KR100266985B1 - Robot for Robot Cleaner - Google Patents

Abstract

The present invention relates to a traveling robot for a robot cleaner, wherein the suction pipe (102) is able to introduce dust and foreign substances by the suction force of the handy vacuum cleaner (200) so as to communicate with the cleaning bottom surface at a lower portion. In the traveling robot for cleaner, the suction device 600 is installed to communicate with the lower part of the suction pipe 102 and to dust off the floor of the cleaning floor, so that it is easy to clean a place such as a carpet. It is.

Description

Robot for Robot Cleaner

The present invention relates to a traveling robot for a robot cleaner, and more particularly to a traveling robot for a robot cleaner that can attenuate an impact generated during the passage of an obstacle such as a threshold, as well as to easily pass the obstacle.

In general, a robot cleaner refers to a device that automatically cleans an area to be cleaned by inhaling foreign substances such as dust from the floor while traveling by itself in the area to be cleaned without a user's manipulation.

The robot cleaner determines the distance to the obstacles such as furniture, office supplies, and walls installed in the cleaning area through the distance sensor, and selectively drives the left wheel motor and the right wheel motor of the robot cleaner, thereby switching the direction by itself. Clean it.

As shown in FIG. 1, the control apparatus of the conventional robot cleaner includes a robot cleaner and a personal computer 500 including the traveling robot 100 and the handy cleaner 200, and the robot cleaner and the personal computer 500. Antennas 180 and 510 and a wireless transmitter and receiver (not shown) are respectively provided to enable wireless communication.

Figure 2 is a schematic front view showing a conventional robot cleaner, Figure 3 is a rear view of Figure 2, the robot cleaner according to the present invention, consisting of a traveling robot 100 and a handy cleaner 200, the handy cleaner ( The driving robot 100 is coupled to and separated from the traveling robot 100, and the driving robot 100 includes a suction unit 101, a suction pipe 102, and a traveling robot 100 for suctioning foreign substances such as dust. The rear wheel 103 for improving driving stability, the power supply terminal 104 for supplying the charging power to the battery (not shown) of the traveling robot 100 is provided.

In addition, the suction pipe 102 is configured to communicate the suction port (not shown) of the handy vacuum cleaner 200 with the suction part 101 when the handy vacuum cleaner 200 is coupled to the traveling robot 100.

2 to 4, the suction unit 101, the extension projection 101a protruding from the bottom of the traveling robot 100 so as to maintain a predetermined interval and the cleaning projections of the extension projections In the center is in communication with the suction pipe 102 has a structure in which the quadrangular hole (101a) is formed so that the dust and foreign matter is introduced by the suction force of the handy cleaner 200.

In addition, the front surface of the traveling robot 100 is provided with a wide sensor 105 consisting of a plurality of infrared transmitting element 106 and the infrared receiving element 107 for detecting an obstacle, the driving robot 100 The upper part is provided with a CCD camera 110, a laser light emitting element 130 and an antenna 180, the lower wheel motor for driving the left wheel 141 and the right wheel 156, respectively, in the lower portion of the traveling robot 100 ( 140 and the right wheel motor 155, the left wheel encoder 150 and the right wheel encoder 165 for detecting the rotation state of the left wheel motor 140 and the right wheel motor 155 is provided.

In addition, the handy cleaner 200 has a suction port (not shown) in communication with the suction pipe 102 of the traveling robot 100 and the suction motor generating a suction force when the handy cleaner 200 is coupled to the traveling robot 100. (Not shown) and a dust collecting chamber (not shown) in which foreign matter such as dust sucked by the suction force generated by the suction motor is stored.

Meanwhile, referring to FIG. 5, the robot cleaner 100, the handy cleaner 200, and the handy cleaner 200 are coupled to the traveling robot 100 when the robot cleaner 100 is coupled to the traveling robot 100. The robot cleaner including a power supply connector 302 and a control signal connector 304, which is electrically connected to the handy cleaner 200, and a personal computer 500.

The traveling robot 100 includes a wide sensor 105, a CCD camera 110, a CCD camera driver 115, a camera motor 120, a camera motor driver 125, a laser light emitting device 130, and a laser. Light transmitting element driving unit 135, left wheel motor 140, left wheel motor driving unit 145, left wheel encoder 150, right wheel motor 155, right wheel motor driving unit 160, right wheel encoder 165, traveling robot control unit ( 170), the traveling robot battery 175, the antenna 180, and the first wireless transmission and reception unit 185 is configured.

