KR102713552B1 - Robot cleaner - Google Patents

Abstract

The present invention discloses a robot cleaner including a cleaner body having a control unit and a dustbin receiving unit formed therein; a wheel unit mounted on the cleaner body and controlled to be driven by the control unit; and a dustbin detachably coupled to the dustbin receiving unit, wherein a first opening and a second opening are arranged at the same height on an inner wall of the dustbin receiving unit, the dustbin having an inlet and an outlet which are arranged in parallel along a circumference and which communicate with the first and second openings respectively when the dustbin is received in the dustbin receiving unit; and a guide unit which extends downwardly at an angle along the inner circumference of the dustbin and guides a flow of air introduced through the inlet and a flow of air discharged toward the outlet so as to separate them from each other downwardly and upwardly, respectively.

Description

Robot vacuum cleaner {ROBOT CLEANER}

The present invention relates to a robot vacuum cleaner that performs the function of cleaning a floor while driving on its own in a certain area.

Robots have generally been developed for industrial purposes and have been responsible for a portion of factory automation. Recently, the application fields of robots have expanded, and not only aerospace robots and medical robots, but also domestic robots that can be used in ordinary homes are being created.

A typical example of a household robot is a robot vacuum cleaner. A robot vacuum cleaner performs the function of cleaning the floor while driving around a certain area. For example, a household robot vacuum cleaner is designed to drive around the house autonomously and suck up dust (including foreign substances) on the floor or mop the floor.

These robot vacuum cleaners are usually equipped with rechargeable batteries and various sensors that allow them to avoid obstacles while driving, and they can drive around the house on their own to perform cleaning functions.

In order for the robot vacuum cleaner to drive autonomously, it is important to set the entire path and detect obstacles along the path. The robot vacuum cleaner also performs functions such as filming and monitoring the inside of the house by utilizing the autonomous driving characteristics. In order to perform the functions described above, various sensors are used in the robot vacuum cleaner, but research on the optimized design is still insufficient.

In addition, conventional robot vacuum cleaners have a structure in which a suction unit is provided at the bottom of the vacuum cleaner body. However, this structure in which the suction unit is built into the vacuum cleaner body has problems such as reduced suction power and inability to separate the brush roller. Accordingly, a structure in which the suction unit is arranged in a protruding form from the vacuum cleaner body, as shown in the patent documents below, has been proposed, but this structure has many issues to be resolved in terms of increased possibility of collision between the suction unit and an obstacle, and the suction unit being located within a blind spot of a sensing unit provided in the vacuum cleaner body.

And the structure in which the dust bin is attached to the main body of the vacuum cleaner, and the dust bin cover is attached to the dust bin requires precise assembly of each component, as well as ease of assembly, but a product with this structure has not yet been released.

In addition, air drawn into the interior of a robot vacuum cleaner usually passes through a HEPA filter that filters fine dust before being discharged through the exhaust port. However, existing robot vacuum cleaners have the inconvenience of having to disassemble part of the main body of the vacuum cleaner in order to replace or clean the HEPA filter.

Patent Document 1: US Patent Publication No. US 2013/0305484 A1 (Published on November 21, 2013) Patent Document 2: US Patent Publication No. US 2013/0061420 A1 (Published on March 14, 2013) Patent Document 3: US Patent Publication No. US 2013/0061417 A1 (Published on March 14, 2013)

The first object of the present invention is to provide a new sensing unit that can implement forward surveillance/photographing functions, SLAM (Simultaneous Localization and Mapping) functions, and obstacle detection functions while minimizing the sensing portion, and can improve obstacle detection performance.

The second object of the present invention is to provide a suction unit that can detect a collision with an obstacle more directly by supplementing the sensing unit and can detect in advance a steep slope or cliff that is rapidly lowered in front.

The third object of the present invention is to provide a structure in which a dust bin can be firmly fixed to a dust bin receiving portion, and the convenience of assembly between the vacuum cleaner body, dust bin, and dust bin cover can be improved.

The fourth object of the present invention is to provide a new flow structure inside a dust bin that can increase the capacity of the dust bin while considering the height constraints of the vacuum cleaner body.

The fifth object of the present invention is to provide a structure that enables easy replacement of a filter that filters fine dust.

The robot cleaner of the present invention comprises: a cleaner body having a wheel unit for autonomous driving; a suction unit that is arranged in a protruding form from one side of the cleaner body and sucks in air containing dust; a sensing unit arranged on one side of the cleaner body; a dust bin that is accommodated in a dust bin receiving portion formed on the other side of the cleaner body and collects dust filtered from the sucked air; and a dust bin cover that is hinge-connected to the cleaner body so as to be rotatable and is arranged to cover an upper surface of the dust bin when attached to the dust bin.

In order to achieve the first object of the present invention, the robot cleaner of the present invention comprises: a cleaner body having a wheel unit and a control unit that controls the operation of the wheel unit; a suction unit that is arranged in a protruding form from one side of the cleaner body and sucks in air containing dust; and a sensing unit that is arranged on one side of the cleaner body, wherein the sensing unit includes: a first sensing unit that is arranged to be inclined with respect to one surface of the cleaner body so as to photograph the front and the upper side of the sensing unit together; and a second sensing unit that is arranged in a direction intersecting the first sensing unit and detects an obstacle located in front.

The above sensing unit may be arranged to overlap with the suction unit in the upper and lower direction of the cleaner body.

The above first sensing unit may be located at an upper corner portion where the upper surface and the side surface of the cleaner body meet.

The second sensing unit may be located on the side of the main body of the cleaner.

The above control unit can detect the current location within the driving area using the upper image captured by the first sensing unit.

The above control unit can compare the front images captured by the first sensing unit at preset time intervals, and generate a control signal if the front images are different from each other.

The second sensing unit may include a first laser that irradiates a laser toward the lower front side; a second laser that irradiates a laser toward the upper front side; and a camera that photographs the laser irradiated by the first laser and the second laser within a preset photographing area.

The first laser, the second laser, and the camera may be arranged in a row along the upper and lower direction of the main body of the cleaner.

The first laser may be arranged to be inclined downward with respect to the side of the cleaner body, and the second laser may be arranged to be inclined upward with respect to the side of the cleaner body.

The above control unit can control the operation of the wheel unit when it detects that an obstacle is located ahead by detecting an interruption of the laser captured through the camera.

The above-mentioned shooting area may include an area from the floor to the upper part of the cleaner body.

The sensing unit may include a window formed of a light-transmitting material and arranged to cover the first and second sensing units; and a case mounted on the cleaner body and accommodating at least a portion of the window.

The above window may include a first window formed of a light-transmitting material and positioned to cover the first sensing unit; and a second window formed of a semi-light-transmitting material and positioned to cover the second sensing unit.

A through hole is formed in a portion corresponding to the first sensing unit in the second window, and the first window can be arranged to cover the through hole.

The second window may include a first portion having the through hole; a second portion extending downwardly from the first portion in an inclined shape and arranged to cover the first and second lasers; an extension portion extending downwardly from the second portion and covered by the case; and a third portion extending downwardly from the extension portion and protruding from the outside of the case and arranged to cover the camera.

In order to achieve the second object of the present invention, the robot cleaner of the present invention comprises: a cleaner body having a wheel unit and a control unit that controls the operation of the wheel unit; and a suction unit that is arranged in a protruding form from one side of the cleaner body and sucks in air containing dust, wherein the suction unit comprises: a case; and a bumper switch that is arranged to cover at least one side of the case and is pressurized when in contact with an obstacle to transmit a contact signal to the control unit.

The above control unit can control the operation of the wheel unit when it determines that an obstacle has been hit and a contact signal is transmitted through the bumper switch.

The above bumper switch may include a front bumper switch provided on the front side of the case; and side bumper switches provided on each side of the case.

The above side bumper switch may be positioned to protrude laterally from both sides of the cleaner body.

The bumper switch may include a bumper mounted on the case, exposed to the outside, configured to be pressurized and moved inward when in contact with an obstacle; and a switch disposed on the inside of the bumper, configured to be pressurized and generate an electrical signal when the bumper moves inward.

The above bumper switch may further include an elastic member interposed between the bumper and the case to pressurize the bumper.

The above suction unit may further include a cliff sensor that is arranged at the lower front end of the case and detects the terrain below.

The above control unit can control the operation of the wheel unit when it is detected through the cliff sensor that the terrain below has become lower than a certain level.

The above suction unit may further include a charging terminal arranged at a lower front end of the case and configured to be connected to a charging station.

The above cliff sensors may be provided on each side of the charging terminal.

The case may include a main case portion having a brush roller configured to be rotatable therein; and a cover case portion detachably coupled to the main case portion to open and close an opening provided on one side of the main case portion.

The above suction unit may further include an operating unit configured to be operable in the main case portion, and to release the locking of the cover case portion with respect to the main case portion when the operating unit is operated.

The above suction unit is provided inside the other side of the main case portion and may further include an elastic member that elastically presses the brush roller.

In order to achieve the third object of the present invention, the robot cleaner of the present invention comprises: a cleaner body having a control unit and a dustbin receiving unit formed therein; a wheel unit mounted on the cleaner body and having a drive controlled by the control unit; a suction unit mounted on the cleaner body and configured to suck in air containing dust; a dustbin detachably mounted on the dustbin receiving unit and configured to filter and collect dust from the sucked air; and a dustbin cover having a hinge unit rotatably coupled to the cleaner body and detachably coupled to the dustbin so as to cover an upper surface of the dustbin.

With the above dustbin cover attached to the dustbin, the dustbin is restricted from being removed from the dustbin receiving portion.

A mounting projection may be formed protruding on the bottom surface of the above dustbin receiving portion, and a mounting groove corresponding to the mounting projection may be formed on the bottom surface of the above dustbin.

The above vacuum cleaner body has a recessed portion formed along the outer periphery of the dustbin receiving portion, and a part of the dustbin cover can be received in the recessed portion while the dustbin cover is connected to the dustbin.

An alignment mark may be formed on the upper portion of the above dustbin, and a guide mark corresponding to the alignment mark may be formed on the recessed portion.

In the recessed portion, a receiving groove that is more recessed than the recessed portion is formed, and on the outer periphery of the dustbin, a hook that catches on the step of the receiving groove when the dustbin is received in the dustbin receiving portion may be protrudingly formed.

The above dustbin cover includes a hinge part that is rotatably connected to the vacuum cleaner body, and when the dustbin cover is connected to the dustbin, the hinge part can be received in the receiving groove.

A hook may be formed protruding on the outer periphery of the dustbin, and a step may be formed on the main body of the vacuum cleaner to which the hook is hooked when the dustbin is accommodated in the dustbin receiving portion.

With the dustbin cover coupled to the dustbin, the dustbin cover can be positioned to cover the hanging hook.

The above dustbin cover may be provided with a hook portion configured to be fastened to a locking portion of the dustbin.

The above locking part can be exposed to the rear of the cleaner body.

The above dustbin may include a handle receiving portion formed on an upper surface; a handle configured to be rotatably hinged to the handle receiving portion and configured to be received in the handle receiving portion; and an elastic portion that elastically presses the handle so that the handle is placed in a state in which it protrudes obliquely with respect to the upper surface.

In a state where the dustbin cover is coupled to the dustbin, the handle can be received within the handle receiving portion by being pressed by the dustbin cover.

When the connection between the dustbin cover and the dustbin is released, the dustbin cover can be tilted upward with respect to the dustbin.

When the above dustbin cover is tilted upward with respect to the dustbin, the operation of the wheel unit can be stopped.

The above dustbin cover may be equipped with a touch key.

The above dustbin cover may be equipped with a touch screen that outputs visual information and receives touch input for the visual information.

The above dustbin cover may be equipped with a display section that outputs visual information.

Inside the above dustbin cover, a sub-circuit board is provided that is electrically connected to the main circuit board provided in the vacuum cleaner body, and an infrared receiving unit that receives infrared signals can be mounted on the sub-circuit board.

The dustbin cover may be positioned to protrude from the upper surface of the cleaner body so that the infrared receiving unit can receive an infrared signal entering through the side of the dustbin cover.

