KR20210042681A - Vacuum Cleaner for Bed and Method for Controlling the Same - Google Patents

Abstract

The present invention relates to a vacuum cleaner for a bed. The present invention provides a vacuum cleaner for a bed, which comprises: a cleaning unit cleaning a mattress of the bed; a forward and backward movement unit moving the cleaning unit back and forth of the mattress; a vertical movement unit moving the cleaning unit up and down of the mattress; a distance sensor provided in the cleaning unit; and a controller calculating the distance to a target using the distance sensor, while having the distance between the distance sensor and the front end of the mattress as an ascending reference value, and if the calculated distance is greater than the aforementioned ascending reference value, stopping the ascending of the cleaning unit.

Description

Bed cleaner and its control method {Vacuum Cleaner for Bed and Method for Controlling the Same}

The present invention relates to a cleaner and a control method thereof, and more particularly, to a bed cleaner capable of automatically cleaning a bed and a control method thereof.

A vacuum cleaner is a device that inhales air and filters dust or the like contained in the air with a filter. Vacuum cleaners are widely used in homes and offices.

The user manually cleans the area to be cleaned using a vacuum cleaner. In recent years, the use of beds is increasing due to the influence of the standing culture. Even in the case of a bed, the user manually cleans the bed using a vacuum cleaner. The user cleans the entire surface of the mattress of the bed with a vacuum cleaner. Therefore, it takes time and labor to clean the entire mattress.

A vacuum cleaner for automatically cleaning the mattress of the bed has been proposed. For example, Korean Utility Model Registration No. 20-0177481 proposes a vacuum cleaner that automatically cleans the mattress of the bed. In Korean Utility Model Registration No. 20-0177481, the top and bottom of the mattress are cleaned while the mattress is placed vertically.

Therefore, the conventional bed cleaner cannot be used as it is while the mattress is placed on the bed. Therefore, there is a need to develop a vacuum cleaner that can automatically clean the mattress while the mattress is placed on the bed.

Korean Utility Model Registration No. 20-0177481 (announced on April 15, 2000)

The present invention is to solve the above-described problem.

An object of the present invention is to provide a vacuum cleaner capable of automatically cleaning a mattress in a state in which the mattress is placed on a bed.

Another object of the present invention is to provide a vacuum cleaner that can be installed on a bed to automatically clean a mattress and is concealed when not in use.

Another object of the present invention is to provide a cleaner capable of cleaning a corresponding mattress regardless of the height for each type of mattress.

Another object of the present invention is to provide a cleaner that can be used as it is even when the mattress is replaced.

Another object of the present invention is to provide a vacuum cleaner and a cleaner capable of preventing damage to the obstacle by automatically stopping cleaning when there is an obstacle in the mattress.

The subject of the present invention is not limited to the above-mentioned problems, and other problems that are not mentioned may be understood by a person skilled in the art from the following description.

An embodiment of the present invention, a cleaning unit for cleaning the mattress of the bed; A front-rear moving unit for moving the cleaning unit to the front and rear of the mattress; An up-and-down unit for moving the cleaning unit up and down the mattress; A distance sensor provided in the cleaning unit; The distance between the distance sensor and the front end of the mattress is a reference value, and the distance to the target is calculated using the distance sensor. If the distance is greater than the reference value, a controller that stops the cleaning unit from rising is used. Provide a bed cleaner that includes.

According to an exemplary embodiment, the rising reference value may have a predetermined offset.

According to an exemplary embodiment, the controller may have a distance between the distance sensor and the rear end of the mattress as an obstacle reference value, and when the calculated distance is less than the obstacle reference value, the advancement of the cleaning unit may be stopped.

According to an exemplary embodiment, the obstacle reference value may have a predetermined offset.

According to an exemplary embodiment, a reflector may be provided at a position corresponding to the rear end of the mattress so that the energy emitted from the distance sensor is reflected. According to an exemplary embodiment, the reflector may be a rear frame of the bed.

According to an exemplary embodiment, the distance sensor may be at least one of an ultrasonic sensor, an infrared sensor, a lidar sensor, and a radar sensor.

An embodiment of the present invention, a cleaning unit for cleaning the mattress of the bed; A front-rear moving unit for moving the cleaning unit to the front and rear of the mattress; An up-and-down unit for moving the cleaning unit up and down the mattress; A distance sensor provided in the cleaning unit; A controller that has the distance between the distance sensor and the rear end of the mattress as an obstacle reference value, calculates the distance to the target using the distance sensor, and stops the advance of the cleaning unit when the calculated distance is less than the obstacle reference value It provides a bed cleaner that includes.

