KR101623888B1 - Object-detecting device for automatic vacuum cleaner - Google Patents

Object-detecting device for automatic vacuum cleaner Download PDF

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Publication number
KR101623888B1
KR101623888B1 KR1020150135946A KR20150135946A KR101623888B1 KR 101623888 B1 KR101623888 B1 KR 101623888B1 KR 1020150135946 A KR1020150135946 A KR 1020150135946A KR 20150135946 A KR20150135946 A KR 20150135946A KR 101623888 B1 KR101623888 B1 KR 101623888B1
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KR
South Korea
Prior art keywords
signal
detecting
pcb
main
robot cleaner
Prior art date
Application number
KR1020150135946A
Other languages
Korean (ko)
Inventor
박상훈
김승우
Original Assignee
(주)아이포바인
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Publication date
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Priority to KR1020150135946A priority Critical patent/KR101623888B1/en
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Publication of KR101623888B1 publication Critical patent/KR101623888B1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00Details 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
    • A47L9/28Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • B25J11/0085Cleaning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0003Home robots, i.e. small robots for domestic use
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection

Abstract

The present invention discloses an object sensing apparatus for a robot cleaner. An object detecting device for a robot cleaner includes a PCB provided in a main body of a robot cleaner, a plurality of object detecting sensors provided in the PCB and outputting a signal to the outside of the main body, And a signal guiding part for guiding the signal of the detection sensor in the traveling direction and the lateral direction of the main body.