In addition, the third object of the present invention can be achieved by a robot cleaner including a cleaner body having a dustbin receiving portion that is opened toward the rear and upward; a dustbin that is detachably mounted to the dustbin receiving portion through a portion that is opened toward the upper portion and filters and collects dust from sucked air; and a dustbin cover that is detachably coupled to the dustbin so as to cover an upper surface of the dustbin, and has a hinge portion that is rotatably coupled to the cleaner body, wherein when the dustbin is mounted to the dustbin receiving portion, backward movement of the dustbin is restricted, and when the dustbin cover is fastened to the dustbin, upward movement of the dustbin is restricted.

In order to achieve the fourth object of the present invention, the robot cleaner of the present invention comprises: a cleaner body having a control unit and a dustbin receiving unit formed therein; a wheel unit mounted on the cleaner body and controlled to be driven by the control unit; and a dustbin detachably coupled to the dustbin receiving unit, wherein a first opening and a second opening are arranged at the same height on an inner wall of the dustbin receiving unit, and the dustbin comprises an inlet and an outlet which are arranged in parallel along a circumference and communicate with the first and second openings respectively when the dustbin is received in the dustbin receiving unit; and a guide unit which extends downwardly at an angle along the inner circumference of the dustbin and guides the flow of air introduced through the inlet and the flow of air discharged toward the outlet separately downward and upward, respectively.

The inlet may be provided below the guide portion so that air flowing in through the inlet flows from the lower portion of the guide portion, and the outlet may be provided above the guide portion so that air discharged toward the outlet flows from the upper portion of the guide portion.

The above guide portion can extend from the upper side of the inlet to the lower side of the outlet.

The above exit may be formed right next to the above entrance.

The above guide portion may be formed to block a space between the inlet and the outlet.

The inside of the dustbin may be provided with at least one cyclone for filtering dust in the air flowing into the inside of the dustbin.

The above cyclone may include a first cyclone that filters dust from air introduced through the inlet; and a second cyclone that is accommodated in a receiving portion defined by the guide portion and is positioned inside the first cyclone to filter fine dust.

The above robot cleaner may further include a filter arranged to cover the receiving portion and filter dust in the air passing through the second cyclone.

The above filter can be attached to the inner surface of the above receiving portion.

In order to allow air passing through the filter to flow into the upper portion of the guide portion, an empty space communicating with the upper portion of the guide portion may be formed on the outer periphery of the filter.

The above dustbin may further include a main body case having the inlet, the outlet, the receiving portion, and the guide portion, and receiving the first and second cyclones therein; an upper case coupled to an upper portion of the main body case and having an upper opening overlapping the receiving portion; and an upper cover detachably coupled to the upper case to open and close the upper opening, the upper cover having the filter mounted on the back surface.

In addition, the fourth object of the present invention can also be achieved by a cleaner including a cleaner body having a dustbin receiving portion formed therein; and a dustbin detachably coupled to the dustbin receiving portion, wherein the dustbin has an inlet and an outlet formed around the dustbin and communicating with first and second openings formed on an inner wall of the dustbin receiving portion when the dustbin is received in the dustbin receiving portion, respectively; a guide portion extending along the inner circumference of the dustbin and guiding a flow of air introduced through the inlet and a flow of air discharged toward the outlet to separate them downward and upward, respectively; a first cyclone filtering dust from air introduced through the inlet; a second cyclone received in the receiving portion limited by the guide portion and arranged inside the first cyclone to filter fine dust; and a filter arranged to cover the receiving portion and filtering dust in air passing through the second cyclone.

The above filter may be in close contact with the upper surface of the above guide portion or with the inner surface of the above receiving portion.

In order to allow air passing through the filter to flow into the upper portion of the guide portion, an empty space communicating with the upper portion of the guide portion may be formed on the outer periphery of the filter.

The above dustbin may further include a main body case having the inlet, the outlet, the receiving portion, and the guide portion, and receiving the first and second cyclones therein; an upper case coupled to an upper portion of the main body case and having an upper opening overlapping the receiving portion; and an upper cover detachably coupled to the upper case to open and close the upper opening, the upper cover having the filter mounted on the back surface.

In order to achieve the fifth object of the present invention, the robot cleaner of the present invention includes a cleaner body having an intake port and an exhaust port; and a filter unit accommodated inside the cleaner body and positioned in front of the exhaust port to filter fine dust, wherein the filter unit includes a filter case having a filter receiving portion and being hinge-coupled to the cleaner body so as to be rotatable so that the filter receiving portion is exposed to the outside; and a filter mounted in the filter receiving portion.

A dustbin receiving portion is formed in the above-mentioned cleaner body, and the exhaust port can be formed in an inner wall of the above-mentioned cleaner body that defines the dustbin receiving portion.

The above filter case is configured to be stored inside the cleaner body through an opening formed in the inner wall, and can define the dustbin receiving portion together with the inner wall when stored inside the cleaner body.

The above filter case can be positioned within the dustbin receiving portion while being rotated to open the above opening.

The above filter case may be formed with a ventilation hole that is positioned to communicate with the filter receiving portion and face the exhaust port.

The effects of the present invention obtained through the above-described solution are as follows.

First, the first sensing section of the sensing unit is arranged at an angle to one side of the main body of the vacuum cleaner to capture images of the front and the top together, and the control section uses the captured images separately into forward images and upward images according to different purposes, thereby enabling the first sensing section to be used more efficiently, and sensing sections previously provided for different purposes can be integrated into one.

In addition, since the second sensing section of the sensing unit is provided with first and second lasers that irradiate lasers toward the lower front and upper front, respectively, and a camera that photographs the lasers, a terrain feature in front and an obstacle above can be detected together, and as a result, the obstacle avoidance capability of the robot cleaner can be improved.

In addition, since the first sensing unit and the second sensing unit are integrated to form a single module called a sensing unit, a robot vacuum cleaner having a new form factor can be provided.

Second, a mechanically operated bumper switch is provided on the suction unit, which is arranged in a protruding form from one side of the main body of the vacuum cleaner, so that direct detection can be made when a collision occurs with an obstacle. In addition, since the side bumper switches provided on each side of the suction unit are arranged so as to protrude laterally from both sides of the main body of the vacuum cleaner, detection of lateral obstacles can also be effectively made.

When the above-described bumper switch is combined with the sensing unit, improved obstacle detection and corresponding direction changing functions can be implemented.

In addition, since a cliff sensor is installed on the slope of the suction unit, if there is a steep drop or cliff in front, it can be detected in advance and appropriate evasive maneuvers can be performed.

In addition, since the cover case part of the suction unit is configured to open and close the opening of the main case part, the brush roller built into the main case part can be configured to be pulled out to the outside. Accordingly, cleaning of the brush roller can be performed more easily.

Third, when the dustbin is mounted on the dustbin receiving portion, the backward movement of the dustbin is restricted by the engaging structure between the dustbin and the dustbin receiving portion, and when the dustbin cover is attached to the dustbin, the upward movement of the dustbin is restricted, so that the dustbin can be firmly fixed to the dustbin receiving portion, and the convenience of assembling the vacuum cleaner body, dustbin, and dustbin cover can be improved.

In addition, since a receiving portion is provided in the middle frame of the dustbin cover so as to cover the upper part of the infrared receiving unit, but is open at the front so as to receive infrared rays, malfunction of the infrared receiving unit due to a three-wavelength lamp or sunlight placed on the ceiling can be prevented. In addition, since the side of the dustbin cover is positioned so as to protrude more than the upper surface of the main body of the vacuum cleaner, the receiving performance of the infrared receiving unit can be improved.

Fourth, since the outlet of the dustbin is formed at the same height as the inlet, the capacity of the dustbin can be increased without increasing the height of the vacuum cleaner body. In addition, since the outlet of the dustbin is formed right next to the inlet, the downward inclination angle of the guide part that guides the flow of air flowing in through the inlet and the flow of air discharged toward the outlet separately downward and upward, respectively, is reduced, so that the air flowing in through the inlet can form a sufficient rotational flow, and the dust collected on the bottom of the dustbin can be prevented from flying.

Fifth, since the filter case is hingedly connected to the main body of the vacuum cleaner and configured to open and close an opening formed in the inner wall of the dustbin receiving portion, the filter case is placed inside the dustbin receiving portion while rotating to open the opening, and the filter receiving portion is exposed to the outside, so that easy replacement of the filter is possible, which has the advantage.

Figure 1 is a perspective view showing an example of a robot vacuum cleaner according to the present invention.
Figure 2 is a plan view of the robot vacuum cleaner illustrated in Figure 1.
Fig. 3 is a side view of the robot vacuum cleaner illustrated in Fig. 1.
Figure 4 is a drawing showing the sensing unit illustrated in Figure 1.
Figure 5 is an exploded perspective view of the sensing unit illustrated in Figure 4.
Figure 6 is a conceptual drawing showing a cross-section of the sensing unit illustrated in Figure 4.
FIG. 7 is a drawing for explaining separation of an image captured by the first sensing unit illustrated in FIG. 6.
Fig. 8 is a drawing for explaining the concept of detecting an obstacle by the second sensing unit illustrated in Fig. 4.
Figure 9 is a drawing showing the suction unit illustrated in Figure 1.
Fig. 10 is a side view of the suction unit illustrated in Fig. 9.
Fig. 11 is a front view of the suction unit illustrated in Fig. 9.
Fig. 12 is a drawing showing the bottom of the suction unit illustrated in Fig. 9.
FIG. 13 is a drawing for explaining the concept of a brush roller protruding by operation of an operating unit in the suction unit illustrated in FIG. 9.
Fig. 14 is a conceptual diagram showing the flow of air inside the robot vacuum cleaner illustrated in Fig. 1.
Fig. 15 is a drawing showing a state before a dust bin is installed in the dust bin receiving unit of the robot vacuum cleaner illustrated in Fig. 1.
Fig. 16 is a drawing showing the dustbin illustrated in Fig. 1.
Fig. 17 is a bottom view of the dustbin shown in Fig. 16.
Fig. 18 is a drawing showing a state in which a dust bin is mounted in the dust bin receiving portion illustrated in Fig. 15.
Fig. 19 is a front view of the dustbin shown in Fig. 16.
Figure 20 is a conceptual diagram showing the upper case and upper cover separated from the dustbin illustrated in Figure 16.
Fig. 21 is a cross-sectional view taken along line AA shown in Fig. 19.
Fig. 22 is a left side view of the dustbin shown in Fig. 16.
Fig. 23 is a drawing showing the dustbin cover illustrated in Fig. 1.
Fig. 24 is an exploded perspective view of the dustbin cover illustrated in Fig. 23.
Fig. 25 is a drawing showing the back surface of the dustbin cover illustrated in Fig. 23.
Fig. 26 is a cross-sectional view showing the structure in which the hook portion illustrated in Fig. 25 is attached to the dust bin.
Fig. 27 is a drawing showing the inside of the dustbin receiving portion illustrated in Fig. 15.
Fig. 28 is a conceptual diagram showing the filter unit illustrated in Fig. 27 in a rotated state.
Fig. 29 is an exploded perspective view of the filter unit illustrated in Fig. 28.

Hereinafter, a robot vacuum cleaner related to the present invention will be described in more detail with reference to the drawings.

FIG. 1 is a perspective view showing an example of a robot cleaner (100) according to the present invention, FIG. 2 is a plan view of the robot cleaner (100) shown in FIG. 1, and FIG. 3 is a side view of the robot cleaner (100) shown in FIG. 1.

Referring to FIGS. 1 to 3, the robot vacuum cleaner (100) performs a function of cleaning the floor while driving on its own in a certain area. Here, cleaning the floor includes sucking up dust (including foreign substances) on the floor or mopping the floor.

The robot vacuum cleaner (100) includes a vacuum cleaner body (110), a suction unit (120), a sensing unit (130), and a dust bin (140).

The main body of the vacuum cleaner (110) is provided with a control unit (not shown) for controlling the robot vacuum cleaner (100) and a wheel unit (111) for driving the robot vacuum cleaner (100). The robot vacuum cleaner (100) can be moved forward, backward, left, and right or rotated by the wheel unit (111).

