KR101297194B1 - Robot cleaner system having external charging apparatus - Google Patents

Abstract

Robot cleaner system having an external charging device according to the present invention, the external charging device having a charging terminal; A robot cleaner having a charging battery and including a connection terminal part connected to the charging terminal part to charge the charging battery; A proximity detecting sensor unit generating a signal when the robot cleaner approaches a predetermined distance of the external charging device such that the connection terminal unit is connected to the charging terminal unit; And a power control unit installed in the external charging device and configured to flow a current to the charging terminal only when the signal is received.

External charging device, robot cleaner, proximity sensor, magnet sensor, magnet

Description

ROBOT CLEANER SYSTEM HAVING EXTERNAL CHARGING APPARATUS}

1 is a view showing an embodiment of the robot cleaner system having an external charging device of the present invention,

Figure 2 shows the robot cleaner of Figure 1 with the cover open,

3 is a side view of the external charging device and the robot cleaner in which the connection terminal part of the robot cleaner is connected to the charging terminal part of the external charging device of FIG.

4 is a block diagram illustrating interaction between a proximity sensor unit, a power controller, and a charging terminal unit.

Description of the Related Art

10. Robot cleaner system 100. External charging device

110. Power control part 120. Charging terminal part

130. Power cord 200. Robot cleaner

250 .. Rechargeable battery 280. Connection part

300. Proximity sensor 301. Magnetic sensor

302..Magnet

The present invention relates to a robot cleaner system comprising a robot cleaner having a rechargeable battery, and an external charging device capable of charging the rechargeable battery.

In general, the robot cleaner performs a cleaning operation to inhale dust and foreign substances from the floor surface while traveling by itself within a certain range of working area without the user's operation, or to perform security operations such as opening or closing doors, windows or gas valves in the house. Refers to the device to perform.

The robot cleaner is provided with a battery for supplying the power required for driving, it is common to use a rechargeable battery that can be recharged when the power is consumed. To this end, the robot cleaner is provided with a connection terminal portion for connecting the external charging device to charge the charging battery, if necessary, the external charging device is provided with a charging terminal portion for connecting to the connection terminal portion.

On the other hand, if the current always flows in the charging terminal portion of the external charging device, there is a risk of electric shock or short circuit, so that the current is flowing only when the charging terminal is pressed, as disclosed in the Korean Patent Application Publication (10-2004-95442) .

However, when the external charging device described above falls down on the bottom surface, even if the charging terminal portion is not pressed by the connection terminal portion of the robot cleaner, the charging terminal portion may be pressed by the bottom surface.

Therefore, when the bottom surface is a conductor, the charging terminal part may be shorted and a fire may occur due to a short circuit, and when children playfully press the charging terminal part with iron, chopsticks, or the like, there is a risk of electric shock.

The present invention has been made to solve the above problems,

The robot cleaner system is characterized in that the charging battery is charged by flowing electricity to the charging terminal only when the robot cleaner approaches a predetermined distance of the external charging device so that the connection terminal of the robot cleaner is connected to the charging terminal of the external charging device. The purpose is to provide.

Robot cleaner system having an external charging device according to the present invention for achieving the above object, the external charging device having a charging terminal; A robot cleaner having a charging battery and including a connection terminal part connected to the charging terminal part to charge the charging battery; A proximity detecting sensor unit generating a signal when the robot cleaner approaches a predetermined distance of the external charging device such that the connection terminal unit is connected to the charging terminal unit; And a power control unit installed in the external charging device and configured to flow a current to the charging terminal only when the signal is received.

Here, the proximity detection sensor unit, the magnet detection sensor installed in the external charging device; And a magnet installed in the robot cleaner, wherein the magnet sensor detects the magnetic force of the magnet when the robot cleaner approaches the predetermined distance of the external charging device such that the connection terminal is connected to the charging terminal. It is desirable to generate the signal by sensing.