According to an exemplary embodiment, the obstacle reference value may have a predetermined offset.

According to an exemplary embodiment, a reflector may be provided at a position corresponding to the rear end of the mattress so that the energy emitted from the distance sensor is reflected. According to an exemplary embodiment, the reflector may be a rear frame of the bed.

According to an exemplary embodiment, the distance sensor may be at least one of an ultrasonic sensor, an infrared sensor, a lidar sensor, and a radar sensor.

According to an embodiment of the present invention, in a bed cleaner having a cleaning unit that cleans the mattress while moving the mattress of the bed back and forth and up and down, the cleaning unit ascends, discharging energy from the cleaning unit, and thus released energy. A first step of calculating a distance using energy reflected by the target and returned; If the calculated distance is greater than the distance between the cleaning unit and the front of the front end of the mattress, a method for controlling a bed cleaner including a second step of stopping the rising of the cleaning unit is provided.

According to an exemplary embodiment, there is provided a third step of calculating a distance using energy returned by the cleaning unit by releasing energy from the cleaning unit while the cleaning unit is moving forward; If the calculated distance is less than the distance between the cleaning unit and the rear end of the mattress, a third step of stopping the advance of the cleaning unit may be further included.

According to an embodiment of the present invention, in a bed cleaner having a cleaning unit that cleans the mattress while moving the mattress of the bed back and forth and up and down, the cleaning unit moves forward and releases energy from the cleaning unit, thereby discharging energy. A first step of calculating a distance using energy reflected by the target and returned; If the calculated distance is smaller than the distance between the cleaning unit and the rear end of the mattress, a method for controlling a bed cleaner including a second step of stopping the advance of the cleaning unit is provided.

Each of the features of the above-described embodiments may be implemented in combination in other embodiments, unless contradictory or exclusive with other embodiments.

The present invention described above has the following effects.

First, according to the present invention, there is an advantage that the mattress can be automatically cleaned while the mattress is placed on the bed.

Second, according to the present invention, there is an advantage that the mattress can be automatically cleaned by being installed on the bed, and when the vacuum cleaner is not in use, it can be hidden so as not to be inconvenient to use.

Third, according to the present invention, there is an advantage that the mattress can be cleaned regardless of the height for each type of mattress.

Fourth, according to the present invention, there is an advantage that the cleaner can be used as it is even when the mattress is replaced.

Fifth, according to the present invention, there is an advantage of preventing damage to the cleaner and the obstacle by automatically stopping cleaning when there is an obstacle in the mattress.

1 is a view showing the concept of an embodiment of a cleaner according to the present invention.
2 is an exploded perspective view of FIG. 1.
3 is a view for explaining the control of the vertical movement of the cleaning unit of FIG. 2.
4 is a view for explaining control of the movement of the cleaning unit of FIG. 2 back and forth.
5 is a block diagram illustrating an example of a control configuration of the cleaner of FIG. 1.
6 is a flowchart illustrating an example of the control method of FIG. 5.

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

The embodiments described below are intended to aid understanding of the present invention, and thus the present invention is not limited to the embodiments described below. In addition, in the accompanying drawings, specific elements may be exaggerated or reduced in order to aid understanding of the invention, and are not limited to the form drawn in the drawings of the present invention.

Referring to Figure 1, the concept of an embodiment of a bed cleaner according to the present invention will be described.

A mattress 24 may be provided on the frame 22 of the bed 2. In order to clean the mattress 24, the cleaner 4 may move back and forth to the surface of the mattress 24.

In addition, when the vacuum cleaner 4 is not used, it is preferable that the user is not uncomfortable with the use of the bed 2. In addition, it is preferable that the cleaner 4 is hidden when the cleaner 4 is not used.

To this end, when the cleaner 4 is not used, the cleaner may be located in a portion other than the mattress 24. For example, when the vacuum cleaner 4 is not used, the vacuum cleaner 4 may be located under the front end of the bed. Therefore, the cleaner 4 can be moved up and down.

On the other hand, although the present specification expresses that the mattress 24 of the bed 2 is cleaned, it does not mean that only the mattress 24 is cleaned. For example, it does not mean to exclude cleaning while a mattress or a blanket is placed on the mattress 24.

It will be described in detail as follows.