The wheel unit (111) includes a main wheel (111a) and a sub wheel (111b).

The main wheels (111a) are provided on each side of the cleaner body (110) and are configured to be rotatable in one direction or the other according to a control signal from the control unit. Each of the main wheels (111a) may be configured to be driven independently of each other. For example, each of the main wheels (111a) may be driven by different driving motors.

The sub wheel (111b) supports the main body (110) of the cleaner together with the main wheel (111a) and assists the driving of the robot cleaner (100) by the main wheel (111a). This sub wheel (111b) may also be provided in the suction unit (120) described below.

As seen, the control unit controls the operation of the wheel unit (111), so that the robot cleaner (100) is made to autonomously drive on the floor.

Meanwhile, a battery (180) that supplies power to the robot cleaner (100) is mounted on the cleaner body (110). The battery (180) is configured to be rechargeable and can be configured to be detachably attached to the bottom of the cleaner body (110).

The suction unit (120) is arranged in a protruding form from one side of the cleaner body (110) so as to suck in air containing dust. The one side may be the side on which the cleaner body (110) moves in the forward direction (F), i.e., the front of the cleaner body (110).

In this drawing, the suction unit (120) is shown to have a shape that protrudes forward and left and right sides from one side of the cleaner body (110). Specifically, the front end of the suction unit (120) is positioned at a position spaced forward from one side of the cleaner body (110), and the left and right ends of the suction unit (120) are positioned at positions spaced left and right from one side of the cleaner body (110), respectively.

Since the cleaner body (110) is formed in a circular shape and the rear ends of the suction unit (120) are formed to protrude from the cleaner body (110) to the left and right sides, an empty space, i.e. a gap, can be formed between the cleaner body (110) and the suction unit (120). The empty space is a space between the left and right ends of the cleaner body (110) and the left and right ends of the suction unit (120), and has a recessed shape toward the inside of the robot cleaner (100).

If an obstacle is caught in the above empty space, the robot cleaner (100) may get caught on the obstacle and may not be able to move. To prevent this, a cover member (129) may be arranged to cover at least a part of the above empty space. The cover member (129) may be provided on the cleaner body (110) or the suction unit (120). In this embodiment, the cover members (129) are formed to protrude on both sides of the rear end of the suction unit (120) and are arranged to cover the outer surface of the cleaner body (110).

The cover member (129) is arranged to fill at least a portion of the empty space, that is, the empty space between the cleaner body (110) and the suction unit (120). In other words, the cover member (129) is arranged to fill at least a portion of the space recessed inwardly between the left and right outer peripheral surfaces of the cleaner body (110) formed into a curved surface and the left and right ends of the suction unit (120) formed to protrude from the left and right outer peripheral surfaces. Accordingly, an obstacle can be prevented from being caught in the empty space, or a structure can be implemented in which an obstacle can be easily removed from the obstacle even if it is caught in the empty space.

The cover member (129) protruding from the suction unit (120) can be supported on the outer surface of the cleaner body (110). If the cover member (129) is protruding from the cleaner body (110), the cover member (129) can be supported on the rear side of the suction unit (120). According to the above structure, when the suction unit (120) collides with an obstacle and receives an impact, a portion of the impact can be transmitted to the cleaner body (110) so that the impact can be dispersed.

The suction unit (120) can be detachably coupled to the cleaner body (110). When the suction unit (120) is separated from the cleaner body (110), a mop module (not shown) can be detachably coupled to the cleaner body (110) to replace the separated suction unit (120). Accordingly, when a user wants to remove dust from the floor, the user can attach the suction unit (120) to the cleaner body (110), and when a user wants to clean the floor, the user can attach the mop module to the cleaner body (110).

When the suction unit (120) is mounted on the cleaner body (110), the mounting can be guided by the cover member (129) described above. That is, by positioning the cover member (129) to cover the outer surface of the cleaner body (110), the relative position of the suction unit (120) with respect to the cleaner body (110) can be determined.

A sensing unit (130) is arranged in the cleaner body (110). As illustrated, the sensing unit (130) may be arranged on one side of the cleaner body (110) where the suction unit (120) is positioned, that is, in the front of the cleaner body (110). The sensing unit (130) may be formed to protrude from the upper surface and side surface of the cleaner body (110), and the upper end (134b1) of the sensing unit (130) is formed at a position protruding upward from the upper surface of the cleaner body (110).

The sensing unit (130) may be positioned to overlap with the suction unit (120) in the upper and lower direction of the cleaner body (110). The sensing unit (130) is positioned above the suction unit (120) to detect obstacles or terrain features in front so that the suction unit (120), which is located at the frontmost part of the robot cleaner (100), does not collide with the obstacle.

The sensing unit (130) is configured to perform additional sensing functions in addition to these sensing functions. This will be described in detail later.

The vacuum cleaner body (110) is provided with a dust bin receiving portion (113), and a dust bin (140) for separating and collecting dust in the sucked air is detachably connected to the dust bin receiving portion (113). As illustrated, the dust bin receiving portion (113) may be formed on the other side of the vacuum cleaner body (110), that is, at the rear of the vacuum cleaner body (110). The dust bin receiving portion (113) has a shape that is opened toward the rear and upward of the vacuum cleaner body (110). It may be formed concavely from the rear side of the vacuum cleaner body (110) toward the front side.

A part of the dust bin (140) may be accommodated in the dust bin receiving portion (113), while another part of the dust bin (140) may be formed to protrude toward the rear of the vacuum cleaner body (110) [i.e., in the reverse direction (R) opposite to the forward direction (F)].

The dust bin (140) is formed with an inlet (140a, see FIG. 16) through which air containing dust is introduced and an outlet (140b, see FIG. 16) through which air from which dust is separated is discharged, and when the dust bin (140) is mounted in the dust bin receiving portion (113), the inlet (140a) and the outlet (140b) are configured to communicate with the first opening (110a, see FIG. 15) and the second opening (110b, see FIG. 15) formed in the inner wall of the dust bin receiving portion (113), respectively.

The intake path inside the vacuum cleaner body (110) corresponds to the path from the inlet (110') communicating with the connecting portion (120b") to the first opening (110a), and the exhaust path corresponds to the path from the second opening (110b) to the exhaust port (112).

According to this connection, air containing dust drawn in through the suction unit (120) passes through the intake path inside the cleaner body (110) and flows into the dust bin (140), and while passing through at least one cyclone inside the dust bin (140), the air and dust are separated from each other. The dust is collected in the dust bin (140), and the air is discharged from the dust bin (140), passes through the exhaust path inside the cleaner body (110), and is finally discharged to the outside through the exhaust port (112).

Below, the sensing unit (130) is described in more detail.

FIG. 4 is a drawing showing the sensing unit (130) illustrated in the robot cleaner (100) in FIG. 1 in isolation, FIG. 5 is an exploded perspective view of the sensing unit (130) illustrated in FIG. 4, and FIG. 6 is a drawing conceptually showing a cross-section of the sensing unit (130) illustrated in FIG. 4. For reference, in FIG. 6, some components are excluded or illustrated briefly for convenience of explanation.

Referring to FIGS. 4 to 6, the sensing unit (130) includes a first sensing unit (131) and a second sensing unit (132).

The first sensing unit (131) is arranged at an angle with respect to one side of the cleaner body (110) so as to capture the front and the upper side together. A camera may be used as the first sensing unit (131). Here, one side of the cleaner body (110) is a surface parallel to the floor, and may be a floor surface, an upper surface, or a side surface of the cleaner body (110), and the first sensing unit (131) may be arranged at an angle within an acute angle with respect to the surface. For example, the first sensing unit (131) may be arranged at an angle of 30 degrees with respect to the upper surface of the cleaner body (110) parallel to the floor.

The first sensing unit (131) may be located at the upper corner where the upper surface and the side surface of the cleaner body (110) meet. In this drawing, the first sensing unit (131) is positioned at the center upper corner of the cleaner body (110) and is shown to be positioned at an angle with respect to the upper surface and the side surface, respectively.

In this way, as the first sensing unit (131) is positioned at an angle within an acute angle with respect to one surface of the vacuum cleaner body (110), the first sensing unit (131) is configured to capture images of the front and the upper side together.

Figure 7 shows the concept of the image captured by the first sensing unit (131) being separated into a forward image (A) and an upper image (B).

Referring to Fig. 7, the forward image (A) and the upward image (B) captured by the first sensing unit (131) can be divided based on the angle of view (α) in the upper and lower direction (i.e., vertical direction) of the first sensing unit (131). That is, among the captured images (A+B), an image corresponding to a part (α1) of the angle of view (α) can be recognized as a forward image (A), and an image corresponding to another part (α2) of the angle of view (α) can be recognized as an upward image (B). As illustrated in Fig. 6, the angle of view (α) can form an obtuse angle.

The front image (A) captured by the first sensing unit (131) is used to monitor the front in real time. For example, when the robot cleaner (100) is used for home use, the front image (A) captured by the first sensing unit (131) can be used to monitor unauthorized intrusion into an empty house or to provide an image of the house to an electronic device (e.g., a mobile terminal carried by the user) through remote access.

In the case where the front image (A) captured by the first sensing unit (131) is configured to monitor unauthorized intrusion into an empty house, the following control may be performed. The control unit may compare the front images (A) captured by the first sensing unit (131) at preset time intervals, and if the front images (A) are different from each other, may generate a control signal. The control may be performed while the main body (110) of the cleaner is stopped. The control signal may be a warning sound output signal, or a transmission signal that provides a notification, a captured front image (A), etc. to an electronic device through remote access.

In the case where the front image (A) captured by the first sensing unit (131) is configured to provide an image of the inside of the house to an electronic device through remote access, the following control may be performed. When an image request signal is received from an electronic device to which remote access has been made, the control unit may separate the front image (A) from the images captured by the first sensing unit (131) and transmit it to the electronic device. The control unit may also be configured to control the operation of the wheel unit (111) to move to a specific location, and then transmit the front image (A) at the corresponding location to the electronic device. To this end, as illustrated in FIG. 6, the angle of view (α) may have a range in which the first sensing unit (131) can capture an upper image (B) including the ceiling.

The upper image (B) captured by the first sensing unit (131) is used to create a map of the driving area and detect the current location within the driving area. For example, when the robot cleaner (100) is used for home use, the control unit can create a map of the driving area using the boundary between the ceiling and the side of the upper image (B) captured by the first sensing unit (131) and detect the current location within the driving area based on the main feature points of the upper image (B).

The control unit may use the forward image (A) as well as the upper image (B) to generate a map of the driving area and to detect the current position within the driving area.

The second sensing unit (132) is arranged in a direction intersecting with the first sensing unit (131) so as to detect obstacles or terrain features located in front. In this drawing, the second sensing unit (132) is shown arranged lengthwise along the vertical direction on the side of the cleaner body (110).

The second sensing unit (132) includes a first laser (132a), a second laser (132b), and a camera (132c).

The first laser (132a) is configured to irradiate laser toward the lower front side of the robot cleaner (100), and the second laser (132b) is configured to irradiate laser toward the upper front side of the robot cleaner (100). The first laser (132a) and the second laser (132b) can be arranged in a line along the vertical direction. In this drawing, the second laser (132b) is shown arranged below the first laser (132a).

The camera (132c) is configured to capture lasers irradiated by the first laser (132a) and the second laser (132b) within a preset shooting area. The preset shooting area includes an area from the floor to the top of the robot cleaner (100). Accordingly, an obstacle in front of the robot cleaner (100) while it is moving can be detected, and the problem of the robot cleaner (100) colliding with or getting caught in an upper obstacle can be prevented.

The above preset shooting area may be, for example, an area with a vertical (i.e., vertical) angle of view of 105 degrees, a horizontal (i.e., horizontal) angle of view of 135 degrees, and a frontal area of 25 meters. The preset shooting area may be changed by various factors such as the installation positions of the first and second lasers (132a, 132b), the irradiation angles of the first and second lasers (132a, 132b), and the height of the robot cleaner (100).

The first laser (132a), the second laser (132b), and the camera (132c) can be arranged in a row along the upper and lower direction of the cleaner body (110). In this drawing, the camera (132c) is shown arranged below the second laser (132b).