In this case, the magnet sensor is installed on the lower side of the charging terminal portion, the magnet is preferably installed on the lower side of the connection terminal portion to correspond to the magnet detection sensor. The above-described magnet detection sensor is preferably a hall sensor.

Hereinafter, a robot cleaner system having an external charging device according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a view showing an embodiment of a robot cleaner system having an external charging device of the present invention. Referring to FIG. 1, the robot cleaner system 10 includes an external charging device 100, a robot cleaner 200, and a proximity sensor 300.

The external charging device 100 is a device for charging the rechargeable battery 250 (see FIG. 2) when the power of the charging battery 250 (see FIG. 2) of the robot cleaner 200 is exhausted. 100 includes a charging terminal 120 and the power control unit 110.

The charging terminal unit 120 is installed at the front of the external charging device 100 at the same height (H1) as the connection terminal unit 280 of the robot cleaner 200, by the power cord 130 and commercial power of 100 ~ 240V Connected. At this time, the charging terminal unit 120 is determined according to the type of power used by the external charging device 100, when using a commercial power supply mainly in the home as in this embodiment into two charging terminals (121, 122) It is composed.

The power control unit 110 is connected to the charging terminal 120 to send a current to the charging terminal 120 only when receiving a signal from the proximity sensor 300. Therefore, when no signal is received, no current flows in the charging terminal unit 120. A more detailed description will be given below when describing the proximity sensor 300.

Referring to FIG. 2, the robot cleaner 200 includes a main body 211, a suction unit 216, a driving unit 220, an upper camera 230, a front camera 232, an obstacle detecting sensor 214, and a controller ( 240, a transmitter / receiver 242, a bumper 254, a rechargeable battery 250, and a connection terminal unit 280.

The suction part 216 is installed in the main body 211 to collect dust on the floor. Such a suction unit 216 may be configured by various known methods. As an example, the suction unit 216 may be configured to include a suction motor (not shown) and a dust collecting chamber for collecting dust sucked through a suction port or a suction pipe formed to face the floor by driving the suction motor.

The driving unit 220 includes two wheels 221a and 221b installed at both sides of the front, two wheels 222a and 222b and two wheels 222a and 222b installed at both sides of the rear, respectively. And a timing belt 225 installed to transfer power of the rear wheels 223 and 224 and the rear wheels 222 a and 222 b to the front wheels 221 a and 221 b. The driving unit 220 independently drives the respective motors 223 and 224 to rotate in the forward or reverse directions according to the control signal of the controller 240, and the driving direction is determined by controlling the rotation speeds of the motors 223 and 224 differently.

The upper camera 230 is installed on the main body 211 to capture the upper image of the robot cleaner 200, that is, the ceiling of the work area, and transmits the captured image to the controller 240.

The front camera 232 is installed on the main body 211 so as to capture a front image of the robot cleaner 200, and transmits the captured image to the controller 240.

In the obstacle detecting sensor 214, a plurality of infrared light emitting elements 214a for emitting infrared rays and light receiving elements 214b for receiving the reflected light are vertically paired and arranged along the outer circumferential surface of the main body 211. Alternatively, the obstacle detection sensor 214 may emit an ultrasonic wave, and an ultrasonic sensor for receiving the reflected ultrasonic wave may be applied. The obstacle detecting sensor 214 is also used to measure the distance from the robot cleaner 200 to an obstacle or a wall.

The controller 240 processes signals received through the transmitter / receiver 242 and controls the elements of the above-described robot cleaner 200. When a key input device (not shown) with a plurality of keys provided for setting the function of the robot cleaner 200 is further provided on the main body 211, the controller 240 processes the key signal input from the key input device. . In addition, the controller 240 controls each element so that the robot cleaner 200 can wait while charging the charging battery 250 in a state in which the robot cleaner 200 is connected to the external charging device 100 when no operation is performed.