The wide sensor 105 detects an obstacle located in front of the traveling robot 100 and inputs it to the traveling robot control unit 170. The plurality of infrared transmitting devices 106 arranged horizontally and the infrared transmitting device are arranged. The infrared rays transmitted from 106 are composed of an infrared receiver 107 that receives infrared rays reflected by obstacles.

The CCD camera driver 115 drives the CCD camera 110 under the control of the traveling robot controller 170 so that the CCD camera 110 photographs the surrounding environment of the cleaning area to the traveling robot controller 170. The camera motor driver 125 drives the camera motor 120 according to the control of the traveling robot controller 170 to drive the CCD camera 110 and the laser light emitting device 130 at a predetermined angle. It is supposed to rotate.

The camera motor 120 is implemented as a stepping motor so that the driving robot controller 170 easily rotates the CCD camera 110 and the laser light emitting device 130 at a desired angle.

In addition, the laser light emitting device driver 135 drives the laser light emitting device 130 under the control of the traveling robot controller 170 to generate a laser light in a surrounding environment of the cleaning area photographed by the CCD camera 110. It is intended to form a point.

At this time, the laser light emitting device 130 is fixed to rotate integrally with the CCD camera 110 and at a predetermined angle toward the front surface to form a laser light point in the surrounding environment photographed by the CCD camera 110. It is fixed as.

The left wheel motor driving unit 145 and the right wheel motor driving unit 160 are driven to drive the driving robot 100 by driving the left wheel motor 140 and the right wheel motor 155 under the control of the driving robot control unit 170. The left wheel encoder 150 and the right wheel encoder 165 are installed to detect a rotation state of the left wheel motor 140 and the right wheel motor 155 and input the same to the driving robot controller 170.

The traveling robot controller 170 is a cleaner controller 220 of the handy cleaner 200 through the control signal connector 304 of the connector 300 in a state in which the handy cleaner 200 is coupled to the traveling robot 100. The cleaning start signal is input from the driving robot 100 to control the entire operation. When the cleaning start signal is input from the cleaner controller 220, the laser beam transmitting element driving unit 135 is controlled to control the laser beam transmitting element. The 130 transmits laser light toward the surrounding environment, and controls the CCD camera driver 115 and the camera motor driver 125 to rotate the CCD camera 110 and the laser light emitting device 130 at a predetermined angle. While photographing the surrounding environment of the cleaning area, and inputs the image data photographed by the CCD camera 110 to the first wireless transmitting and receiving unit 185, the image data analysis result from the first wireless transmitting and receiving unit 185 Take note It controls the entire operation of the robot 100.

In addition, when the driving robot control unit 170 drives the traveling robot 100, the left wheel motor driving unit 145 according to signals input from the wide sensor 105, the left wheel encoder 150, and the right wheel encoder 165. ) And the right wheel motor driver 160 to control the driving robot 100 to accurately travel along the driving path.

The mobile robot battery 175 receives power from an external charging device through the charging power terminal 104 and charges the power, and supplies the power required to drive the driving robot 100, and at the same time, the handy cleaner 200. ) Is coupled to the traveling robot 100 to supply power to the handy cleaner 200 through the power connector 302 of the connector unit 300.

In addition, the first wireless transmission and reception unit 185 receives the image data photographed by the CCD camera 110 from the traveling robot control unit 170 and transmits to the personal computer 500 through the antenna 180, The image data analysis result transmitted from the personal computer 500 is received through the antenna 180 and input to the driving robot controller 170.

Meanwhile, as shown in FIG. 5, the handy cleaner 200 includes an operation unit 205, a suction motor 210, a suction motor driving unit 215, a cleaner control unit 220, and a cleaner battery 225. Consists of.

The operation unit 205 is configured to input a cleaning start signal for operating the handy cleaner 200 to the cleaner control unit 220 according to a user's operation, and the cleaner control unit 220 starts cleaning from the operation unit 205. When the signal is input, while controlling the suction motor driver 215 to drive the suction motor 210 and at the same time through the control signal connector 304 of the connector 300 to the cleaning robot control unit 170 to start the cleaning signal On the other hand, when the cleaning completion signal is input from the driving robot control unit 170 to control the suction motor driving unit 215 to stop the suction motor 210.