The first laser (132a) is positioned so as to be inclined downward with respect to the side of the cleaner body (110), and the second laser (132b) is positioned so as to be inclined upward with respect to the side of the cleaner body (110).

Figure 8 shows the concept of an obstacle being detected by the second sensing unit (132) illustrated in Figure 4.

First, referring to (a) of FIG. 8, the lasers irradiated from each of the first and second lasers (132a, 132b) are configured to irradiate lasers that extend in at least one direction. In this drawing, it is exemplified that the first laser (132a) irradiates lasers in the form of straight lines intersecting each other, and the second laser (132b) irradiates lasers in the form of a single straight line. Accordingly, the lowest laser is used to detect an obstacle at the bottom, the highest laser is used to detect an obstacle at the top, and the intermediate laser between the lowest laser and the highest laser is used to detect an obstacle at the middle.

For example, as shown in (b) of Fig. 8, when an obstacle (o) is located in front, a portion of the lowermost laser and the middle laser are blocked or distorted by the obstacle (o). When such blocking or distortion is detected, the camera (132c) transmits an obstacle detection signal to the control unit.

When the above obstacle detection signal is received, the control unit determines that an obstacle (o) is located in front and controls the driving of the wheel unit (111). For example, the control unit may apply driving force in the opposite direction to the main wheel (111a) so that the robot cleaner (100) moves backward. Alternatively, the control unit may apply driving force to only one main wheel (111a) so that the robot cleaner (100) rotates, or may apply driving force in different directions to the main wheels (111a) on both sides.

Below, the detailed configuration of the sensing unit (130) is described.

Referring to FIG. 5, the sensing unit (130) further includes a window unit (133) and a case (134) in addition to the first sensing unit (131) and the second sensing unit (132).

The window unit (133) is arranged to cover the first and second sensing units (131, 132) and has light-transmitting properties. Here, light-transmitting properties refer to properties in which at least a portion of incident light is transmitted, and is a concept that includes semi-transmitting properties.

The window portion (133) may be formed of a synthetic resin material or glass material. When the window portion (133) has a semi-transparent property, the material itself may be formed to have a semi-transparent property, or the material itself may be formed to have a semi-transparent property, but a film attached to the material may be formed to have a semi-transparent property.

The case (134) is mounted on the cleaner body (110) and configured to fix the first and second sensing units (131, 132) and the window unit (133). As illustrated, the case (134) is configured to accommodate at least a portion of the window unit (133). The case (134) may be formed of a synthetic resin material or a metal material and has opacity.

As illustrated, the case (134) may include a mounting frame (134a) and a cover frame (134b).

The mounting frame (134a) provides a space in which the first and second sensing units (131, 132) are mounted and supported. To this end, the mounting frame (134a) may be provided with a first mounting unit (134a1) for mounting the first sensing unit (131) and a second mounting unit (134a2) for mounting the second sensing unit (132). A substrate (132') on which the first and second lasers (132a, 132b) and the camera (132c) are mounted may be mounted on the second mounting unit (134a2). The second mounting unit (134a2) may be arranged at an angle with respect to the first mounting unit (134a1).

The mounting frame (134a) is provided with first and second fastening hooks (134a', 134a") for fastening with the cover frame (134b) and the window portion (133), respectively. The first fastening hook (134a') is fastened to the fastening hole (134b') of the cover frame (134b), and the second fastening hook (134a") is fastened to the fastening hole (133b") of the window portion (133). The mounting frame (134a) can be mounted on the vacuum cleaner body (110).

The cover frame (134b) is coupled to the mounting frame (134a) and is mounted on the cleaner body (110) while accommodating at least a portion of the window portion (133). The cover frame (134b) is formed in an 'L' shape and can be positioned to cover the upper surface and side surfaces at the corners of the cleaner body (110).

The upper end (134b1) of the cover frame (134b) is located above the first sensing unit (131) and may be formed to be inclined forward and backward to have a sharp shape. According to the above shape, even if the robot cleaner (100) gets caught in furniture or other gaps while driving, it can easily escape, and the first and second sensing units (131, 132) can be protected by the upper end (134b1) located above the first and second sensing units (131, 132). In this drawing, the upper end (134b1) is exemplified as being formed at the end of a hole (134") described later.

At least a part of the first sensing unit (131) and the second sensing unit (132) can be accommodated in the hole (134b") formed inside the cover frame (134b). In this drawing, the first and second lasers (132a, 132b) of the first sensing unit (131) and the second sensing unit (132) are shown accommodated in the hole (134b").

The window section (133) may include a first window (133a) and a second window (133b).

The first window (133a) is formed of a light-transmitting material and is positioned to cover the first sensing unit (131). The second window (133b) has a semi-transmitting property and is positioned to cover the second sensing unit (132). As illustrated, a through hole (133b') may be formed in a portion of the second window (133b) corresponding to the first sensing unit (131), and the first window (133a) may be positioned to cover the through hole (133b').

Since the first sensing unit (131) is formed of a light-transmitting material, images of the front and upper sides can be captured clearly. In addition, since the second window (133b) is semi-transparent, the first laser (132a), the second laser (132b), and the camera (132c) on the back surface of the second window (133b) are not easily visible when viewed with the naked eye from the outside, so that a clean appearance can be realized.

The second window (133b) can be divided into a first part (133b1), a second part (133b2), an extension part (133b4), and a third part (133b3).

The first part (133b1) is a part having the through hole (133b') and is arranged at an angle with respect to the upper surface of the cleaner body (110). The first window (133a) mounted in the through hole (133b') is arranged to cover the first sensing part (131).

The second part (133b2) extends downwardly from the first part (133b1) in an inclined shape and is arranged to cover the first and second lasers (132a, 132b). In this embodiment, the second part (133b2) is shown extending downwardly parallel to the side of the cleaner body (110).

The extension portion (133b4) extends downward from the second portion (133b2) and is covered by the cover frame (134b). As illustrated, the extension portion (133b4) may extend downwardly inward from the second portion (133b2). In other words, the extension portion (133b4) may be arranged to be inclined upward with respect to the third portion (133b3) so as not to interfere with the vertical angle of view of the camera (132c). Similarly, the portion of the cover frame (134b) that covers the extension portion (133b4) is arranged to be inclined so as not to interfere with the vertical angle of view of the camera (132c).

The third part (133b3) extends downward from the extension part (133b4) and protrudes from the outside of the cover frame (134b) and is arranged to cover the camera (132c). The third part (133b3) may extend downward along the side of the cleaner body (110) parallel to the second part (133b2).

Below, the suction unit (120) is described in more detail.

FIG. 9 is a drawing showing the suction unit (120) separated from the robot cleaner (100) shown in FIG. 1, FIG. 10 is a side view of the suction unit (120) shown in FIG. 9, FIG. 11 is a front view of the suction unit (120) shown in FIG. 9, and FIG. 12 is a drawing showing the bottom of the suction unit (120) shown in FIG. 9.

As in the present embodiment, when the suction unit (120) has a protruding shape from the cleaner body (110), the possibility of colliding with an obstacle increases unless a separate sensing unit (130) is provided in the suction unit (120). Of course, the sensing unit (130) provided in the cleaner body (110) detects an obstacle in front of the suction unit (120), but if there is an obstacle in a blind spot that the sensing unit (130) cannot sense, a physical collision between the robot cleaner (100) and the obstacle may occur. When such a physical collision occurs, the obstacle must be avoided by retreating or changing direction, and for this purpose, detection of a physical collision with the obstacle is required as a priority.

The suction unit (120) includes a case (121) and a bumper switch (122) that detects the physical collision.

The case (121) forms the outer shape of the suction unit (120) and includes an intake port (120b') for sucking in air containing dust and a communication portion (120b") that communicates with the intake path inside the cleaner body (110). At least a portion of the case (121) may be formed to be transparent so that the inside is visible.

A bumper switch (122) is arranged on at least one side of the case (121). The bumper switch (122) is configured to be pressurized when in contact with an obstacle and transmit a contact signal to the control unit.

The bumper switch (122) may be arranged to surround the case (121). In this drawing, a front bumper switch (122a) is provided on the front side of the case (121), and side bumper switches (122b, 122c) are provided on the left and right sides of the case (121), respectively.

According to the above configuration, it is possible to detect not only a physical collision with an obstacle located in front of the suction unit (120), but also a physical collision with an obstacle located on the side of the suction unit (120). Therefore, the detection range of a physical collision with an obstacle can be expanded.

Referring to the above Fig. 2, it can be confirmed that the side bumper switches (122b, 122c) are positioned to protrude further than the imaginary extension lines that contact both sides of the cleaner body (110). That is, the side bumper switches (122b, 122c) can be positioned to protrude laterally further than both sides of the cleaner body (110).

In this case, when an obstacle is located on the side of the robot cleaner (100), the side bumper switch (122b, 122c) collides with the obstacle before the cleaner body (110), so that detection of the obstacle can be performed effectively.

The bumper switch (122) is configured to include a bumper (122') and a switch (122").

The bumper (122') is a part that is mounted on the case (121) and exposed to the outside, and is configured to be pressurized and move inward when in contact with an obstacle.

In order to restore the bumper (122') to its original state when the bumper (122') is dropped from an obstacle, an elastic member (not shown) that presses the bumper (122') outward may be placed on the inside of the bumper (122'). The elastic member may be supported by the bumper (122') and the case (121), respectively.

The switch (122") is arranged on the inside of the bumper (122') so as to be pressurized and generate an electrical signal when the bumper (122') moves inward. A known microswitch can be used as the switch (122").

The control unit is configured to control the operation of the wheel unit (111) when a signal of contact with an obstacle is transmitted through the bumper switch (122) and the control unit determines that the robot cleaner (100) has hit an obstacle. For example, the control unit may apply driving force in the opposite direction to the main wheel (111a) so that the robot cleaner (100) moves backward. Alternatively, the control unit may apply driving force to only one main wheel (111a) so that the robot cleaner (100) rotates, or may apply driving forces in different directions to the main wheels (111a) on both sides.

Above, the bumper switch (122) is described as being divided into a front bumper switch (122a) and side bumper switches (122b, 122c), but the present invention is not limited thereto. The bumper switch (122) may be formed in a 'ㄷ' shape and arranged to cover the front and left and right sides of the case (121).

In this case, the bumper switch (122) is configured to be movable to the rear (when the part disposed on the front of the case (121) comes into contact with an obstacle), the right (when the part disposed on the left side of the case (121) comes into contact with an obstacle), and the left (when the part disposed on the right side of the case (121) comes into contact with an obstacle).

In this way, when a mechanically operated bumper switch (122) is provided in the suction unit (120), it has the advantage of being able to more directly detect a collision with an obstacle, reduce manufacturing costs, and simplify the circuit configuration compared to when an electronic sensor (e.g., acceleration sensor, PSD sensor, etc.) is provided.

In addition, a more improved obstacle detection and direction change function can be implemented by combining the bumper switch (122) and the sensing unit (130) provided in the cleaner body (110) described above.

Meanwhile, when the robot cleaner (100) is traveling in the forward direction (F) and is located near a steep slope or cliff that is rapidly lowered, an appropriate avoidance maneuver is required. If detection and corresponding control for this situation are not performed, the robot cleaner (100) may fall down the slope and be damaged, or may not be able to climb back up the slope.

To this end, a cliff sensor (124) that detects the terrain below is placed at the front end of the lower portion of the suction unit (120). The cliff sensor (124) has a light emitting portion and a light receiving portion, and is configured to measure the time taken for light irradiated from the light emitting portion to the floor (G) to be received by the light receiving portion, thereby measuring the distance between the cliff sensor (124) and the floor (G). Accordingly, if there is a steep slope that rapidly lowers ahead, the received time increases rapidly. If there is a cliff ahead, light is not received by the light receiving portion.

In this drawing, an inclined portion (120a) that is inclined upwardly with respect to the floor (G) is formed at the front end of the lower portion of the suction unit (120), and a cliff sensor (124) is installed on the inclined portion (120a) so as to face the floor (G). With the above structure, the cliff sensor (124) is arranged so as to be inclined toward the floor (G) at the lower front side. Accordingly, the terrain at the lower front side of the suction unit (120) can be detected by the cliff sensor (124).

