic member 150 and the second magnetic member 250, may be applied upward in the direction parallel to the object 20.
  • a frictional force F 3 of moving wheels 130 against the object 20 may be applied upward in the direction parallel to the object 20.
  • the force applied toward the object 20 in the direction perpendicular to the object 20 may be expressed by F m + F 2 cos ⁇
  • the force applied in the direction away from the object 20 and perpendicular to the object 20 may be expressed by F 1 cos ⁇ .
  • the force of F m + F 2 cos ⁇ may be greater than the force of F 1 cos ⁇ to fix the automatic cleaner 10 to the object 20.
  • the force applied downward from the object 20 in the direction parallel to the object 20 may be expressed by F 4 sin ⁇ + F 2 sin ⁇
  • the force applied upward from the object 20 in the direction parallel to the object 20 may be expressed by F t + F 3 .
  • the force of F t + F 3 may be greater than the force of F 1 sin ⁇ + F 2 sin ⁇ , to fix the automatic cleaner 10 in a certain position of the object 20 without slipping.
  • Fig. 13 is a cross-sectional view illustrating an automatic cleaner attached to an object, according to the sixth embodiment.
  • Fig. 14 is a block diagram illustrating an automatic cleaner, according to the sixth embodiment.
  • an automatic cleaner 500 includes a main body 510 and a suction part 550 generating sucking force to attach the main body 510 to an object 20.
  • the automatic cleaner 500 may function as the first moving part 100 in the first embodiment, and the suction part 550 may function as a fixing member.
  • the suction part 550 which generates negative pressure within the main body 510, may be disposed on the bottom of the main body 510.
  • the suction part 550 includes a suction motor 551 disposed in the main body 510, and a suction hole 555 sucking external air by means of pressure difference.
  • the suction hole 555 is provided to the bottom of the main body 510.
  • the automatic cleaner 500 includes a control part 580 controlling output of the suction motor 551.
  • the control part 580 may increase or decrease the output of the suction motor 551 according to whether the automatic cleaner 500 is attached (fixed) to the object 20 or is moved.
  • the bottom of the main body 510 is provided with a cleaning member 570 contacting the object 20 and cleaning the object 20 when the automatic cleaner 500 moves.
  • the cleaning member 570 may be provided in plurality at both sides of the suction hole 555.
  • the bottom of the main body 510 is provided with moving wheels 530 rotatably contacting the object 20 to efficiently move the main body 510.
  • the moving wheels 530 may be driven by a moving motor 540.
  • the bottom surface of the cleaning members 570 and the lower end of the moving wheels 530 may be spaced the same distance from the bottom of the main body 510.
  • the cleaning members 570 and the moving wheels 530 may simultaneously contact the object 20.
  • the suction motor 551 When the automatic cleaner 500 is fixed to the object 20, the suction motor 551 may have an output w1. When the automatic cleaner 500 is moved, the suction motor 551 may have an output w2.
  • the outputs w1 and w2 may be preset values, and the output w2 may be equal to or smaller than the output w1.
  • the output w2 may be a predetermined amount of sucking force to fix the automatic cleaner 500 to the object 20 and allow the automatic cleaner 500 to move with a predetermined amount of driving force.
  • the moving motor 540 provides a predetermined amount of driving force to move the automatic cleaner 500 against at least one portion of the sucking force (fixing force) of the suction part 550.
  • a required output (driving force) of the moving motor 540 may vary according to whether the automatic cleaner 500 moves upward, downward, or laterally.
  • the control part 580 controls force output from the moving motor 540 according to a moving direction of the automatic cleaner 500, to thereby prevent unnecessary output from the moving motor 540.
  • magnetic force of magnetic members attaches moving parts to an object to be cleaned, and driving force of driving parts easily move the moving parts.
  • moving parts are disposed at both sides of an object to be cleaned, and cleaning members are disposed between the object and the moving parts to efficiently clean both surfaces of the object.
  • the moving part can be easily fixed to and moved over a slope to be cleaned.
  • moving wheels having predetermined frictional force are provided to a moving part, to thereby efficiently move the moving part.
  • the output of a driving motor can be appropriately controlled according to the weight of a moving part, a magnetic member provided to the moving part, and frictional force of moving wheels, thereby preventing unnecessary output of the driving motor.
  • an automatic cleaner is provided with a sensor for sensing an obstacle, and performs a cleaning process, automatically traveling along the edge of an object to be cleaned.
  • the moving part can be easily fixed to and moved over a slope to be cleaned, and thus, the present disclosure is industrially applicable.

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EP10853033A 2010-07-06 2010-07-16 Automatischer reiniger Withdrawn EP2433542A1 (de)

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EP2853185A4 (de) * 2012-05-23 2016-03-09 Intellectual Discovery Co Ltd Verfahren zur steuerung einer fensterreinigungsvorrichtung
NO343736B1 (no) * 2017-12-21 2019-05-27 Narvik Maritime Service As Fremgangsmåte og anordning for rengjøring av en not i et oppdrettsanlegg
EP3508275A1 (de) * 2015-01-26 2019-07-10 Hayward Industries, Inc. Schwimmbadreiniger mit hydrozyklonischem partikelabscheider und walzenantriebssystem
US10383492B2 (en) 2015-12-09 2019-08-20 Alfred Kärcher SE & Co. KG Window cleaning robot
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EP2853185A4 (de) * 2012-05-23 2016-03-09 Intellectual Discovery Co Ltd Verfahren zur steuerung einer fensterreinigungsvorrichtung
EP3508275A1 (de) * 2015-01-26 2019-07-10 Hayward Industries, Inc. Schwimmbadreiniger mit hydrozyklonischem partikelabscheider und walzenantriebssystem
US10557278B2 (en) 2015-01-26 2020-02-11 Hayward Industries, Inc. Pool cleaner with cyclonic flow
US11236523B2 (en) 2015-01-26 2022-02-01 Hayward Industries, Inc. Pool cleaner with cyclonic flow
US12065854B2 (en) 2015-01-26 2024-08-20 Hayward Industries, Inc. Pool cleaner with cyclonic flow
CN105167708A (zh) * 2015-09-22 2015-12-23 河北工业大学 智能双面擦玻璃机器人
US10383492B2 (en) 2015-12-09 2019-08-20 Alfred Kärcher SE & Co. KG Window cleaning robot
US11284756B2 (en) 2015-12-09 2022-03-29 Alfred Kärcher SE & Co. KG Window cleaning robot
US10676950B2 (en) 2017-05-11 2020-06-09 Hayward Industries, Inc. Pool cleaner roller latch
US10767382B2 (en) 2017-05-11 2020-09-08 Hayward Industries, Inc. Pool cleaner impeller subassembly
NO343736B1 (no) * 2017-12-21 2019-05-27 Narvik Maritime Service As Fremgangsmåte og anordning for rengjøring av en not i et oppdrettsanlegg
NO20172022A1 (no) * 2017-12-21 2019-05-27 Narvik Maritime Service As Fremgangsmåte og anordning for rengjøring av en not i et oppdrettsanlegg

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KR101212374B1 (ko) 2012-12-13
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US20120110759A1 (en) 2012-05-10

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