First, in order to clean the mattress 24, a cleaner 4 (hereinafter, a'cleaning unit' for convenience) is required. The function of the cleaning unit 4 may be substantially the same as that of a general vacuum cleaner.

When the cleaning unit 4 is not in use, the cleaning unit 4 can be placed in a predetermined position on the bed 2. For example, the cleaning unit 4 may be placed in front of the mattress 24 (hereinafter,'home position' for convenience).

In the initial state in which the cleaning unit 4 is not used, the cleaning unit 4 may be placed at the lower end P1 of the home position. Therefore, in the initial state, the cleaning unit 4 is placed under the front of the mattress, so that the user does not interfere with the use of the mattress 24.

An operation of cleaning the mattress 24 by the cleaning unit 4 will be described.

The cleaning unit 4 rises (H1) from the lower end (P1) of the home position of the bed (2) to the upper end (P2). The cleaning unit 4 may rise to a height that matches the upper surface of the mattress 24 or to a slightly higher position. In this state, the cleaning unit 4 cleans the mattress 24 while moving to the rear end of the bed 2 (H2).

When the cleaning unit 4 reaches the rear end (P3) of the bed (2), the cleaning unit (4) moves backward (H3) and returns to the front end (P2) of the bed (2). The cleaning unit 4 returned to the home position front end P2 of the bed 2 descends H4 and returns to the lower home position, that is, the initial position P1.

As described above, the bed cleaner may have a structure capable of moving the cleaning unit 4 back and forth and a structure capable of moving up and down.

Referring to Figure 2, the overall structure of an embodiment of the bed cleaner according to the present invention will be described.

The bed 2 may comprise a frame 22. For example, the frame 22 may include a front frame 222, a rear frame 224, and a side frame 226. Legs 228 may be coupled to the lower portion of the frame 22. A mattress 24 may be provided on the upper portion of the frame 22.

The bed cleaner may include a cleaning unit 4 that performs cleaning. The cleaning unit 4 may have a function of cleaning, sterilization, and warm air. The cleaning unit 4 may have the function of a general vacuum cleaner. For example, the cleaning unit 4 may include a suction unit, a suction motor, a filter, and a discharge unit. The suction part of the cleaning unit 4 may be disposed on the bottom surface of the cleaning unit 4.

The bed cleaner may include a front-rear moving unit 5 for moving the cleaning unit 4 back and forth. The back and forth moving unit 5 can be implemented in several ways.

The frame 22 of the bed 2, for example, the side frame 226 may be provided with a guide 3 for guiding the movement of the front and rear moving unit 5. In FIG. 2, a rail is illustrated as an example of the guide 3, but the guide 3 is not limited thereto and may be implemented in various ways.

The cleaning unit 4 and the front-rear moving unit 5 may be connected to each other by a supporter 6. Therefore, when the front-rear moving unit 5 moves back and forth (moves in the horizontal direction), the cleaning unit 4 can also move back and forth.

Meanwhile, the bed cleaner may include a moving unit (not shown) for moving the cleaning unit 4 up and down. The cleaning unit 4 can also be moved upwards when the upward movement unit moves upward (moving in the vertical direction). The moving unit can be implemented in several ways.

An example of the back and forth moving unit 5 will be described.

The front and rear moving unit 5 may include a first actuator and a driving unit. For example, the first actuator may be a motor. The driving unit may have a structure that converts rotational motion of the motor into linear motion.

For example, the driving unit may be a pinion rotated by a motor and a rack meshed with the pinion. The rack may be provided at a predetermined position of the frame 22 of the bed, for example, at the side frame 226. The pinion may be provided in the front and rear moving unit 5.

Thus, as the pinion rotates, it can move back and forth along the rack. The front and rear moving unit 5 connected to the pinion can also move back and forth. In addition, the cleaning unit 4 connected to the back and forth moving unit 5 by the supporter 6 may also move back and forth.

An example of an upward movement unit will be described.

The moving unit may include a second actuator and a driving unit. For example, the second actuator may be a motor. The driving unit may have a structure that converts rotational motion of the motor into linear motion.

For example, the drive unit may be a rack and pinion structure. A rack may be provided at a predetermined position of the front and rear moving unit 5, and a pinion may be provided on the supporter 6. The pinion can move up and down along the rack. Accordingly, the supporter 6 provided with the pinion can move up and down with respect to the front and rear moving unit 5. Accordingly, the cleaning unit 4 connected to the supporter 6 can also move up and down.