Unlike the above arrangement, the cliff sensor (124) may be arranged perpendicular to the floor (G) and configured to detect the terrain directly below the cliff sensor (124).

The control unit is configured to control the operation of the wheel unit (111) when it is detected through the cliff sensor (124) that the terrain below is lowered to a certain level or more. For example, the control unit may apply driving force in the opposite direction to the main wheel (111a) so that the robot cleaner (100) moves backward in the reverse direction (R). Alternatively, the control unit may apply driving force to only one main wheel (111a) so that the robot cleaner (100) rotates, or may apply driving forces in different directions to the main wheels (111a) on both sides.

The cliff sensor (124) described above may also be placed on the bottom of the cleaner body (110). Considering the function of the cliff sensor (124), it is preferable that the cliff sensor provided on the cleaner body (110) be placed adjacent to the rear of the cleaner body (110).

For reference, since a slope (120a) is formed on the lower front end of the suction unit (120), it is possible to easily climb low thresholds or obstacles. In addition, as illustrated, if an auxiliary wheel (123) is provided on the slope (120a), the climbing can be made easier. For reference, in Fig. 10, the auxiliary wheel (123) is omitted in order to explain the cliff sensor (124).

Meanwhile, since the robot cleaner (100) is operated wirelessly, charging of the battery (180) provided in the cleaner body (110) is required during use. In order to charge the battery (180), a charging station (not shown) is provided as a power supply unit, and a charging terminal (125) configured to be connected to the charging station is provided in the suction unit (120).

In this drawing, the charging terminal (125) is shown positioned on the inclined portion (120a) of the case (121) described above and exposed forward. The charging terminal (125) can be positioned between the cliff sensors (124) positioned on each side of the suction unit (120).

Meanwhile, the suction unit (120) may be equipped with a brush roller (126) for effective suction of dust. The brush roller (126) is configured to be rotatable in the suction port (120b') so as to sweep dust from the floor and introduce it into the suction unit (120).

Due to the function of the brush roller (126), dust accumulates on the brush roller (126) over time. Although there is a need for cleaning the brush roller (126), the suction unit (120) is usually formed in a structure that is difficult to disassemble, so it is practically difficult to clean the brush roller (126).

In the present invention, a structure is disclosed in which only the brush roller (126) can be separated and cleaned without disassembling the entire suction unit (120).

FIG. 13 is a drawing for explaining the concept of a brush roller (126) protruding by operation of an operating unit (127) in the suction unit (120) illustrated in FIG. 9.

Referring to FIG. 13, the case (121) includes a main case portion (121a) and a cover case portion (121b).

The main case part (121a) has a brush roller (126) configured to be rotatable inside, and an opening (121a') is formed on one side. A front bumper switch (122a) is mounted on the front side of the main case part (121a), and a side bumper switch (122b, 122c) is mounted on the other side of the main case part (121a).

The cover case part (121b) is detachably connected to the main case part (121a) to open and close an opening (121a') provided on one side of the main case part (121a). The cover case part (121b) is equipped with the remaining one side bumper switch (122b, 122c).

When the cover case part (121b) is separated from the main case part (121a) by the above structure, the opening (121a') provided on one side of the main case part (121a) is exposed to the outside. Accordingly, the brush roller (126) arranged inside the main case part (121a) can be pulled out to the outside through the opening (121a').

The suction unit (120) may be provided with an operating unit (127) that releases the locking of the cover case portion (121b) with respect to the main case portion (121a) when operated. The operating unit (127) may be placed in the main case portion (121a) or the cover case portion (121b). The operating method of the operating unit (127) may be implemented in various ways, such as a sliding method or a pressing method. In this drawing, the sliding method operating unit (127) is shown installed in the main case portion (121a).

An elastic member (128) that elastically presses the brush roller (126) may be provided on the other side of the main case part (121a). A plate spring, coil spring, or the like may be used as the elastic member (128).

The elastic member (128) is configured to be in a state of being pressed by the brush roller (126) when the cover case part (121b) is fastened to the main case part (121a), and then pressurize the brush roller (126) when the fastening is released by the operation of the operating part (127). Accordingly, at least a part of the brush roller (126) can be exposed to the outside through the opening (121a'). At this time, as illustrated, the cover case part (121b) can be in a state of being coupled to the brush roller (126).

Figure 14 is a conceptual diagram showing the flow of air inside the robot cleaner (100) illustrated in Figure 1.

Referring to FIG. 14, air drawn into the suction unit (120) through the suction port (120b') of the suction unit (120) is drawn into the vacuum cleaner body (110) through the connecting portion (120b"). For reference, the air drawn through the suction unit (120) contains dust (including foreign substances).

Air that flows into the vacuum cleaner body (110) flows into the dust bin through the intake path. The intake path corresponds to a path that extends from the inlet (110') that communicates with the communication part (120b") to the first opening (110a, see FIG. 15). The intake path can be formed by a duct, a peripheral device, or a combination of a duct and a peripheral device.

In this drawing, the intake duct (117) is shown connecting the inlet (110') and the first opening (110a) to form an intake path.

The connecting portion (120b") of the suction unit (120) can be placed under the front side bottom surface of the cleaner body (110), and in this case, the inlet (110') is formed on the front side bottom surface of the cleaner body (110). In addition, as the dust bin (140) is placed at the rear of the cleaner body (110), a fan motor unit (170) and a battery (180) are placed on the left and right sides of the front of the dust bin (140), respectively.

According to the above arrangement, the front end of the intake duct (117) communicating with the inlet (110') is formed to extend upward. In addition, the intake duct (117) may be arranged to extend to one side of the cleaner body (110) while avoiding the battery (180), and pass over the fan motor unit (170) arranged on the one side.

The first opening (110a) is formed on the upper inner surface of the dustbin receiving portion (113) so as to communicate with the inlet (140a) formed on the upper outer surface of the dustbin (140). Accordingly, the intake duct (117) is formed to extend upward from the inlet (110') toward the first opening (110a).

Air drawn into the dust bin (140) passes through at least one cyclone inside the dust bin (140). Dust contained in the air is separated by the at least one cyclone and collected in the dust bin (140), and air from which dust has been removed is discharged from the dust bin (140).

Specifically, air forms a rotating flow within the dust bin (140), and dust and air are separated from each other by the difference in centrifugal force between the air and dust. The air flows to the outlet (140b) through at least one cyclone by the suction force of the fan motor unit (170), but the dust gradually falls and is collected at the bottom of the dust bin (140) because the inertial force due to the dust's weight is greater than the suction force of the fan motor unit (170).

As illustrated, the inlet (110') may be formed in the center of the front side bottom surface of the cleaner body (110). The inlet (140a) of the dust bin (140) may be formed to open in a tangential direction on the inner surface of the dust bin (140) so that air may flow in a lateral direction to naturally form a rotational flow. When the dust bin (140) is accommodated in the dust bin receiving portion (113), the inlet (140a) may be located in the lateral direction of the cleaner body (110).

The air from which dust has been separated is discharged from the dust bin (140), passes through the exhaust path inside the vacuum cleaner body (110), and is finally discharged to the outside through the exhaust port (112).

The exhaust path corresponds to the path from the second opening (110b, see FIG. 15) to the exhaust port (112). The exhaust path can be formed by a duct, a peripheral device, or a combination of a duct and a peripheral device.

In this drawing, the exhaust path is shown to be composed of a combination of an exhaust duct (118) connecting the second opening (110b) and the fan motor unit (170) and an internal mechanism guiding the flow of air from the fan motor unit (170) to the exhaust port (112).

To reduce noise emitted to the outside, the fan motor unit (170) may be positioned adjacent to the central portion of the cleaner body (110). Correspondingly, the second opening (110b) may also be formed adjacent to the central portion of the cleaner body (110).

As illustrated, the front end of the exhaust duct (118) communicating with the second opening (110b) can be arranged parallel to the rear end of the intake duct (117) communicating with the first opening (110a) at the same height.

Below, the dustbin receiving portion (113), the dustbin (140), and the dustbin cover (150) are described in more detail.

FIG. 15 is a drawing showing a state before a dust bin (140) is mounted in the dust bin receiving portion (113) of the robot cleaner (100) illustrated in FIG. 1.

Referring to FIG. 15, a dustbin receiving portion (113) for receiving a dustbin (140) is formed in the cleaner body (110). The dustbin receiving portion (113) has a recessed shape from the rear side of the cleaner body (110) toward the front side, and is opened toward the rear and upward of the cleaner body (110). The dustbin receiving portion (113) may be limited by a bottom surface that supports the dustbin (140) and an inner wall that surrounds a portion of the outer circumference of the dustbin (140).

A recessed portion (116) is formed along the outer periphery of a dustbin receiving portion (113) on the upper surface of the vacuum cleaner body (110). A dustbin cover (150) is received in the dustbin receiving portion (113) by rotation, and at this time, it is arranged so as to cover the upper surface of the dustbin (140) and the recessed portion (116) together (see FIG. 2). A part of the dustbin cover (150) is received in the recessed portion (116) when the dustbin cover (150) is connected to the dustbin (140).

A first opening (110a) and a second opening (110b) are formed on the inner wall of the dustbin receiving portion (113). The first opening (110a) and the second opening (110b) can be arranged at the same height. In this drawing, the first opening (110a) and the second opening (110b) are shown as being formed adjacent to each other on the left and right sides at the upper end of the inner wall of the dustbin receiving portion (113).

In order to form an air flow from the intake passage to the dust bin (140) to the exhaust passage, the first and second openings (110a, 110b) must be positioned to communicate with the inlet (140a) and the outlet (140b), respectively. In order to achieve this communication, the dust bin (140) must be installed in the correct position in the dust bin receiving portion (113).

To this end, a mounting projection (113b) is formed protrudingly on the bottom surface of the dustbin receiving portion (113), and a mounting groove (149, see FIG. 17) corresponding to the mounting projection (113b) is formed on the bottom surface of the dustbin (140). The dustbin (140) can be mounted in the correct position of the dustbin receiving portion (113) by having the mounting projection (113b) accommodated in the mounting groove (149).

It is preferable that the mounting protrusion (113b) be formed at a position away from the center of the dustbin (140) so that the dustbin (140) formed in a cylindrical shape does not rotate while accommodated in the dustbin receiving portion (113). In this drawing, the mounting protrusion (113b) is shown formed on each of the left and right sides based on the center of the dustbin (140).

For reference, the positions of the mounting protrusion (113b) and the mounting groove (149) may be swapped. That is, the mounting protrusion may be formed protruding on the bottom surface of the dustbin (140), and the mounting groove may be formed on the bottom surface of the dustbin receiving portion (113).

A protrusion (113a) may be formed protrudingly on the bottom surface of the dustbin receiving portion (113), and a recess (148, see FIG. 17) corresponding to the protrusion (113a) may be formed on the bottom surface of the dustbin (140). The recess (148) may be formed at the center of the dustbin (140).

The dustbin receiving portion (113) or the dustbin (140) may be provided with gaskets (110a', 110b') that maintain airtightness between the first opening (110a) and the inlet (140a), and the second opening (110b) and the outlet (140b) when the dustbin (140) is mounted in the correct position of the dustbin receiving portion (113). The gaskets (110a', 110b') may be formed to surround the first opening (110a) and the second opening (110b), or may be formed to surround the inlet (140a) and the outlet (140b).

Fig. 16 is a drawing showing the dust bin (140) illustrated in Fig. 1, and Fig. 17 is a bottom view of the dust bin (140) illustrated in Fig. 16.

The dust bin (140) is accommodated in the dust bin receiving portion (113) formed on the other side of the vacuum cleaner body (110) and is configured to collect dust filtered from the sucked air. As illustrated, the dust bin (140) is formed in a cylindrical shape and may include a body case (141a), an upper case (141b), and a lower case (141c).