The transmitter / receiver 242 transmits data to be transmitted to an external controller (not shown) or a user's remote controller (not shown) through an antenna, and receives an external controller (not shown) or a remote controller (not shown) received through the antenna. C) is transmitted to the control unit 240.

The bumper 254 is installed on the outer circumference of the robot cleaner main body 211, and absorbs a shock and outputs a collision signal to the controller 240 when the robot cleaner 200 collides with an obstacle such as a wall in the work area. To this end, the bumper 254 is supported by an elastic member (not shown) so that the robot cleaner 200 can move back and forth in a direction parallel to the running floor, and the bumper 254 collides with an obstacle. A sensor (not shown) for outputting a collision signal to the controller 240 is attached. Therefore, when the bumper 254 collides with an obstacle, a predetermined collision signal is transmitted to the controller 240 so that the robot cleaner 200 recognizes the obstacle.

The rechargeable battery 250 is installed on the main body 211 and connected to the connection terminal 280 installed in the bumper 254. Therefore, when the connection terminal unit 280 is connected to the charging terminal unit 120 of the external charging device 100, the charging battery 250 is charged by a commercial AC power supply.

To this end, the connection terminal unit 280 may be connected to the charging terminals 121 and 122 (see FIG. 1), and the front surface of the bumper 254 at the same height H1 (see FIG. 1) as the charging terminals 121 and 122 (see FIG. 1). It consists of two connection terminals 281 and 282 provided at the.

With the above-described configuration, when the robot cleaner 200 approaches the external charging device 100 in the direction of arrow A (see Fig. 1) so that the connection terminals 281 and 282 are connected to the charging terminals 121 and 122, the connection terminals 281 and 282 are connected. Is connected to the charging terminals 121 and 122 to supply power to the charging battery 250. Thus, the rechargeable battery 250 is charged.

Referring to FIG. 1, the proximity sensor 300 is a device for sending a signal to the power control unit 110, and more specifically, the robot cleaner 200 is connected to the connection terminal unit 280 so that the charging terminal unit 120 is connected. Is a device that generates a signal only when approaching within a certain distance of the external charging device 100 to send to the power control unit 110.

The proximity sensor 300 may be configured as a separate vision system or an ultrasonic system independent of the external charging device 100 and the robot cleaner 200. However, for simplicity and cost reduction, it may be preferable to configure the magnet sensor 301 and the magnet 302 respectively installed in the external charging device 100 and the robot cleaner 200 as in the present embodiment. .

The magnet sensor 301 is installed at a lower side of the charging terminals 121 and 122 by H2. Of course, it may be installed between the charging terminals 121 and 122 at the same height (H1) as the charging terminals 121 and 122, but for convenience of installation, it is preferable to drop the H2 to the lower side of the charging terminal unit 120.

The magnet detecting sensor 301 may be a hall sensor capable of detecting a magnetic force of the magnet, or a reed switch in which the switch is turned on / off as the magnet approaches. desirable. In either case, the magnet sensor 301 detects the approach of the magnet 302 and generates a signal.

At this time, the magnet detection distance of the magnet detection sensor 301 should be determined as follows. Referring to FIG. 3, when the robot cleaner 200 approaches the external charging device 100 within a predetermined distance D1 in the direction of arrow A, the connection terminal unit 280 is connected to the charging terminal unit 120. At this time, the magnet sensor 301 and the magnet 302 is separated by D2. Therefore, the magnet sensor 301 should be set to detect a magnetic force of the magnet 302 separated by D2 and generate a signal.

On the other hand, the approach distance D1 of the robot cleaner 200 and the external charging device 100 can be set differently at an initial stage, and the robot cleaners without a gap when the charging terminals 121 and 122 or the connection terminals 281 and 282 are pressed. 200 may be in close contact with the external charging device 100. In this case, the magnet sensing distance of the magnet sensor 301 will also have to be adjusted again accordingly.