On the other hand, the structure of the front and rear moving unit 5 and the vertical moving unit is not limited to the above-described embodiment, and may be implemented in other ways. For example, the front and rear moving unit 5 may use a lead screw structure or the like. The moving unit may use a scissor rack structure or the like.

An embodiment of a method for controlling a cleaner according to the present invention will be described.

First, with reference to FIG. 3, the concept of an embodiment of controlling the vertical movement of the cleaner according to the present invention will be described.

As described above, in order to clean the mattress 24, the cleaning unit 4 may rise from the lower end P1 of the home position to the upper end P2 of the home position.

For example, the cleaning unit 4 may rise to a position corresponding to the upper surface of the mattress 24. Alternatively, the cleaning unit 4 may rise to a position Y1 spaced a predetermined distance from the upper surface of the mattress 24.

However, there are several types of the mattress 24, and the thickness may be different for each type of the mattress. In this embodiment, the cleaning unit may automatically rise to the upper surface of the mattress regardless of the thickness according to the type of the mattress.

In this embodiment, a method in which the cleaning unit 4 rises to the upper surface of the mattress will be described.

The cleaning unit 24 may be provided with a sensor (hereinafter referred to as'distance sensor') 912 capable of measuring a distance. The distance sensor 912 may be provided on one side of the cleaning unit 4.

The type of the distance sensor 912 is not limited, and at least one of an ultrasonic sensor, an infrared sensor, a lidar sensor, and a radar sensor may be used. The lidar sensor is a sensor that uses a laser, and the radar sensor is a sensor that uses radio waves.

These sensors use intangible energy such as light, sound, and radio waves. Among these sensors, an appropriate sensor can be selected in consideration of cost and accuracy of distance recognition.

Hereinafter, for convenience, a sensor using light will be described as an example.

The distance sensor 912 using light may include a light transmitting part 912a and a light receiving part 912b.

Light is emitted from the light transmitting part 912a, and light reflected from the target may be sensed by the light receiving part 912b. That is, the distance can be calculated using the time that the light emitted from the distance sensor 912 returns after being reflected on the target. If you multiply the reflected return time by the speed of light, it becomes the round trip distance from the distance sensor to the target. Dividing the round trip distance in half gives the distance to the target (hereinafter'calculated distance' for convenience) (D).

An example of a method of controlling the elevation of the cleaning unit 4 using the distance sensor 912 will be described.

When the mattress 24 and the cleaning unit 4 are installed on the frame 22 of the bed, the distance between the distance sensor 912 of the cleaning unit 4 and the front surface 24a of the front end of the mattress 24 (X1 ) (Hereinafter'first interval') may be determined.

When the cleaning unit 4 is located in the range from the lower end (P1) to the upper end (P2) of the home position, the light emitted from the distance sensor 912 is reflected from the front surface 24a of the front end of the mattress 24 and returns. . Accordingly, when the cleaning unit 4 is located in the range from the lower end P1 to the upper end P2 of the home position, the calculated distance D becomes the first interval X1.

However, when the cleaning unit 4 rises and reaches a position corresponding to the upper end P2 of the home position, for example, the upper surface of the mattress 24, the calculated distance D becomes larger than the first interval X1. This is because in this case, the light emitted from the distance sensor 912 is not reflected from the front surface 24a of the front end of the mattress 24.

Therefore, if the calculated distance (D) is larger than the first interval (X1), it is determined that the cleaning unit 4 has reached a position corresponding to the upper surface of the mattress 24, and the ascent of the cleaning unit 4 is stopped. I can. That is, the first interval X1 may be used as a reference value (hereinafter, referred to as “rising reference value”) XA at which the cleaning unit 4 stops rising.

As described above, the rising reference value XA may be the first interval X1, but an offset a may be given to the rising reference value XA in consideration of an error in sensing.

For example, the rising reference value XA of the cleaning unit 4 may be set as [first interval X1 + offset a]. The offset (a) can be determined through an appropriate experiment or simulation. The offset (a) can be a positive or negative value. The offset (a) may be in a predetermined range.

Next, with reference to Fig. 4, the concept of an example of control of the back and forth movement of the cleaning unit 4 according to the present invention will be described.

As described above, when the cleaning unit 4 rises from the lower end P1 of the home position and reaches the upper end P2 of the home position, the cleaning unit 4 cleans the mattress 24 while moving back and forth.

