KR20160042651A - Robot cleaner - Google Patents

Robot cleaner Download PDF

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Publication number
KR20160042651A
KR20160042651A KR1020140136845A KR20140136845A KR20160042651A KR 20160042651 A KR20160042651 A KR 20160042651A KR 1020140136845 A KR1020140136845 A KR 1020140136845A KR 20140136845 A KR20140136845 A KR 20140136845A KR 20160042651 A KR20160042651 A KR 20160042651A
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KR
South Korea
Prior art keywords
wet
unit
cloth
cleaning mode
robot cleaner
Prior art date
Application number
KR1020140136845A
Other languages
Korean (ko)
Inventor
이선미
박진영
배상화
허초록
이희승
Original Assignee
금오공과대학교 산학협력단
허초록
이희승
배상화
이선미
박진영
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 금오공과대학교 산학협력단, 허초록, 이희승, 배상화, 이선미, 박진영 filed Critical 금오공과대학교 산학협력단
Priority to KR1020140136845A priority Critical patent/KR20160042651A/en
Publication of KR20160042651A publication Critical patent/KR20160042651A/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Abstract

The robot cleaner operates either in the bottom surface cleaning mode or in the wall surface cleaning mode. The robot cleaner includes a main body configured to simultaneously perform vacuum suction cleaning and wet cleaning in the bottom surface cleaning mode and the wall surface cleaning mode, And a leg which is configured to move the plurality of legs in a horizontal direction to the floor surface in the floor surface cleaning mode and to move the wall surface by using the attraction force of the attraction motor in the wall surface cleaning mode.

Figure P1020140136845

Description

Robot Cleaner {ROBOT CLEANER}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot cleaner, and more particularly, to a robot cleaner capable of cleaning a floor surface and a wall surface.

Conventional vacuum cleaners perform cleaning operation by using vacuum pressure to suck foreign substances such as dust on the floor. A common vacuum cleaner is a person's own way of carrying a vacuum cleaner. In recent years, as information communication and battery technology have been developed, robot cleaners capable of operating unattended have been manufactured. Conventionally, the robot cleaner avoids an obstacle by itself and moves to a position where it can automatically charge itself. However, the robot cleaner operates by vacuuming and suctioning foreign substances on the floor like a general vacuum cleaner.

The conventional robot cleaner was able to clean only the bottom surface, and when there was foreign substance in the liquid state on the floor surface, the foreign substance in the liquid state could not be sucked, and the floor surface could not be cleaned cleanly.

Disclosure of Invention Technical Problem [8] The present invention has been proposed in order to solve the above-described problems, and provides a robot cleaner that can clean a wall while moving using an adsorption motor.

The present invention also provides a robot cleaner capable of cleaning not only by vacuum suction but also by using a rotating wet cloth.

Further, the present invention provides a robot cleaner capable of supplying a cleaning liquid to a wet cloth himself or dewatering a wet cloth.

According to an embodiment of the present invention, there is provided a robot cleaner operating in a bottom surface cleaning mode or a wall surface cleaning mode, wherein the vacuum cleaner and the waterbroom cleaner are simultaneously performed in the bottom surface cleaning mode and the wall surface cleaning mode, A body portion configured to selectively perform; Wherein the plurality of legs move in a horizontal direction with respect to the bottom surface in the bottom surface cleaning mode, and the plurality of legs move in a wall surface cleaning mode using the attraction force of the suction motor The robot cleaner comprising:

The main body includes a vacuum suction unit for sucking foreign substances on the floor surface through a vacuum suction operation; A wet-cloth operation part for removing foreign matters from the floor while rotating the wet-cloth; A body moving part for rotating the wheel formed on the floor and moving the wheel in a predetermined moving direction and speed; And a main control unit for controlling operations of the vacuum suction unit, the water-cloth operation unit, the main body moving unit, and the leg unit.

The main body unit may further include a position detection sensor unit for detecting an obstacle, determining a movement path, and setting a position and a direction.

The main body unit may further include a data communication unit transmitting and receiving operation control data to and from an external terminal in a wireless communication manner.