The suction motor driver 215 drives the suction motor 210 under the control of the cleaner controller 220 to generate suction power, and the cleaner battery 225 is a power connector 302 of the connector 300. The power is supplied from the driving robot battery 175 of the driving robot 100 to be charged.

Meanwhile, as illustrated in FIG. 5, the personal computer 500 includes an antenna 510, a second wireless transmitter / receiver 515, and a data processor 520.

The second wireless transmitter / receiver 515 receives the image data transmitted from the first wireless transmitter / receiver 185 through the antenna 510, inputs the data to the data processor 520, and inputs the data from the data processor 520. The image data analysis result is transmitted to the first wireless transmission / reception unit 185 through the antenna 510.

The data processor 520 receives the image data from the second wireless transmitter / receiver 515, analyzes the image data, and inputs the image data analysis result to the second wireless transmitter / receiver 515. Receiving the image data from the wireless transmission and reception unit 515 measures the distance to the surrounding environment according to the height of the laser light point formed in the image, and recognizes the shape of the cleaning area from the plurality of distance information measured in this way by driving robot ( A driving route of 100 is determined, and the driving route is input to the second wireless transmitting and receiving unit 515.

Referring to the operation and effects of the robot cleaner configured as described above in detail.

When the handy cleaner 200 is coupled to the traveling robot 100, the power supply lines of the traveling robot 100 and the handy cleaner 200 are connected to each other through the power connector 302 of the connector unit 300, and the connector unit ( Signal lines of the traveling robot 100 and the handy cleaner 200 are connected to each other through the control signal connector 304 of 300.

When the handy cleaner 200 is coupled to the traveling robot 100 as described above, power is supplied from the traveling robot battery 175 of the traveling robot 100 to the handy cleaner 200 through the power connector 302. As the cleaner battery 225 of the handy vacuum cleaner 200 is connected to the power connector 302, it is charged with power from the driving robot battery 175.

As the cleaner battery 225 is charged as described above, even if the handy cleaner 200 is separated from the traveling robot 100, the handy cleaner 200 may be operated independently by the power charged in the cleaner battery 225. .

That is, when the handy cleaner 200 is separated from the traveling robot 100, when the user operates the operation unit 205 and inputs a cleaning start signal to the cleaner control unit 220, the cleaner control unit 220 may operate the suction motor ( The suction motor driver 215 is controlled to drive 210, and accordingly, the suction motor driver 215 supplies the power of the cleaner battery 225 to the suction motor 210, thereby driving the suction motor 210 to be handy. The cleaner 200 is operated.

Meanwhile, when the handy cleaner 200 is coupled to the traveling robot 100, when the user operates the operation unit 205 and inputs a cleaning start signal to the cleaner controller 220, the handy cleaner 200 and the traveling robot 100 are used. ) Is operated by the control signal of the driving robot controller 170.

At this time, the suction unit 101 is to maintain a predetermined interval with the cleaning floor and the mouth area to allow the foreign matter on the floor to be collected into the handy cleaner 200.

However, such a suction part has a problem that it is difficult to clean the case when the foreign material is embedded such as a carpet because it is only projected at a predetermined interval with the bottom surface.

Accordingly, the present invention is to solve the above problems, the suction cleaner is connected to the suction pipe and provided with a rotatable edge data is installed, the robot cleaner is easy to clean when the foreign matter, such as carpet is embedded The purpose is to provide a driving robot.

1 is a schematic diagram of a control apparatus for a conventional robot cleaner;

2 is a schematic front view of a traveling robot for a conventional robot cleaner;

3 is a rear view of FIG. 2;

4 is a detailed view showing the suction part of FIG. 2;

Figure 5 is a schematic block diagram of a conventional robot cleaner control device,

Figure 6 is a side view showing a state in which the suction device is installed in the traveling robot for robot cleaner according to the present invention,

7 is a cross-sectional view taken along the line A-A of FIG.

8 is a bottom view of FIG. 7;

FIG. 9 is a cross-sectional view taken along the line BB of FIG. 7.