However, there may be an obstacle (P) on the mattress (24). If the cleaning unit 4 continues to advance when there is an obstacle, the obstacle P may be caught or collided with the suction part of the cleaning unit 4. In addition, there is a risk that the cleaning unit 4 and the obstacle P may be damaged.

In this embodiment, by automatically detecting the obstacle (P) on the mattress 24, a method of stopping the horizontal movement of the cleaning unit 4 is proposed. In addition, a method of detecting the obstacle P using the distance sensor 912 is proposed.

When the mattress 24 and the cleaning unit 4 are installed on the frame 22 of the bed, the distance between the home position of the cleaning unit 4 and the rear end of the mattress 24 is determined. For example, the distance between the home position of the cleaning unit 4 and the rear end of the mattress 24 is the first distance X1 between the front end of the front end of the mattress 24 and the length X2 of the mattress 24. Can be determined by

On the other hand, at a position outside the rear end or the rear end of the mattress 24, a reflective portion through which light is reflected may be provided. For example, the reflector may be the rear frame 224.

The upper portion of the rear frame 224 may be installed to protrude more than a predetermined height, so that the light emitted from the distance sensor 912 may be reflected from the front surface 224a of the rear frame 224.

First, a case where the cleaning unit 4 is located at the upper end P1 of the home position and there is no obstacle P at a predetermined position of the mattress 24 will be described. In this case, the light emitted from the distance sensor 912 is reflected from the front surface 224a of the rear frame 224 and returned. Therefore, the calculated distance D becomes [the first interval X1 + the second interval X2] (hereinafter,'the third interval X3)').

If there is an obstacle P at a predetermined position of the mattress 24, the calculated distance D is smaller than the third interval X3. This is because in this case, the light emitted from the distance sensor 912 is not reflected from the front surface 224a of the rear frame 224, but is reflected from the obstacle P.

Therefore, when the cleaning unit 4 is located at the top (P2) of the home position, if the calculated distance (D) is smaller than the third interval (X3), it is assumed that there is an obstacle (P) on the upper surface of the mattress (24). I can judge. That is, the third interval X3 may be used as a reference value (hereinafter, referred to as'obstacle reference value') XB at which the cleaning unit recognizes an obstacle and stops its operation.

On the other hand, for cleaning, when the cleaning unit 4 advances in the direction of the rear frame 224, the calculation distance D gradually becomes smaller than the third interval X3 even if there is no obstacle P. This is because, as the cleaning unit 4 advances, the distance between the cleaning unit 4 and the rear frame 224 decreases.

That is, when there is no obstacle P, the normal calculated distance D becomes the distance between the distance sensor 912 and the rear frame 224, and this distance gradually decreases. That is, the distance between the distance sensor 912 and the rear frame 224 may be the obstacle reference value XB.

The distance between the distance sensor 912 and the rear frame 224 can be calculated in various ways. For example, the distance between the distance sensor 912 and the rear frame 224 may be [the third interval (X3)-the advance distance of the cleaning unit].

The advancing distance of the cleaning unit 4 may be a function of the speed of the first actuator driving the front-rear moving unit and the time the cleaning unit 4 has moved starting from the top of the home position.

In summary, if there is no obstacle P in the mattress 24, the calculated distance D is equal to the obstacle reference value XB. By the way, if there is an obstacle P in the mattress 24, the calculated distance D becomes smaller than the obstacle reference value XB. Therefore, when the calculated distance D is smaller than the obstacle reference value XB, it is determined that there is an obstacle P on the upper surface of the mattress 24, and the advance of the cleaning unit 4 may be stopped.

As described above, for example, the obstacle reference value XB may be [three intervals (X3)-total distance of the cleaning unit]. In addition, an offset (b) may be given to the obstacle reference value XB in consideration of an error in sensing.

For example, the obstacle reference value XB of the cleaning unit 4 may be [3 intervals (X3)-total distance of the cleaning unit + offset (b)]. The offset (b) can be determined through an appropriate experiment or simulation. The offset (b) may be a positive or negative value. In addition, the offset (b) may be in a predetermined range.

On the other hand, when the cleaning unit 4 reaches the rear end (P3) of the bed, it must be stopped. Accordingly, the distance between the position at which the cleaning unit 4 should stop at the rear end of the bed and the front surface 224a of the rear frame 224 (hereinafter,'the fourth interval X4') can be set.