The wet-cloth operation unit includes: a wipe-rotating unit for rotating the wet-cloth; A liquid spraying unit configured to spray a cleaning liquid to the wet cloth; And a liquid containing portion for storing the cleaning liquid moving to the outside by the centrifugal force when the wet cloth is rotated.

The leg portion including the plurality of legs attached to the body portion, each leg having a suction plate for bringing the legs into close contact with the bottom surface; And a suction motor for providing a sucking force to the sucker.

The robot cleaner according to the embodiment of the present invention not only can clean the floor while moving autonomously, but also can clean the wall while moving the wall using the suction motor. In addition, the robot cleaner according to the embodiment of the present invention can clean the floor and the wall by using not only the vacuum cleaner but also the rotating wet cloth. In addition, the robot cleaner according to the embodiment of the present invention can supply the cleaning liquid to the wet cloth themselves, or dehydrate the wet cloth.

1 is a block diagram of a robot cleaner according to an embodiment of the present invention;
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot cleaner.
3 is a perspective view of a robot cleaner according to an embodiment of the present invention.
4 is a conceptual diagram illustrating the operation of the robot cleaner according to the embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, in order to facilitate a person skilled in the art to easily carry out the technical idea of the present invention.

1 is a block diagram of a robot cleaner 1 according to an embodiment of the present invention. The robot cleaner 1 according to the present embodiment includes only a simple configuration for clearly explaining the technical ideas to be proposed.

Referring to FIG. 1, the robot cleaner 1 includes a main body 100 and a leg 200.

The detailed configuration and main operation of the robot cleaner 1 configured as above will be described below.

The robot cleaner 1 according to the embodiment of the present invention can operate in two modes, a floor cleaning mode and a wall cleaning mode. The bottom surface cleaning mode is a mode in which the robot cleaner 1 automatically moves while moving the floor surface. The wall surface cleaning mode is a mode in which the robot cleaner 1 moves the wall surface and the ceiling surface using the attraction force of the leg 200 It is a cleaning mode.

The main body 100 of the robot cleaner 1 may be configured to simultaneously perform vacuum suction cleaning and wet cleaning in the bottom surface cleaning mode and the wall surface cleaning mode. In addition, the main body 100 may be configured to selectively perform vacuum suction cleaning and wet-cloth cleaning in a bottom surface cleaning mode and a wall surface cleaning mode.

That is, the main body 100 of the robot cleaner 1 can simultaneously perform the vacuum suction cleaning and the wet-cloth cleaning in the bottom surface cleaning mode, or any one of the operations can be selected and operated. In addition, the main body 100 of the robot cleaner 1 can simultaneously perform vacuum suction cleaning and wet cleaning in the wall surface cleaning mode, or any one of the operations can be selected and operated.

The detailed configuration and main operation of the main body 100 will be described in more detail as follows.

The main body 100 includes a vacuum suction unit 110, a water-cloth operation unit 120, a main body moving unit 130, a main control unit 140, a position detection sensor unit 150, a data communication unit 160 .

The main control unit 140 controls the operation of the internal constituent circuit of the main body 100 and the leg 200. That is, the main control unit 140 controls the operations of the vacuum suction unit 110, the water-cloth operation unit 120, the main body moving unit 130, the position detection sensor unit 150, the data communication unit 160, So that the robot cleaner 1 can operate in two modes, a floor cleaning mode and a wall cleaning mode.

The vacuum suction unit 110 sucks foreign matters on the floor surface through a vacuum suction operation. The vacuum suction unit 110 includes a vacuum suction motor. The vacuum suction unit 110 forms a vacuum pressure by using the rotational force of the vacuum suction motor. The vacuum suction unit 110 sucks foreign substances such as dust on the floor surface and stores the vacuum in the foreign substance storage box. Preferably, the vacuum suction unit 110 includes a filter so that the suctioned dust does not flow out to the outside when the vacuum suction is performed.

The wet-cloth operation section 120 includes a wobble rotation section 121, a liquid ejection section 122, and a liquid storage section 123. The wet-cloth operation unit 120 rotates the wet-cloth to remove foreign substances on the floor. Particularly, it is preferable that the wet cloth is configured to be easily detachable using a belt tape or a button.