The magnet 302 is installed at a lower side of the connection terminals 281 and 282 by H2 to correspond to the installation position of the magnet sensor 301. Of course, when the magnetic sensor 301 is installed between the charging terminal (121, 122) should be installed between the connection terminal (281, 282).

Due to the above-described proximity sensor 300 composed of the magnet sensor 301 and the magnet 302, the robot cleaner 200 approaches the predetermined distance (D1) of the external charging device 100 to generate a signal. Otherwise, the power control unit 110 described above does not receive a signal to prevent a current from flowing through the charging terminal unit 120. As a result, only when the robot cleaner 200 approaches within a predetermined distance D1 of the external charging device 100, current flows through the charging terminal unit 120 (called energization). 2) is charged.

Therefore, the current does not flow in the charging terminal unit 120, the external charging device 100 falls down, the charging terminal unit 120 touches the floor surface, or children play with the iron, chopsticks, etc. Even if touched, electric current does not flow and short and electric shock are prevented. In addition, power loss caused by discharge can be reduced.

Hereinafter, the charging operation of the charging battery of the robot cleaner system having an external charging device will be described.

Referring to FIG. 1, when the power of the rechargeable battery 250 (see FIG. 2) is consumed, the robot cleaner 200 moves to the external charging device 100 for charging. More specifically, the connecting terminals 281 and 282 are connected to the charging terminals 121 and 122 in the arrow A direction.

Referring to FIG. 3, when the robot cleaner 200 approaches the external charging device 100 by a predetermined distance D1, the connection terminals 281 and 282 are connected to the charging terminals 121 and 122, and the magnetic sensor 301 is connected to the robot cleaner 200. The magnet 302 is dropped by D2. At this time, the magnet sensor 301 detects the magnetic force of the magnet 302 separated by D2 to generate a signal.

Referring to FIG. 4, the power control unit 110 receiving the signal causes a current to flow through the charging terminal unit 120. As a result, power is supplied to the rechargeable battery 250 (see FIG. 2) through the connection terminals 281 and 282 (see FIG. 1) connected to the charging terminals 121 and 122 (see FIG. 1). Thus, the rechargeable battery 250 (see FIG. 2) is charged.

According to the robot cleaner system having an external charging device according to the present invention as described above, the robot cleaner is charged only when the robot cleaner approaches a predetermined distance of the external charging device so that the connection terminal of the robot cleaner is connected to the charging terminal of the external charging device. Electricity flows into the terminal part to charge the rechargeable battery, thereby preventing short circuits and electric shocks that may occur due to user's carelessness, and reducing power loss caused by discharge.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. That is, those skilled in the art will appreciate that many modifications and variations of the present invention are possible without departing from the spirit and scope of the appended claims. Accordingly, all such suitable changes and modifications and equivalents should be considered to be within the scope of the present invention.

Claims (4)

External charging device having a charging terminal; A robot cleaner having a charging battery and including a connection terminal part connected to the charging terminal part to charge the charging battery; A proximity detecting sensor unit generating a current supply signal when the robot cleaner approaches a predetermined distance of the external charging device such that the connection terminal unit is connected to the charging terminal unit; And And a power control unit installed in the external charging device and configured to send a current to the charging terminal only when the current supply signal is received from the proximity sensing sensor. The method of claim 1, wherein the proximity sensor, A magnet detecting sensor installed in the external charging device; And And a magnet installed in the robot cleaner. The magnet sensor may generate the current supply signal by detecting a magnetic force of the magnet when the robot cleaner approaches a predetermined distance of the external charging device such that the connection terminal is connected to the charging terminal. Robot vacuum cleaner system. The robot vacuum cleaner system as claimed in claim 2, wherein the magnet sensor is installed under the charging terminal part, and the magnet is installed under the connection terminal part to correspond to the magnet sensor. According to claim 2 or 3, wherein the magnet sensor, Robot cleaner system, characterized in that the hall sensor (hall sensor).

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