When the calculated distance D reaches the fourth interval X4, it is determined that the cleaning unit 4 has reached the rear end P3 of the mattress 24, and the advance of the cleaning unit 4 can be stopped. That is, the fourth interval X4 may be used as a reference value (hereinafter, referred to as'advancing reference value') XC at which the cleaning unit 4 stops moving forward.

As described above, the forward reference value XC may be the fourth interval X4, but an offset c may be given to the forward reference value XC in consideration of an error in sensing.

For example, the forward reference value XC of the cleaning unit 4 may be [fourth interval (X4) + offset (c)]. The offset (c) can be determined through an appropriate experiment or simulation. The offset (c) may be a positive or negative value. In addition, the offset (c) may be in a predetermined range.

Referring to Fig. 5, an example of the control configuration of this embodiment will be described.

A distance sensor 912 may be electrically connected to the controller 900. The first actuator 916 and the second actuator 918 may be electrically connected to the controller 900. The first actuator 916 may drive the front-rear moving unit. The second actuator 918 may drive the vertical movement unit.

The controller 900 may be configured as a PCB. The distance sensor 912 may be mounted on a PCB. The controller 900 may calculate the distance by using the sensing value of the distance sensor 912. The controller 900 may control driving of the first actuator 916 and the second actuator 918.

The first actuator 916 and the second actuator 918 may be motors. The controller 900 may be equipped with a voice recognition engine (function).

The memory 922 may be electrically connected to the controller 900. The user interface 914 and the output unit 920 may be electrically connected to the controller 900. The user interface 914 may receive a user's command, and the output unit 920 may have an alarm function.

An example of the control method of the present embodiment will be described with reference to FIGS. 5 and 6.

When the mattress and the cleaning unit are installed in the frame of the bed, a rising reference value XA, an obstacle reference value XB, and a forward reference value XC may be determined. The rising reference value XA, the obstacle reference value XB, and the forward reference value XC may be measured while the mattress is installed on the bed frame.

The ascending reference value XA, the obstacle reference value XB, and the forward reference value XC may be stored in the memory 922 or the like through the user interface 914 (S1).

The operation signal of the cleaner may be input from the user through the user interface 914 (S3). The operation signal may be a switch or a voice.

When an operation signal of the cleaner is input, the distance sensor 912 may operate. In addition, the second actuator 918 may operate so that the cleaning unit 4 may rise (S5).

The controller 900 calculates the distance D to the target by using the value sensed by the distance sensor 912. The controller 900 compares the calculated distance D and the ascending reference value XA. (S7)

If the calculation distance D is greater than the rising reference value XA, the second actuator 918 stops and the cleaning unit 4 can stop rising. (S9) That is, the cleaning unit 4 is at the home position. It can be stopped at the top (P2) (see Fig. 3).

The first actuator 916 operates and the cleaning unit 4 moves forward. (S11) The cleaning unit 4 moves forward and cleans the mattress.

The controller 900 calculates the distance D to the target by using the value sensed by the distance sensor 912. The controller 900 compares the calculated distance D and the obstacle reference value XB (S13).

If the calculated distance D is less than the obstacle reference value XB, the driving of the first actuator 916 is stopped, and the advancement of the cleaning unit 4 may be stopped (S18). have.

The controller 900 may alarm the user that an obstacle has been detected through the output unit 920 (S20). The alarm may be an alarm sound or a voice.

When the user removes the obstacle, since the calculated distance D becomes larger than the obstacle reference value XA, the first actuator 916 operates again.

On the other hand, if the calculated distance D is less than the forward reference value XC (S15), it is determined that the cleaning unit 4 has reached the rear end of the mattress, and the first actuator 916 stops, and the cleaning unit 4 Can stop the advance of (S22)

The next operation may be an operation of returning to the home position of the cleaning unit 4. This is explained as follows.

The first actuator 916 moves in reverse, and the cleaning unit 4 returns from the rear end P3 of the mattress 24 to the home position P2 of the bed 2. When the cleaning unit 4 returns to the upper end P2 of the home position of the bed 2, the operation of the cleaning unit 4 is stopped. The cleaning unit 4 descends from the upper end (P2) of the home position to the lower end (P1) and returns to the initial position.

As described above, this embodiment has the following advantages.

In this embodiment, a cleaning unit capable of moving back and forth and moving up and down is installed on the bed, so that the mattress can be automatically cleaned without removing it from the bed. In addition, in this embodiment, when the cleaning unit is not used, the cleaning unit may be located at the lower front of the mattress. Therefore, the bed cleaner does not interfere when the user uses the bed.