The mop rotation unit 121 includes a motor for rotating the mop, and removes foreign matter on the bottom surface while rotating the wet-cloth. Particularly, in the cleaning state of the wet cloth, even if there is a foreign substance in the liquid state on the bottom surface, the foreign material can be easily removed through the wet cloth.

The liquid jetting section 122 is configured to jet the cleaning liquid to the wet cloth. Cleaning liquids may be simple water, disinfecting agents, liquids containing surfactants, and the like. That is, the liquid spraying unit 122 is configured to spray the built-in cleaning liquid so that the wet cloth becomes wet and the bottom surface can be smoothly wiped. Accordingly, the liquid jetting unit 122 may be composed of a jet pump, a jetting nozzle, or the like.

When the wet cloth is rotated, the liquid storage portion 123 receives the cleaning liquid that moves to the outside by the centrifugal force. If too much cleaning liquid is sprayed on the wet-cloth, the cleaning liquid may be scattered to the outside as the wet-cloth rotates. Accordingly, the liquid storage part 123 is formed in a shape surrounding the outside of the wet-cloth, and is configured to store and store the cleaning liquid scattered and blown out by the centrifugal force.

In addition, even in such a case, the liquid storage portion 123 may be provided with a cleaning liquid which is scattered and discharged to the outside due to the centrifugal force, for example, in order to clean the wet-cloth itself intentionally. It can be stored and stored. That is, the cleaning operation of the wet cloth can be completed through sequential operations such as jetting the cleaning liquid from the liquid jetting section 122, rotating the wet-cloth from the mop rotation section 121, and storing the cleaning liquid in the liquid storage section 123.

The main body moving unit 130 rotates the wheel formed on the floor in the bottom surface cleaning mode to move the wheel in the set moving direction and speed. That is, in the bottom surface cleaning mode, the plurality of legs of the leg 200 move in a horizontal direction with respect to the bottom surface. That is, the plurality of legs are spread out in the horizontal direction so as not to touch the ground. At this time, since the wheel formed at the bottom of the main body moving part 130 comes into contact with the bottom surface, the main body 100, that is, the robot cleaner 1 can be moved through the rotational force of the wheels. The main body moving unit 130 may include a motor or the like capable of adjusting a rotating direction, a speed, and a moving angle of the wheel.

The position detection sensor unit 150 detects an obstacle, determines a movement path, and sets a position and a direction. The position detection sensor unit 150 includes an infrared sensor, an ultrasonic sensor, an RF sensor, a forward surveillance camera, and a gyro sensor. The obstacle detecting unit 150 detects an obstacle in front and rear, So that the leg portion 200 can be balanced.

For reference, an ultrasonic sensor is a sensor that detects distance or thickness using ultrasonic waves, and measures the distance between ultrasonic transmission time and reception time. In addition, infrared sensors are smaller in scope than ultrasonic sensors, but at a lower cost. Unlike ultrasound, the speed of infrared rays is very fast, so it is not easy to find the difference between transmission and reception times. Therefore, the infrared sensor calculates the distance by the photo-trigonometry which focuses and uses the angle of the corresponding focus. It is like the way two eyes of a person perceive a perspective.

The position detection sensor unit 150 may include an ultrasonic sensor or an infrared sensor. However, the two sensors may be included in one or both of the sensors, The distance can be precisely measured by using an infrared sensor having a better resolution. Also, when the distance values output from the ultrasonic sensor and the infrared sensor are different from each other, they may be set so as to avoid the obstacle. The ultrasonic waves transmitted by the ultrasonic sensor can be transmitted in the front, rear, left, and right directions, so that directions in which there are no obstacles in the four directions can be detected and the direction of avoiding the obstacles can be determined.

The gyro sensor senses the rotational inertia and provides an angle of rotation of the object within a unit time based on the uniaxial axis. The acceleration sensor can sense the acceleration of the moving object or the direction of the impact applied to the acceleration sensor. The acceleration sensor always detects the direction of gravity when there is no external impact, so it can be used as a tilt sensor

The data communication unit 160 transmits and receives operation control data to and from an external terminal in a wireless communication manner. The data communication unit 160 is configured to communicate with an external terminal in both directions.