Description

TECHNICAL FIELD [0001] The present invention relates to an object detecting device for a robot cleaner,
BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to an object detecting apparatus for a robot cleaner, and more particularly, to an object detecting apparatus for a robot cleaner that can easily install an object detecting sensor and prevent a connection failure.
2. Description of the Related Art Generally, a vacuum cleaner is a device that performs cleaning by suctioning foreign substances on a cleaning surface by a suction force generated by driving of a fan. The vacuum cleaner includes a vacuum cleaner main body for generating a suction force, And a connection pipe for connecting the suction nozzle and the main body.
In recent years, there has been an increasing tendency for robot cleaners to be automatically cleaned without user operation. The robot cleaner is a device for automatically cleaning the area to be cleaned by suctioning foreign matter such as dust from the ground while traveling in the area to be cleaned by itself.
The robot cleaner includes a plurality of sensors for controlling the moving direction of the main body, and the robot cleaner travels in a specific area during a cleaning operation according to signals sensed by the plurality of sensors. Specifically, a distance to an obstacle such as a piece of furniture, office supplies, or the like installed in the cleaning area is detected, and the cleaning area is mapped or the obstacle avoiding operation is performed by controlling the driving of the left and right wheels.
Accordingly, the robot cleaner uses an object detection sensor such as an infrared ray sensor or an ultrasonic sensor as a sensor for detecting an obstacle, and the object detection sensor is installed in the main body so as to face the outside of the body.
However, in the conventional robot cleaner, a connector and a lead wire are used to connect the object detecting sensor provided in the main body to the PCB, which is complicated and troublesome in connection may occur .
Therefore, there is a need to improve this.
On the other hand, Korean Patent Registration No. 10-0575708 (registered on Apr. 25, 2006) discloses "apparatus and method for detecting the distance of a robot cleaner ", and disclosed in Korean Patent Laid-Open Publication No. 10-2005-0012035 Date: Jul. 24, 2003) discloses a robot cleaner equipped with a distance sensor and a control method using the robot cleaner.
It is an object of the present invention to provide an object detecting device for a robot cleaner which is easy to install an object detecting sensor and can prevent the occurrence of connection failure.
According to an aspect of the present invention, there is provided an apparatus for detecting an object for a robot cleaner, including: a PCB provided in a main body of the robot cleaner; A plurality of object detection sensors provided at the PC and outputting signals to the outside of the body; And a signal guiding part coupled to the PCB to cover the object detecting sensor and guiding a signal of the object detecting sensor in a traveling direction and a lateral direction of the main body.
The signal guiding unit may include a signal refraction case coupled to the PCB to receive the object detection sensor and refracting the signal to the side of the body. And an installation direction adjusting unit for adjusting an installation direction of the signal refraction case coupled to the PC.
The mounting direction adjusting unit includes: an engaging pin protruding from a lower surface of the signal refraction case; And a plurality of pin insertion holes formed in the PCB to insert the coupling pins.
The signal guiding unit may further include a signal waveguide for guiding the signal refracted to the signal refracting case to a side surface of the main body.
Further, the signal waveguide is characterized in that it is gradually expanded and formed.
As described above, since the object detecting device for a robot cleaner according to the present invention can directly couple the object detecting sensor to the PC, unlike the prior art, it is possible to prevent the use of separate parts for connecting the object detecting sensor and the PCB, The detection sensor can be easily installed, and the connection failure between the object detection sensor and the PCB can be prevented.
1 is a perspective view illustrating a state in which an object detecting apparatus for a robot cleaner is installed according to an embodiment of the present invention.
2 is a plan view of Fig.
FIG. 3 is an enlarged perspective view of an object sensing apparatus for a robot cleaner according to an embodiment of the present invention.
Fig. 4 is a sectional view of Fig. 2. Fig.
5 is a perspective view showing modified forms of a signal guide according to an embodiment of the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, a preferred embodiment of an object detecting apparatus for a robot cleaner according to the present invention will be described with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.
FIG. 1 is a perspective view showing a state where an object sensing apparatus for a robot cleaner is installed according to an embodiment of the present invention, FIG. 2 is a plan view of FIG. 1, Fig. 4 is a cross-sectional view of Fig. 2; Fig.
1 to 4, an object sensing apparatus 100 for a robot cleaner according to an embodiment of the present invention includes a PCB 110 coupled to a main body 10, an object detection unit 110 disposed on the PCB 110, A sensor 120 and a signal inducing unit 130 for guiding signals output from the object sensing sensor 120 to the outside of the main body 10. [
Since the object detecting device 100 for a robot cleaner can be installed directly on the PCB 110 without installing the object detecting sensor 120 on the body 10, the object detecting sensor 120 can be connected to the PCB 110 It is possible to prevent the use of a separate lead wire and a connector. Therefore, the object detecting apparatus 100 for a robot cleaner according to the present embodiment can easily install the object detecting sensor 120 and significantly reduce the occurrence of a faulty connection between the object detecting sensor 120 and the PCB 110 have.
The PCB 110 is coupled to the main body 10 and has a rounded rim on which the object detection sensor 120 is joined so as to minimize a distance between the main body 10 and the object detection sensor 120.
A plurality of object detection sensors 120 are bonded to the edge of the PCB 110 to output a detection signal to detect an object outside the body 10. [ At this time, the object detecting sensor 120 is bonded to the PCB 110 such that the output direction of the object detecting signal is upward, so that it can be easily joined to the PCB 110. The object detection sensor 120 is guided in the lateral direction of the main body 10 so that a sensing signal, which is covered with the signal guiding unit 130 and outputted to the upper side, is guided.
The object detection sensor 120 according to the present embodiment may be an infrared sensor, an ultrasonic sensor, or the like.
The signal induction unit 130 is coupled to the PCB 110 to cover the object detection sensor 120 and guides the signal of the object detection sensor 120 output in the upward direction to the traveling direction and the lateral direction of the main body 10 . For this, the signal guiding unit 130 according to the present embodiment has a side opened so that the signal of the object detecting sensor 120 is guided in the lateral direction of the main body 10, Lt; / RTI >
The signal guiding unit 130 includes a signal refraction case 131 for covering the object detection sensor 120 and an installation direction adjusting unit 133 for coupling the signal refraction case 131 to the PCB 110. [ ). The signal guiding unit 130 further includes a signal waveguide 135 for guiding the signal output from the object sensor 120 in a direction toward the main body 10 and in a lateral direction.
The signal refraction case 131 is coupled to the PCB 110 so that the object detection sensor 120 is received therein and the signal output from the object detection sensor 120 is transmitted to the side surface of the main body 10 in the traveling direction and in the lateral direction Refract.
The signal refraction case 131 has a signal reflection layer 137 formed on the inner surface thereof so as to refract the signal while minimizing signal loss when the signal of the object detection sensor 120 is refracted. The lower portion is opened so as to be easily accommodated. The signal refraction case 131 is provided with a mounting direction adjusting unit 133 on the lower surface thereof.
The installation direction adjusting unit 133 can easily adjust the installation direction of the signal refraction case 131 as well as the signal refraction case 131 to the PC 110 easily. The installation direction adjusting unit 133 includes an engagement pin 133a protruding from the lower surface of the signal refraction case 131 and a plurality of connection pins 133a formed in the PCB 110 to be inserted and fixed therein. And a pin insertion hole 133b. At this time, the pin insertion hole 133b is formed so as to be spaced apart from the periphery of the object detection sensor 120. [
The installation direction of the signal refraction case 131 can be more variously and finely adjusted according to the position and quantity of the object detection sensor 120 installed in the PCB 110 through the installation direction controller 133. That is, the signal output direction can be accurately adjusted without removing or replacing the object detection sensor 120.
The signal waveguide 135 is formed on the side surface of the signal refraction case 131 so as to guide the signal of the object detection sensor 120 refracted to the signal refraction case 131 in the traveling direction and the lateral direction of the main body 10. Since the signal waveguide 135 can stably output the signal waveguide 135 in the traveling direction and the lateral direction of the main body 10 while reducing the loss rate of the signal output from the object detection sensor 120, The detection can be further improved.
FIG. 5 is a perspective view illustrating modified embodiments of a signal guiding unit according to an embodiment of the present invention.
5, the signal guiding unit 130 according to the present embodiment has a gentle curvature of the signal waveguide 135 so as to reduce the loss rate of the signal, and the signal guiding unit 130 gradually increases in the direction from the object detection sensor 120 toward the main body 10, As shown in FIG. Accordingly, the signal guiding unit 130 can be applied to various types of object detection sensors 120.
The operation of the object detecting apparatus for a robot cleaner according to an embodiment of the present invention will now be described.
First, the object detecting sensor 120 is directly bonded to the PCB 110. Then, the signal output of the object detection sensor 120 is directed upward. The signal induction unit 130 is coupled to the PCB 110 so that the signal output direction of the object detection sensor 120 can be guided in the traveling direction and the lateral direction of the main body 10. [
At this time, the signal inducing unit 130 can be stably and easily coupled by coupling the coupling pin 133a of the installation direction adjusting unit 133 with the pin insertion hole 133b of the PCB 110. [ Particularly, the coupling position of the coupling pin 133a and the pin insertion hole 133b is adjusted to adjust the direction of the signal waveguide 135 so that the detection signal of the object detection sensor 120 can be output in a correct direction.
Since the object detecting device for the robot cleaner according to the present embodiment can directly couple the object detecting sensor 120 to the PCB 110, it is possible to provide a separate part for connecting the object detecting sensor 120 and the PCB 110 It is possible to easily install the object detection sensor 120 while preventing the use of the object detection sensor 120 and to prevent the connection failure between the object detection sensor 120 and the PCB 110. [
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. I will understand.
Accordingly, the true scope of protection of the present invention should be defined by the claims.
100: object detecting device for robot cleaner 110:
120: object detection sensor 130: signal induction unit
131: signal refraction case 133:
133a: coupling pin 133b: pin insertion hole portion
135: Signal waveguide