In this embodiment, the distance sensor can be used to automatically rise to the top of the mattress of the cleaning unit. In addition, cleaning efficiency can be optimized by optimizing the distance between the suction part of the cleaning unit and the surface of the mattress. In addition, you can use the bed frame and vacuum cleaner as it is when replacing the mattress.

In this embodiment, by sensing an obstacle placed on the mattress using a distance sensor, it is possible to prevent damage to the cleaner and the obstacle.

The present invention is not limited to the embodiments described above, and various modifications and variations are possible from these descriptions to those of ordinary skill in the art to which the present invention pertains, and these modifications and variations are the scope of the present invention.

In addition, unless the matters described in each embodiment are arranged with each other, even if there is no special mention, the technical matters described in one embodiment may be applied in the same or similar manner in other embodiments.

2: bed 22: frame
4 ; Cleaning unit 5: front and rear moving unit
6; Supporter 7: Shanghai East Unit

Claims (15)

A cleaning unit for cleaning the mattress of the bed;
A front-rear moving unit for moving the cleaning unit to the front and rear of the mattress;
An up-and-down unit for moving the cleaning unit up and down the mattress;
A distance sensor provided in the cleaning unit;
The distance between the distance sensor and the front end of the mattress is a reference value, and the distance to the target is calculated using the distance sensor. If the distance is greater than the reference value, a controller that stops the cleaning unit from rising is used. Bed cleaner included. The bed cleaner of claim 1, wherein the rising reference value has a predetermined offset. The bed of claim 1, wherein the controller has a distance between the distance sensor and the rear end of the mattress as an obstacle reference value, and when the calculated distance is less than the obstacle reference value, the cleaning unit stops advancing. vacuum cleaner. The bed cleaner of claim 3, wherein the obstacle reference value has a predetermined offset. The bed cleaner of claim 4, wherein a reflecting part is provided at a position corresponding to the rear end of the mattress so that the energy emitted from the distance sensor is reflected. The bed cleaner according to claim 5, wherein the reflective part is a rear frame of the bed. The bed cleaner according to any one of claims 1 to 6, wherein the distance sensor is at least one of an ultrasonic sensor, an infrared sensor, a lidar sensor, and a radar sensor. A cleaning unit for cleaning the mattress of the bed;
A front-rear moving unit for moving the cleaning unit to the front and rear of the mattress;
An up-and-down unit for moving the cleaning unit up and down the mattress;
A distance sensor provided in the cleaning unit;
A controller that has the distance between the distance sensor and the rear end of the mattress as an obstacle reference value, calculates the distance to the target using the distance sensor, and stops the advance of the cleaning unit when the calculated distance is less than the obstacle reference value Bed cleaner containing. The bed cleaner of claim 8, wherein the obstacle reference value has a predetermined offset. The bed cleaner of claim 8, wherein a reflecting part is provided at a position corresponding to the rear end of the mattress so that the energy emitted from the distance sensor is reflected. The bed cleaner according to claim 10, wherein the reflective part is a rear frame of the bed. The bed cleaner according to any one of claims 8 to 11, wherein the distance sensor is at least one of an ultrasonic sensor, an infrared sensor, a lidar sensor, and a radar sensor. In a bed cleaner having a cleaning unit for cleaning the mattress while moving the mattress of the bed back and forth and up and down,
A first step of calculating a distance by using the energy returned by reflecting the emitted energy to the target by releasing energy from the cleaning unit while the cleaning unit rises;
And a second step of stopping the rising of the cleaning unit when the calculated distance is greater than the distance between the cleaning unit and the front of the front of the mattress. 14. The method of claim 13, further comprising: a third step of calculating a distance by using energy returned from the cleaning unit by releasing energy from the cleaning unit while the cleaning unit moves forward;
When the calculated distance is smaller than the distance between the cleaning unit and the rear end of the mattress, the method further comprises a third step of stopping the advance of the cleaning unit. In a bed cleaner having a cleaning unit for cleaning the mattress while moving the mattress of the bed back and forth and up and down,
A first step of calculating a distance by using the energy returned by the cleaning unit to discharge energy from the cleaning unit while the cleaning unit advances, and the emitted energy is reflected on the target object;
And a second step of stopping the advance of the cleaning unit when the calculated distance is smaller than the distance between the cleaning unit and the rear end of the mattress.

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