The external terminal may be a mobile terminal such as a smart phone, and may be connected to the data communication unit 160 as a smart phone to adjust the operation mode of the robot cleaner 1. [ That is, it is possible to select two modes of the floor surface cleaning mode and the wall surface cleaning mode with the smartphone, or to selectively perform the vacuum suction cleaning and the wet cleaning.

In addition, the data communication unit 160 may transmit the sensor information sensed by the position sensing unit 150, that is, the obstacle information, the moving direction, the moving distance, the forward image, the tilted angle, and the like to the smartphone. Accordingly, the user can confirm the operation state of the robot cleaner 1 using the smartphone.

The leg portion 200 includes a plurality of legs, and an example in which four legs are provided in the present embodiment will be described. The number of such bridges can be adjusted in consideration of stability of operation and manufacturing cost. In the bottom surface cleaning mode, the legs 200 move so that a plurality of legs are horizontal to the floor surface. That is, the plurality of legs are spread out in the horizontal direction so as not to touch the ground. For reference, in this state, the wheel included in the body moving part 130 rotates to move the robot cleaner 1.

Further, in the wall surface cleaning mode, the legs 200 are configured such that a plurality of legs move on the wall surface using the attraction force of the attraction motor.

2 is a simplified conceptual view of an appearance frame of the robot cleaner 1 according to the embodiment of the present invention.

Referring to FIG. 2, the outer frame of the robot cleaner 1 may include a leg frame 201 constituting four legs and a body frame 101 located in an intermediate region of the leg frame 201.

The body frame 100 as described above is disposed on the upper and lower portions of the body frame 101. The leg frame 201 is provided with a suction plate for bringing the suction plate into close contact with the floor surface and a suction motor for providing a suction force to the suction plate .

3 is a perspective view of the robot cleaner 1 according to the embodiment of the present invention. FIG. 3 is a perspective view of the robot cleaner 1 of FIG. 1 according to a more specific embodiment.

Referring to FIG. 3, an upper portion of the main body 100 may include an operation unit 102 that can select an operation of the robot cleaner 1. The operation unit 102 includes a display capable of displaying a current operation state of the robot cleaner 1, a battery charging state, and the like. An operation mode can be selected through a button operation or a touch operation of the touch screen.

In particular, the forward surveillance camera 151 of the position detection sensor unit 150 photographs a forward video and calculates a moving route. To the main control unit 140, or to transmit the forward video to the external terminal 2 by using the data communication unit 160. [

The leg portion 200 includes four legs attached to the body portion 100. Each leg includes a suction plate 210 for closely contacting the bottom surface of the body portion 100 and a suction motor 220). Each leg contains joints, which can increase the freedom of movement.

The operation of each leg may be the same as that of the leg in the symmetrical position or the same order of operation with the leg in the zigzag position. It would be desirable for the legs in the zigzag position to operate identically to increase stability when moving across a wall or ceiling.

The suction motor 220 removes the air between the inner space of the sucker plate 210, the wall surface of the structure, and the ceiling surface to maintain the vacuum state. Air is sucked out through a vacuum pipe connected to the inside of the sucker 210, so that the suction cup 210 of the leg is adsorbed on a wall surface or a ceiling surface. When the robot cleaner 1 moves using the legs, air is supplied backward so that the inner space of the suction plate 210 in a vacuum state deviates from the adsorption state so that the suction cup 210 of the leg is detached from the wall surface or the ceiling surface .

As in the present embodiment, when four legs of the leg portion 200 are provided, the legs to be attached and detached can be shifted by one leg in order to enhance the stability of adsorption at the same time. The order of operation of the legs is to sequentially open the joints of the legs located at the front of the direction to be advanced, to extend toward the direction of movement, to bend the joints of the legs, and to extend the legs of the legs to move the body forward. Then move the back leg to follow the body.

4 is a conceptual diagram illustrating the operation of the robot cleaner 1 according to the embodiment of the present invention.