At least one cyclone may be arranged inside the main body case (141a). For example, a first cyclone (147a) for filtering dust from air drawn in through an inlet (140a) and a second cyclone (147b) arranged inside the first cyclone (147a) for filtering fine dust may be arranged inside the main body case (141a). The second cyclone (147b) may be accommodated in a receiving portion (141a") defined by a guide portion (141a') described below. A plurality of second cyclones (147b) may be provided.

The upper case (141b) is positioned to cover the upper part of the main body case (141a), and the lower case (141c) is positioned to cover the lower part of the main body case (141a).

The dust bin (140) is provided with an inlet (140a) through which air containing dust is drawn in, and an outlet (140b) through which air from which dust has been filtered is discharged. In this drawing, the inlet (140a) and the outlet (140b) are each formed on the side of the main body case (141a). The inlet (140a) and the outlet (140b) may be arranged at the same height. In this drawing, the inlet (140a) and the outlet (140b) are shown formed adjacent to each other at the top of the main body case (141a).

Since the dustbin (140) is configured to be detachable from the dustbin receiving portion (113), a handle (143) may be provided on the dustbin (140) for easy attachment and detachment. Looking specifically at the structure disclosed in this embodiment, the handle (143) is configured to be hingedly connected to the upper case (141b) and rotatably configured. A handle receiving portion (142) capable of receiving the handle (143) is formed on the upper case (141b).

The handle (143) may be accommodated in the handle receiving portion (142) by being pressed by the dustbin cover (150) when the dustbin cover (150) is arranged to cover the dustbin (140) by being coupled to the dustbin (140), and may be placed in a state where it protrudes from the handle receiving portion (142) when the dustbin cover (150) is separated from the dustbin (140). To this end, the upper case (141b) may be provided with an elastic portion (not shown) that elastically presses the handle (143).

A hook (145) may be formed protrudingly in the upper case (141b). The hook (145) is formed in the front of the upper case (141). Here, the front of the upper case (141) means the direction facing the front of the cleaner body (110) when the dust bin (140) is mounted in the correct position in the dust bin receiving portion (113).

The hook (145) is received in a receiving groove (116a) formed in a recessed portion (116) of the cleaner body (110). The hook (145) may have a shape that protrudes from the outer surface of the upper case (141) and is bent downward. A step (116a') is formed in the receiving groove (116a), and the hook (145) may be configured to be able to be caught on the step (116a').

The lower case (141c) can be rotatably coupled to the main body case (141a) by a hinge portion (141c'). A locking member (141c") provided on the lower case (141c) is detachably coupled to the main body case (141a), thereby fixing the lower case (141c) to the main body case (141a) when coupled, and allowing the lower case (141c) to rotate with respect to the main body case (141a) when released. When the lower case (141c) rotates with respect to the main body case (141a), dust collected inside the dust bin (140) is discharged through the lower opening.

The hinge part (141c') and the locking member (141c") may be provided at opposing positions with the center of the lower case (141c) in between. When the dustbin (140) is mounted in the correct position of the dustbin receiving portion (113), the hinge part (141c') and the locking member (141c") may be configured to be covered by the inner wall of the dustbin receiving portion (113) and not exposed to the outside.

A mounting groove (149) corresponding to the mounting projection (113b) described above is formed on the bottom surface of the lower case (141c). As illustrated, the mounting groove (149) may be formed at a position adjacent to the hinge portion (141c') and the locking member (141c").

In addition, a groove (148) corresponding to the protrusion (113a) described above may be formed on the bottom surface of the lower case (141c). The groove (148) may be formed at the center of the dust bin (140). FIG. 18 is a drawing showing a state in which a dust bin (140) is mounted in the dust bin receiving portion (113) illustrated in FIG. 15.

Referring to Fig. 18, when the dust bin (140) is not mounted on the dust bin receiving portion (113), the dust bin cover (150) can be tilted upward by the hinge portion (150a) that provides an elastic pressure upward. Accordingly, the dust bin (140) can be tilted downward from the rear upper portion of the dust bin receiving portion (113) and accommodated in the dust bin receiving portion (113).

When the dust bin (140) is received in the correct position in the dust bin receiving portion (113), the catch hook (145) protruding from the outer periphery of the dust bin (140) is received in the receiving groove (116a) formed in the recessed portion (116) of the cleaner body (110). The receiving groove (116a) has a relatively more sunken shape than the recessed portion (116).

Accordingly, a step (116a') may be formed in the receiving groove (116a). The step (116a') is inserted into the inside of the hook (145) so that the hook (145) is caught when moving laterally. When the dustbin cover (150) is connected to the dustbin (140), the dustbin cover (150) is arranged to cover the hook (145).

When the dust bin (140) is accommodated in the dust bin receiving portion (113), the upper surface of the upper case (141b) can form the same plane as the recessed portion (116).

In order for the hook (145) to be received in the correct position in the receiving groove (116a), an alignment mark (146) may be formed on the upper portion of the dustbin (140), and a guide mark (116') corresponding to the alignment mark (146) may be formed on the recessed portion (116). In this drawing, the alignment mark (146) is formed negatively on the upper case (141b), and the guide mark (116') is formed negatively on the recessed portion (116).

The receiving groove (116a) may be formed to extend long toward the front of the vacuum cleaner body (110). When the dust bin cover (150) is connected to the dust bin (140), the hinge part (150a) of the dust bin cover (150) may be received in the receiving groove (116a).

As described above, since the hook (145) is caught on the step (116a') of the receiving groove (116a), the dust bin (140) is restricted from moving laterally in the dust bin receiving portion (113).

In addition, as described above, the mounting projection (113b) of the dustbin receiving portion (113) is inserted into the mounting groove (149) formed in the dustbin (140). In this case as well, the dustbin (140) is restricted from moving laterally in the dustbin receiving portion (113).

Accordingly, the dustbin (140) cannot be removed from the dustbin receiving portion (113) without moving upward. When the dustbin cover (150) is attached to the dustbin (140) and arranged to cover the dustbin (140), the upward movement of the dustbin (140) is restricted, so that the dustbin (140) cannot be removed from the dustbin receiving portion (113).

FIG. 19 is a front view of the dust bin (140) illustrated in FIG. 16, FIG. 20 is a conceptual diagram showing the state in which the upper case (141b) and the upper cover (141d) are separated from the dust bin (140) illustrated in FIG. 16, FIG. 21 is a cross-sectional view taken along the line A-A illustrated in FIG. 19, and FIG. 22 is a left side view of the dust bin (140) illustrated in FIG. 16.

In some drawings, for convenience of explanation, the second cyclone (147b) provided inside the first cyclone (147a) is omitted.

Referring to FIGS. 19 to 22 together with the preceding FIG. 16, the upper cover (141d) is configured to open and close the upper opening (141b') of the dust bin (140). In the present embodiment, the upper opening (141b') is formed in the upper case (141b), and the upper cover (141d) is removably coupled to the upper case (141b) to open and close the upper opening (141b'). The upper opening (141b') is arranged to overlap the receiving portion (141a") of the main body case (141a) in which the multi-cyclone is arranged.

The upper cover (141d) is provided with an operating part (141d') for fastening and releasing from the upper case (141b). The operating parts (141d') are formed on each of the left and right sides of the upper cover (141d), and can be configured to enable a pressing operation in the direction facing each other, that is, inward, and restoration by elastic force.

The upper cover (141d) is provided with a fixed projection (141d") that is withdrawn or drawn in from the outer periphery of the upper cover (141d) in conjunction with the operation of the operating portion (141d'). When the operating portion (141d') is pressed, the fixed projection (141d") is drawn into a receiving portion formed in the upper cover (141d) and is placed in a state where it does not protrude from the outer periphery, and when it is restored by elastic force, it is placed in a state where it protrudes from the outer periphery of the upper cover (141d).

A fixing groove (141b") is formed on the inner surface of the upper case (141b) forming the upper opening (141b'), into which a fixing projection (141d") is inserted and fixed. The fixing grooves (141b") are each formed at a position corresponding to the fixing projections (141d") and can be arranged to face each other. Alternatively, the fixing grooves (141b") can be formed to extend in a loop shape along the inner surface of the upper case (141b). In this case, there is an advantage in that the degree of freedom in installing the fixing projections (141d") increases.

The main body case (141a) is provided with a guide part (141a') that separates the flow of air flowing in through the inlet (140a) and the flow of air discharged toward the outlet (140a) and guides the flow. The guide part (141a') can be formed integrally during injection molding of the main body case (141a).

The guide portion (141a') is formed to surround the receiving portion (141a"), and the inlet (140a) and the outlet (140b) are formed on opposite surfaces of the guide portion (141a'). As illustrated, the inlet (140a) is provided on the lower surface of the guide portion (141a'), so that air flowing in through the inlet (140a) flows from the lower surface of the guide portion (141a'). The outlet (140b) is provided on the upper surface of the guide portion (141a'), so that air discharged toward the outlet (140b) flows from the upper surface of the guide portion (141a').

The guide part (141a') is formed to block the space between the inlet (140a) and the outlet (140b), thereby separating the air flowing in through the inlet (140a) and the air discharged toward the outlet (140b).

It is preferable that the inlet (140a) of the dustbin (140) be opened so as to face the inner surface of the dustbin (140) so that the air flowing into the dustbin (140) forms a rotational flow. For example, the inlet (140a) may be opened so as to come into contact with the inner surface of the dustbin (140).

It is desirable that the outlet (140b) of the dustbin (140) be formed to minimize flow loss and to be in harmony with surrounding structures without interference.

The inlet (140a) and the outlet (140b) can be arranged in a parallel manner left and right along the upper circumference of the dustbin (140). That is, the inlet (140a) and the outlet (140b) can be formed at the same height of the dustbin (140).

The inlet (140a) is formed at the top of the dust bin (140) so that the air flowing into the dust bin (140) does not scatter the dust collected at the bottom of the dust bin (140).

In the case of vacuum cleaners with less height restrictions of the multi-cyclone (e.g., upright type, canister type, etc.), the outlet is generally installed at a higher position than the inlet. However, in the case where the capacity of the dust bin (140) needs to be increased while considering the height restriction, such as in the robot vacuum cleaner (100) of the present invention, the outlet (140b) can be formed at the same height of the inlet (140a) and the dust bin (140).

And in the structure of the present invention in which the air introduced into the inlet (140a) is guided by a downwardly inclined guide portion (141a'), the angle at which the air introduced into the inlet (140a) faces downward is related to the inclination of the guide portion (141a'). In this respect, if the inclination of the guide portion (141a') is large, the air introduced into the inlet (140a) not only does not receive sufficient centrifugal force, but may also scatter dust collected at the bottom of the dust bin (140).

In this respect, it is desirable that the slope of the guide portion (141a') be as small as possible. Since the guide portion (141a') extends from the upper side of the inlet (140a) to the lower side of the outlet (140b), when the inlet (140a) and the outlet (140b) are formed at the same height of the dustbin (140), the longer the length of the guide portion (141a'), the more gentle the downward slope of the guide portion (141a') appears. Accordingly, the guide portion (141a') is formed to be the longest when the outlet (140b) is located right next to the inlet (140a), and as a result, has the gentlest slope.

In this drawing, the structure in which the inlet (140a) and the outlet (140b) are formed in parallel left and right directions at the top of the main body case (141a) is shown. The guide portion (141a') may have a shape that slopes downward in a spiral manner along the inner surface of the main body case (141a) from the top of the inlet (140a) toward the bottom of the outlet (140b).

The multi-cyclone of the dustbin (140) is accommodated in the receiving portion (141a") and filters foreign substances or dust in the air that flows in through the inlet (140a). The air from which foreign substances or dust have been filtered rises and flows from the upper portion of the guide portion (141a') toward the outlet (140b). The dustbin (140) of the present invention has a structure that filters foreign substances or dust once again before the air flowing in this manner is finally discharged through the outlet (140b).

On the back surface of the upper cover (141d), a filter (141f) is provided to filter foreign substances or dust in the air discharged toward the outlet (140b) after passing through the multi-cyclone. The filter (141f) is arranged to cover the second cyclone (147b) accommodated in the accommodation portion (141a"), so as to filter dust in the air passing through the second cyclone (147b).