Claims (5)

  1. A PCB provided in a main body of the robot cleaner; A plurality of object detection sensors provided at the PC and outputting signals to the outside of the body; And a signal guiding part coupled to the PCB to cover the object detecting sensor and guiding a signal of the object detecting sensor in a traveling direction and a lateral direction of the main body,
    A signal refraction case coupled to the PCB to receive the object detection sensor and refracting the signal to a side of the body; An installation direction adjusting unit for adjusting an installation direction of the signal refraction case coupled to the PC; And a signal waveguide that guides the signal refracted to the signal refracting case to a side surface of the main body and is gradually expanded and formed,
    The installation direction adjusting unit includes:
    A coupling pin protruding from a lower surface of the signal refraction case; And
    A plurality of pin insertion holes formed in the PCB to insert the coupling pins;
    And an object detecting unit for detecting the object of the robot cleaner.
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KR1020150135946A 2015-09-24 2015-09-24 Object-detecting device for automatic vacuum cleaner KR101623888B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150135946A KR101623888B1 (en) 2015-09-24 2015-09-24 Object-detecting device for automatic vacuum cleaner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150135946A KR101623888B1 (en) 2015-09-24 2015-09-24 Object-detecting device for automatic vacuum cleaner

Publications (1)

Publication Number Publication Date
KR101623888B1 true KR101623888B1 (en) 2016-05-24

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007306043A (en) * 2006-05-08 2007-11-22 Denso Corp Ultrasonic sensor
JP2014208271A (en) * 2012-04-06 2014-11-06 聯潤科技股▲ふん▼有限公司 Self-traveling floor cleaning robot

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007306043A (en) * 2006-05-08 2007-11-22 Denso Corp Ultrasonic sensor
JP2014208271A (en) * 2012-04-06 2014-11-06 聯潤科技股▲ふん▼有限公司 Self-traveling floor cleaning robot

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