Referring to FIG. 4, the robot cleaner 1 transmits and receives operation control data to and from the external terminal 2 in a wireless communication manner. That is, the robot cleaner 1 is configured to be able to communicate with the external terminal 2 in both directions. The external terminal 2 may be a mobile terminal such as a smart phone. The external terminal 2 may be connected to the data robot cleaner 1 through a smart phone to control the operation mode of the robot cleaner 1. That is, it is possible to select two modes of the floor surface cleaning mode and the wall surface cleaning mode with the smartphone, or to selectively perform the vacuum suction cleaning and the wet cleaning.

In addition, the robot cleaner 1 can transmit information of the sensed sensor, i.e., obstacle information, a moving direction, a moving distance, a forward image, and an inclined angle to the smartphone. Accordingly, the user can confirm the operation state of the robot cleaner 1 using the smartphone.

For reference, the forward video can be transmitted in the RTSP (Real Time Stream Protocol) communication protocol. RTSP is advantageous in that it can receive images even when no external playback application is installed in the external terminal 2 in which the Android OS is used.

Thus, those skilled in the art will appreciate that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the embodiments described above are to be considered in all respects only as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

1: robot cleaner 2: external terminal
100: main body 102:
110: Vacuum suction part 120: Wet-cloth operation part
121: Mop rotation part 122:
123: liquid storage part 130: body moving part
140: main control unit 150: position detection sensor unit
151: forward surveillance camera 160: data communication unit
200: leg portion 210: sucker plate
220: motor for adsorption 101: body frame
201: Leg frame

Claims (6)

1. A robot cleaner operated in a bottom surface cleaning mode or a wall surface cleaning mode,
A main body configured to simultaneously perform vacuum suction cleaning and wet-cloth cleaning in the bottom surface cleaning mode and the wall surface cleaning mode, or to selectively perform any one of them; And
Wherein the plurality of legs move in a horizontal direction with respect to the bottom surface in the bottom surface cleaning mode and the plurality of legs move the wall surface using the attraction force of the suction motor in the wall surface cleaning mode A leg portion formed;
.
The method according to claim 1,
Wherein,
A vacuum suction unit for sucking foreign substances on the floor surface through a vacuum suction operation;
A wet-cloth operation part for removing foreign matters from the floor while rotating the wet-cloth;
A body moving part for rotating the wheel formed on the floor and moving the wheel in a predetermined moving direction and speed; And
And a main controller for controlling operations of the vacuum suction unit, the wet cloth operation unit, the main body moving unit, and the leg unit.
3. The method of claim 2,
Wherein,
Further comprising: a position detection sensor unit for detecting an obstacle, determining a movement path, and setting a position and a direction.
The method of claim 3,
Wherein,
And a data communication unit for transmitting and receiving operation control data in a wireless communication manner with an external terminal.
3. The method of claim 2,
The wet-
A mop rotating part for rotating the wet cloth;
A liquid spraying unit configured to spray a cleaning liquid to the wet cloth; And
And a liquid storage portion for storing a cleaning liquid that moves to the outside by a centrifugal force when the wet cloth is rotated.
The method according to claim 1,
Wherein the leg portion includes the plurality of legs attached to the body portion,
Each leg,
A sucker for bringing the sucker into close contact with the floor; And a suction motor for providing a sucking force to the sucker.
KR1020140136845A 2014-10-10 2014-10-10 Robot cleaner KR20160042651A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180062315A (en) 2016-11-30 2018-06-08 주식회사 유진로봇 Apparatus and method for controlling cleaning function and robotic cleaner with the apparatus
CN112617692A (en) * 2020-12-15 2021-04-09 中建铁路投资建设集团有限公司 Glass stands wall surface cleaning robot outward
KR20210055322A (en) * 2019-11-07 2021-05-17 삼성중공업 주식회사 An apparatus for cleaning of ship

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180062315A (en) 2016-11-30 2018-06-08 주식회사 유진로봇 Apparatus and method for controlling cleaning function and robotic cleaner with the apparatus
KR20210055322A (en) * 2019-11-07 2021-05-17 삼성중공업 주식회사 An apparatus for cleaning of ship
CN112617692A (en) * 2020-12-15 2021-04-09 中建铁路投资建设集团有限公司 Glass stands wall surface cleaning robot outward

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