<Explanation of symbols for the main parts of the drawings>

100: driving robot 102: suction pipe

200: Handy cleaner 600: Suction device

610: extension tube 620: suction case

621: suction port 622: edge data receiver

623: motor seat 630: bearing

640: edge data 641: sole

642: belt seat 650: belt

660: motor

The present invention for achieving the above object, in the robot robot cleaner running robot in which the suction pipe can be introduced to the dust and foreign matter by the suction force of the handy vacuum cleaner so as to communicate with the cleaning bottom surface at a lower portion. In addition, the suction pipe is installed to be in communication with the lower portion of the suction pipe, and a structure for installing a suction device to shake off dust on the bottom of the cleaning pipe is installed.

Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

Figure 6 is a side view showing a state in which the suction device is installed in the traveling robot for a robot cleaner according to the present invention, Figure 7 is a cross-sectional view taken along the line A-A of Figure 6, Figure 8 is a bottom view of Figure 7, Figure 9 7 is a cross-sectional view taken along line B-B, with the same reference numerals as those in FIGS. 1 to 5 illustrating the prior art, and the description thereof will be omitted.

The present invention, the robot cleaner for allowing the suction pipe 102 to introduce the dust and foreign matter by the suction force of the handy vacuum cleaner 200 so as to communicate with the cleaning bottom surface at the lower portion of the traveling robot 100, In the traveling robot, it is installed so as to communicate with the lower portion of the suction pipe 102, characterized in that the suction device 600 is provided to shake off the dust on the cleaning floor.

Here, the suction device 600, the extension pipe 610 is installed to communicate with the lower portion of the suction pipe 102, the suction case 620 is installed to communicate with the lower portion of the extension pipe 610, the suction case 620 It is installed to be rotated through the bearing 630 installed in the lower portion of the edge taper 640 provided with a brush 641 so as to shake off dust on the bottom, and is provided at one end of the edge taper 640 The belt 650 is configured to transmit a rotational force to the belt seating portion 642, and a motor 660 connected to the power source so as to transmit the rotational force to the belt 650 is operated.

Here, the suction case 620, the rectangular intake port 621 is formed at the bottom, while the suction port and the suction pipe 102 is in communication with the edge data receiving is accommodated so that the edge data 640 can be rotated While the unit 622 is formed, the edge seater and the partition wall are prevented from communicating with the suction pipe 102 and the motor seating part is installed such that the motor 660, the belt 650, and the belt seating part 642 are installed. 623 is formed.

Reference numeral 670 denotes a cover of the wire 661 connected to the motor 660.

Accordingly, when the left and right wheel motors 140 and 155 rotate by driving the left wheel 141 and the right wheel 156 by signals from the left and right wheel motor driving units 145 and 160 driven by the control signal of the driving robot controller 170, The dust on the bottom surface is shaken by the suction device 600 to be sucked through the suction pipe 102.

That is, the driving robot 100 is operated and power is applied to the motor 660 so that the edge data 640 supported at the bearing 630 by both ends of the belt 650 is rotated. The sole 641 of 640 hits the bottom surface through the suction port 621 of the suction case 620 to scatter dust.

At this time, the dust is introduced into the suction pipe 102 through the suction port 621, the edge data receiving portion 622 and the extension pipe 610 by the suction force of the handy cleaner 200.

As described above, according to the present invention, the suction device is provided to be connected to the suction pipe and the edge data is rotatable, so that it is easy to clean even when foreign matter is stuck, such as a carpet.

Although one specific embodiment of the present invention has been described in detail above, the present invention is not limited thereto, and various changes and modifications may be made by those skilled in the art based on the technical idea of the present invention.

Claims (2)

In the robot cleaner traveling robot, in which the suction pipe can introduce dust and foreign substances by the suction force of the handy vacuum cleaner so as to communicate with the cleaning floor at the lower part, The robot cleaner driving robot, characterized in that the suction device is installed to communicate with the lower portion of the suction pipe and to shake off the dust on the cleaning floor. 2. The suction device according to claim 1, wherein the suction device is provided with an extension pipe installed to communicate with the suction pipe in a lower portion, a suction case installed to communicate with a lower portion of the extension pipe, and installed to rotate at a lower portion of the suction case. An edge taper provided with a brush for brushing off, a belt configured to transmit rotational force to a belt seating portion provided at one end of the edge data, and a motor connected to a power source for transmitting rotational force to the belt. Robot for driving the robot cleaner, characterized in that.