With the upper cover (141d) mounted on the upper case (141b), the filter (141f) is positioned to cover the receiving portion (141a"). For example, the filter (141f) may be in close contact with the upper surface of the guide portion (141a') or the inner surface of the receiving portion (141a").

The filter (141f) can be mounted on a mounting rib (141e) protruding from the back surface of the upper cover (141d). In this drawing, the mounting rib (141e) is shown to have a structure including a plurality of protrusions (141e') and mounting portions (141e"). The mounting rib (141e) can be formed integrally during injection molding of the upper cover (141d).

The protrusion (141e') is formed to protrude from the back surface of the upper cover (141d) and is provided at multiple locations. The mounting portion (141e") is spaced apart from the back surface of the upper cover (141d) at a certain interval and is supported at multiple locations by the protrusions (141e'). The mounting portion (141e") may be formed in a loop shape larger than the receiving portion (141a").

The filter (141f) includes a filter portion (141f') and a sealing portion (141f").

The filter unit (141f') is arranged to cover the receiving unit (141a") and is configured to filter foreign substances or dust in the air discharged through the outlet (140b). The filter unit (141f') may have a mesh shape.

The sealing portion (141f") is arranged to surround the filter portion (141f') and is mounted on the mounting portion (141e") so that the filter (141f) can be fixed to the mounting rib (141e). For the fixing, a groove into which the mounting portion (141e") is fitted may be formed in the sealing portion (141f"). The sealing portion (141f") may be arranged to be in close contact with the upper surface of the guide portion (141a') and surround the receiving portion (141a"). Alternatively, the sealing portion (141f") may be in close contact with the inner peripheral surface of the receiving portion (141a").

By the above structure, air filtered of foreign substances or dust by the multi-cyclone can pass through the filter portion (141f') and be discharged to the outlet (141f) through the empty space between the protrusions (141e'). Here, the empty space is formed on the outer periphery of the filter (141f) and is connected to the upper portion of the guide portion (141a'). In addition, the sealing portion (141f") is configured to seal the gap between the filter (141f) and the upper surface of the guide portion (141a') in close contact therewith or the inner surface of the receiving portion (141a"), so that foreign substances or dust in the air can be prevented from being discharged to the outlet (141f) through the gap.

Other detailed configurations of the dustbin (140) are structurally related to the dustbin cover (150), and will be described together with the description of the dustbin cover (150).

Fig. 23 is a drawing showing the dustbin cover (150) illustrated in Fig. 1, and Fig. 24 is an exploded perspective view of the dustbin cover (150) illustrated in Fig. 23.

Referring to FIGS. 23 and 24 together with FIGS. 1 to 3 above, the dustbin cover (150) is rotatably connected to the cleaner body (110) by a hinge portion (150a), and is arranged to completely cover the upper surface of the dustbin (140) when connected to the dustbin (140). In the above arrangement, a part of the dustbin cover (150) may be received in the dustbin receiving portion (113), while another part of the dustbin cover (150) may be formed to protrude toward the rear of the cleaner body (110) [i.e., in the reverse direction (R) opposite to the forward direction (F)]. The hinge portion (150a) is configured to elastically press the dustbin cover (150) upward, so that when the dustbin cover (150) is not connected to the dustbin (140), it may be placed in a state of being tilted upwardly with respect to the upper surface of the dustbin (140).

The dustbin cover (150) is formed in a long oval shape in the front-back direction of the cleaner body (110), and can be arranged to completely cover the circular dustbin (140) when combined with the dustbin (140). In the cleaner body (110), a recessed portion (116) is formed along the outer periphery of the dustbin receiving portion (113) on the upper surface of the cleaner body (110) (see FIGS. 15 and 18). The dustbin cover (150) is received in the dustbin receiving portion (113) by rotation, and at this time, it is arranged to cover the upper surface of the dustbin (140) and the recessed portion (116) together. The front-back length of the dustbin cover (150) corresponding to the front-back direction of the vacuum cleaner body (110) may be formed longer than the left-right length of the dustbin cover (150) corresponding to the left-right direction of the vacuum cleaner body (110), and the left-right length is formed to be equal to or longer than the radius of the dustbin cover (150).

The dustbin cover (150) may be equipped with at least one of a touch key (150'), a touch screen (150"), and a display unit (not shown). The touch screen (150") may be distinguished from a display that outputs visual information but does not have a touch function in that it is configured to output visual information and receive a touch input for the visual information.

The dustbin cover (150) may include a top cover (151), a bottom cover (152), and a middle frame (153) between the top cover (151) and the bottom cover (152). The above components may be formed of a synthetic resin material.

The top cover (151) may be configured to have light transmittance. For example, the top cover (151) itself may be formed to have semi-light transmittance, or the top cover (151) itself may be formed to have light transmittance, but a film attached to the back surface of the top cover (151) may be formed to have semi-light transmittance. Since the top cover (151) has light transmittance, a pictogram of a touch key (150') or visual information output from a touch screen (150") or a display may be transmitted to a user through the top cover (151).

A touch sensor that detects a touch input to the top cover (151) may be attached to the back surface of the top cover (151). The touch sensor may constitute a touch key module (154a) and/or a touch screen module (154b) described below.

The bottom cover (152) is combined with the top cover (151) to form the exterior of the dustbin cover (150) together with the top cover (151). The bottom cover (152) may be formed of an opaque material and forms a mounting surface on which an electronic component or a sub-circuit board (157) can be mounted inside the dustbin cover (150).

A hinge part (150a) that is rotatably connected to the cleaner body (110) may be connected to the top cover (151) or the bottom cover (152). The hinge part (150a) may also be provided on the top cover (151) or the bottom cover (152) itself.

An electronic component or a sub-circuit board (157) is mounted on the bottom cover (152). For example, a sub-circuit board (157) electrically connected to the main circuit board (not shown) of the cleaner body (110) may be mounted on the bottom cover (152). Here, the main circuit board may be configured as an example of a control unit for operating various functions of the robot cleaner (100).

Various electronic components are mounted on the sub-circuit board (157). In this drawing, a touch key module (154a), a touch screen module (154b), and an infrared receiving unit (156, for example, an IR sensor) are shown electrically connected on the sub-circuit board (157). The electrical connection includes not only the electronic components being mounted on the sub-circuit board (157), but also the electronic components being connected to the sub-circuit board (157) through a flexible printed circuit board (FPCB).

A pictogram is printed on the top cover (151) on the touch key module (154a), and the touch key module (154a) is configured to detect a touch input to the pictogram portion of the top cover (151). The touch key module (154a) includes a touch sensor, and the touch sensor can be attached to or placed adjacent to the back surface of the top cover (151). The touch key module (154a) can further include a backlight unit that illuminates the pictogram.

The touch screen module (154b) provides an output interface between the robot cleaner (100) and the user through the output of visual information, and is configured to detect a touch input to the top cover (151), thereby providing an input interface between the robot cleaner (100) and the user. The touch screen module (154b) includes a display that outputs visual information through the top cover (151) and a touch sensor that detects a touch input to the top cover (151), and these form a mutual layer structure or are formed as an integral body to implement a touch screen.

The touch screen module (154b) may be accommodated in the through hole (153b) of the middle frame (153) and may be coupled to the middle frame (153) by bonding, hook coupling, or the like. In this case, the touch screen module (154b) may be electrically connected to the sub-circuit board (157) through a flexible printed circuit board. The touch screen module (154b) may be attached to or placed adjacent to the back surface of the top cover (151).

The dustbin cover (150) may be equipped with an acceleration sensor (155). The acceleration sensor (155) may be mounted on a sub-circuit board (157) or electrically connected to the sub-circuit board (157) through a flexible printed circuit board. The acceleration sensor (155) detects gravitational acceleration acting on the acceleration sensor (155) by dividing it into mutually perpendicular X, Y, and Z vectors.

The control unit can detect whether the dustbin cover (150) is open or closed using the X, Y, and Z vector values detected by the acceleration sensor (155). Specifically, when the dustbin cover (150) is closed, at least two vector values change when the dustbin cover (150) is open (tilted). That is, the vector values detected by the acceleration sensor (155) change depending on the degree of tilt of the dustbin cover (150).

If the difference between the vector values in the above two states is greater than or equal to a preset reference value, the control unit can determine that the dustbin cover (150) is not fastened to the dustbin (140) and generate a corresponding control signal. For example, if the dustbin cover (150) is open and tilted, the control unit can detect this through the acceleration sensor (155) and stop the operation of the wheel unit (111) and generate an alarm.

In addition, when vibration is applied to the dustbin cover (150), the vector values detected by the acceleration sensor (155) change. When a change in the vector values exceeding a preset reference value is detected within a certain period of time, the control unit may be configured to switch the touch screen module (154b) from a deactivated (OFF) state to an activated (ON) state. For example, when the user taps the dustbin cover (150) multiple times while the touch screen module (154b) is deactivated, the control unit may detect this through the acceleration sensor (155) and switch the touch screen module (154b) to an activated state.

Instead of the above-described acceleration sensor (155), a gyro sensor may be used. Alternatively, the acceleration sensor (155) and the gyro sensor may be used together to complement each other to achieve improved detection performance.

Infrared receiving units (156) may be arranged at each corner of the sub-circuit board (157) and configured to receive infrared signals transmitted from different directions. Here, the infrared signal may be a signal output from a remote control (not shown) for controlling the robot cleaner (100) when the remote control is operated.

The middle frame (153) is arranged to cover the sub-circuit board (157) and has through-holes (153a, 153b) corresponding to the touch key module (154a) and the touch screen module (154b) mounted on the sub-circuit board (157), respectively. The inner surface defining the through-holes (153a, 153b) is formed to surround each of the touch key module (154a) and the touch screen module (154b).

At each corner of the middle frame (153), a receiving portion (153c) may be provided, which is arranged to cover the upper portion of each infrared receiving unit (156), but is open at the front so as to receive infrared rays. According to the arrangement, the infrared receiving unit (156) is arranged to face the side of the dustbin cover (150) [specifically, the side of the top cover (151) having light-transmitting properties]. Since the upper portion of the infrared receiving unit (156) is covered by the receiving portion (153c), malfunction of the infrared receiving unit (156) due to a three-wavelength lamp or sunlight arranged on the ceiling can be prevented.

At least a portion of the dustbin cover (150) may be positioned to protrude from the upper surface of the cleaner body (110). As illustrated, the top cover (151) may have a tapered portion (151a) that extends downwardly and outwardly from the upper surface. The tapered portion (151a) is formed to extend along the outer periphery of the top cover (151), and may be positioned to protrude from the upper surface of the cleaner body (110) when the dustbin cover (150) is coupled to the dustbin (140), as illustrated in the foregoing FIG. 3.

If a side extending vertically downward is formed continuously from the upper surface of the top cover (151), an infrared signal entering the top cover (151) from the corner portion of the top cover (151) may be refracted or reflected, thereby deteriorating the reception performance of the infrared receiving unit (156). Furthermore, if the side of the top cover (151) is completely covered by the upper surface of the cleaner body (110), the deterioration of the reception performance of the infrared receiving unit (156) is bound to become even more severe.

However, according to the above structure, the infrared signal flowing into the top cover (151) can be introduced into the infrared receiving unit (156) adjacent to the inner side of the tapered portion (151a) with little refracted or reflected by the tapered portion (151a). In addition, since the tapered portion (151a) is positioned to protrude more than the upper surface of the cleaner body (110) and a plurality of infrared receiving units (156) are provided and spaced apart from each other at a certain interval on the inner side of the tapered portion (151a), infrared signals can be received from all directions. Therefore, the receiving performance of the infrared receiving unit (156) can be improved.

Below, the fixing structure of the dustbin (140) is described.

Fig. 25 is a drawing showing the back of the dustbin cover (150) shown in Fig. 23, and Fig. 26 is a cross-sectional view showing the structure in which the hook portion (158) shown in Fig. 25 is fastened to the dustbin (140).

Referring to FIG. 25 and FIG. 26 together with the preceding FIG. 16, the dustbin cover (150) is provided with a hook portion (158) configured to be fastened to the locking portion (144) of the dustbin (140). In this drawing, the hook portion (158) is exemplified as being formed protruding on one side of the lower surface of the bottom cover (152). The hook portion (158) may be provided on the opposite side of the hinge portion (150a).

When the hook part (158) is fastened to the locking part (144), the handle (143) provided on the upper part of the dustbin (140) is pressed by the dustbin cover (150) and is received in the handle receiving part (142). When the fastening between the hook part (158) and the locking part (144) is released, the handle (143) is pressed by the elastic part and protrudes from the handle receiving part (142). As previously described, the handle (143) may be arranged to be inclined with respect to the upper case (141b).

The locking part (144) provided in the dustbin (140) includes a button part (144a) and a catch part (144b). The locking part (144) is exposed to the rear of the vacuum cleaner body (110).

The button portion (144a) is configured to be press-operable on the side of the dustbin (140), and the catch portion (144b) is configured to be latched onto the hook portion (158) of the dustbin cover (150), but is configured such that the catch with the hook portion (158) is released when the button portion (144a) is pressed. The catch portion (144b) may be formed on the upper portion of the dustbin (140).

In the above, it has been described as an example that a hook part (158) is formed on a dustbin cover (150) and a locking part (144) is provided on a dustbin (140), but the formation positions of the hook part (158) and the locking part (144) may be interchanged. In other words, a locking part may be provided on a dustbin cover (150) and a hook part may be provided on a dustbin (140).

In this way, the dustbin cover (150) is detachably connected to the dustbin (140) by the fastening structure of the hook portion (158) and the locking portion (144). That is, there is no direct fastening relationship between the dustbin cover (150) and the vacuum cleaner body (110), and it can be said that the dustbin cover (150) is structured to be fastened to the dustbin (140) accommodated in the dustbin receiving portion (113).

As described above, the dust bin (140) accommodated in the dust bin receiving portion (113) is restricted from moving laterally by the mounting projection (113b)-mounting groove (149) and the catch hook (145)-step (116a') described above. When the dust bin (140) is accommodated in the dust bin receiving portion (113) and the dust bin cover (150) is fastened to the dust bin (140) while covering the dust bin (140), even the upward movement of the dust bin (140) is restricted, so that the dust bin (140) can be prevented from being detached from the dust bin receiving portion (113).

When the dustbin (140) is not mounted, the dustbin cover (150) is placed in a state where it can freely rotate around the hinge part (150a), i.e., in an unfixed state. As described above, in this unfixed state, the dustbin cover (150) can be placed so as to tilt upward.

The dustbin cover (150) must be attached to the dustbin (140) to be placed in a horizontal state. If the dustbin cover (150) is not attached to the dustbin (140), the dustbin cover (150) is placed in a tilted state with an upward slope. It goes without saying that the dustbin cover (150) is placed in a tilted state with an upward slope when the dustbin (140) is not accommodated in the dustbin receiving portion (113).

Therefore, the user can intuitively check whether the dustbin cover (150) and the dustbin (140) are fastened by visually checking whether the dustbin cover (150) is in a tilted state.

Meanwhile, the air filtered in the dust bin (140) is discharged from the dust bin (140) and finally discharged to the outside through the exhaust port (112). Here, a filter unit (160) that filters fine dust contained in the filtered air is arranged in front of the exhaust port (112). The filter unit (160) will be described below.

FIG. 27 is a drawing showing the inside of the dustbin receiving portion (113) shown in FIG. 15, FIG. 28 is a conceptual drawing showing the filter unit (160) shown in FIG. 27 in a rotated state, and FIG. 29 is an exploded perspective view of the filter unit (160) shown in FIG. 28.

Referring to FIGS. 27 to 29, the filter unit (160) is accommodated inside the cleaner body (110) and is positioned in front of the exhaust port (112). The filter unit (160) is exposed to the outside when the dust bin (140) is separated from the dust bin receiving portion (113). Here, the exhaust port (112) may be formed on the inner wall of the cleaner body (110) that defines the dust bin receiving portion (113). The exhaust port (112) may be formed on one end (left or right) of the cleaner body (110) that surrounds the dust bin receiving portion (113). In the present embodiment, the exhaust port (112) is shown as being formed long along the height direction of the cleaner body (110) at the left end of the dust bin receiving portion (113) in the drawing.

As described above, air discharged from the second opening (110b) is guided to the exhaust port (112) through the exhaust path. Since the exhaust port (112) is formed at one end of the cleaner body (110) due to its structure, the exhaust path extends to one end of the cleaner body (110). The filter unit (160) is arranged on the exhaust path.

The filter unit (160) includes a filter case (161) and a filter (162).

The filter case (161) is provided with a hinge portion (161c) that is hingedly connected to the inner wall of the cleaner body (110) that defines the dustbin receiving portion (113). Accordingly, the filter case (161) is configured to be rotatable with respect to the cleaner body (110).

The filter case (161) has a filter receiving portion (161a) and a ventilation port (161b) that is positioned to communicate with the filter receiving portion (161a) and face the exhaust port (112). Air flowing into the filter case (161) passes through the filter (162) mounted on the filter receiving portion (161a) and is discharged through the ventilation port (161b).

The filter (162) is mounted in the filter receiving portion (161a). A HEPA filter for filtering fine dust may be used as the filter (162). The filter (162) may be equipped with a handle (162a).

In this drawing, a filter receiving portion (161a) is formed on the front of the filter case (161), and a ventilation hole (161b) is formed on the side of the filter case (161). More specifically, a through hole (161e) is formed on the side of the filter case (161), and a guide rail (161f) is formed protruding along the insertion direction of the filter (162) on the bottom surface of the filter case (161) to guide the insertion of the filter (162) through the through hole (161e).

The mounting structure of the filter (162) to the filter case (161) is not limited thereto. As another example, unlike the structure illustrated in this drawing, the filter (162) may be mounted on the front of the filter case (161) and accommodated in the filter receiving portion (161a). In this case, the filter (162) may be fixed to the filter receiving portion (161a) through a hook connection.

The filter case (161) is configured to be stored inside the cleaner body (110) through an opening (115) formed in the inner wall, and when stored inside the cleaner body (110), its outer surface is exposed to the outside so as to define a dustbin receiving portion (113) together with the inner wall of the cleaner body (110). To this end, the outer surface of the filter case (161) may have a rounded shape, and preferably, may be formed as a curved surface having substantially the same curvature as the inner wall of the dustbin receiving portion (113).

A knob (161d) may be formed on one side of the filter case (161) that defines the dustbin receiving portion (113) together with the inner wall of the vacuum cleaner body (110). Referring to FIG. 15, when the dustbin (140) is received in the dustbin receiving portion (113), the dustbin (140) is configured to cover the filter case (161), and the knob (161d) is covered by the dustbin (140) and is not exposed to the outside.

The filter case (161) can be placed in the dustbin receiving portion (113) while being rotated to open the opening (115). According to the above structure, the filter receiving portion (161a) is exposed to the outside, so that easy replacement of the filter (162) can be achieved.

Claims (18)

A vacuum cleaner body having a dustbin receiving portion formed at the rear, which is recessed toward the front and open toward the rear and upward based on the forward direction of the robot vacuum cleaner;
A suction unit positioned so that at least a portion protrudes from the front of the main body of the vacuum cleaner and sucks in air containing dust;
A dust bin that is accommodated in the dust bin receiving portion and filters and collects dust in the air that has entered the interior of the vacuum cleaner body through a cyclone provided inside; and
It discharges the air filtered with dust to the outside and includes an exhaust port arranged long along the height direction of the main body of the cleaner,
The above exhaust port is,
With the above dustbin accommodated in the above dustbin receiving compartment,
It is placed at the rear of the main body of the vacuum cleaner together with the above dust bin,
A robot cleaner formed in the cleaner body and spaced horizontally from the dust bin.
In paragraph 1,
The above dustbin receiving section is,
Defined by a bottom surface supporting the above dustbin and an inner wall surrounding a portion of the outer periphery of the above dustbin,
The two ends of the inner wall define the rear end of the side of the cleaner body,
With the above dustbin accommodated in the above dustbin receiving compartment,
A portion of the above dustbin is surrounded by the inner wall,
A robot vacuum cleaner in which the remaining portion of the dust bin is positioned to protrude rearwardly from both ends of the inner wall.
In claim 1 or 2,
In the above vacuum cleaner body, a space is formed between the suction unit and the dust bin,
The above robot vacuum cleaner,
A battery located in the above space;
A fan motor section located in the above space and generating suction force; and
It further includes a filter unit arranged on the path between the dust bin and the exhaust port to filter the air exhausted from the dust bin.
Based on the first reference line passing through the center of the above suction unit and the center of the above dust bin,
The above exhaust port is formed on one side of the first reference line,
A robot cleaner wherein the filter unit is positioned on the same side as one side of the first reference line where the exhaust port is located, based on the first reference line, but is positioned in front of the exhaust port.
In the third paragraph,
The above dust bin is formed with an inlet through which air containing dust flows in and an outlet through which air from which dust has been separated is discharged.
In the inner wall of the dustbin receiving portion, a first opening and a second opening are formed, which are respectively connected to the inlet and outlet of the dustbin when the dustbin is received in the dustbin receiving portion.
The above second opening is connected to the exhaust port through the filter unit to form an exhaust path,
A robot cleaner wherein at least a portion of the exhaust path is positioned on the same side as a side of the first reference line where the exhaust port is located, with respect to the first reference line.
In the third paragraph,
The above battery and the above fan motor part,
Robot vacuum cleaners placed left and right.
In paragraph 4,
Based on the second reference line that intersects the first reference line and passes through the center of the cleaner body,
A robot vacuum cleaner in which the dust bin and the exhaust port are positioned behind the second reference line.
In paragraph 4,
On the left and right sides of the above-mentioned vacuum cleaner body, main wheels whose drive is controlled by the control unit are respectively placed.
The above suction unit is positioned in front of the main wheel,
A robot vacuum cleaner in which the center of the above dustbin is located behind the main wheel.
In paragraph 4,
The above exhaust pipe is,
From the second opening, it extends toward the front of the cleaner body and passes through the fan motor section.
A robot cleaner in which the fan motor section changes direction toward the rear of the cleaner body and extends toward the exhaust port.
In claim 1 or 2,
A robot vacuum cleaner in which the rear end of the dustbin is positioned so as to protrude further rearward than the rear end of the main body of the vacuum cleaner.
In claim 1 or 2,
The above-mentioned cleaner body includes a bottom surface formed at the bottom of the dustbin receiving portion to support the lower surface of the dustbin,
At least a portion of the above trash can,
It is arranged so as to overlap the bottom surface of the above-mentioned vacuum cleaner body in the vertical direction,
The rear end of the bottom surface of the above vacuum cleaner body is
A robot vacuum cleaner in which the dustbin is placed in front of the rear end of the dustbin while being accommodated in the dustbin receiving portion.
In claim 1 or 2,
It further includes a filter unit that is accommodated inside the main body of the vacuum cleaner and filters dust in the air discharged from the dust bin.
The above filter unit is a filter case with one side exposed while being accommodated in the cleaner body; and
A robot vacuum cleaner comprising a filter accommodated within the filter case.
In Article 11,
The above filter case,
With the above filter case housed inside the main body of the vacuum cleaner,
A robot vacuum cleaner having one side exposed to the outside to form the exterior of the vacuum cleaner body.
In claim 1 or 2,
The above suction unit,
A case that forms the appearance,
Includes a charging terminal arranged at the front end of the case and capable of connecting to a charging station,
A robot vacuum cleaner wherein the charging terminal is exposed to the front of the suction unit.
In claim 1 or 2,
The above suction unit,
It has a long, extended shape from side to side, and the upper surface is formed convexly with a curve.
A first part protruding forward from the front end of the above-mentioned cleaner body; and
A robot cleaner comprising a second part disposed at the rear of the first part and overlapping vertically with the front part of the cleaner body.
In the third paragraph,
The above space is,
Formed at the rear end of the above suction unit,
It is formed ahead of the front end of the above dustbin,
At least a portion of said filter unit is located in said space,
The above exhaust port is a robot cleaner located at the rear of the space.
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