WO2012005397A1

WO2012005397A1 - Automatic cleaner

Info

Publication number: WO2012005397A1
Application number: PCT/KR2010/004665
Authority: WO
Inventors: 서종현
Original assignee: 엘지전자 주식회사
Priority date: 2010-07-06
Filing date: 2010-07-16
Publication date: 2012-01-12
Also published as: US20120110759A1; KR20120004304A; EP2433542A1; KR101212374B1

Abstract

The present invention relates to an automatic cleaner. The automatic cleaner according to an embodiment of the present invention includes: a first moving part movably disposed to one side of an object to be cleaned; a second moving part movably disposed to the other side of the object; a moving wheel disposed on at least one of the first moving part and the second moving part; a driving motor providing driving force to the moving wheel; a fixing member fixing the first moving part and the second moving part to each other through the object; and a control part increasing or decreasing the driving force output from the driving motor according to the moving direction of the first or second moving part.

Description

Auto cleaner

An embodiment of the present invention relates to an automatic cleaner, and more particularly, to an automatic cleaner for performing a cleaning operation on a cleaning surface disposed to be inclined with respect to the ground.

In general, an automatic cleaner cleans while driving the floor of a house or building. The driving force for driving the automatic cleaner may be generated by a driving motor. Since the bottom surface is a flat ground, there is no great difficulty for the automatic cleaner to travel by using the drive motor.

However, the running of the automatic cleaner may be restricted when cleaning the inclined cleaning surface, that is, the cleaning surface inclined upward in the advancing direction, rather than the flat surface.

In particular, when the cleaning surface is a glass window provided in the building, the use of the automatic cleaner is very limited. Therefore, the window has to be manually cleaned by the user.

In addition, there has been a significant increase in high-rise buildings in recent years. Due to the danger of window cleaning, it was very limited for residents of high-rise buildings to clean their own windows. Therefore, a professional company for cleaning glass windows has emerged.

However, in the related art, there is a problem in that there is no automatic cleaner capable of automatically cleaning the cleaning surface disposed obliquely or vertically with respect to the ground, such as a glass window.

Even when the cleaning company cleans the glass windows, the worker has to move while relying on a rope fixed to the roof of the building, which requires a lot of people and equipment.

In addition, there was a part that can not reach the worker's hand because the area to be cleaned is wide, there was a problem that the risk of the worker's safety accidents exist.

The present invention has been proposed to solve the above problems, and an object of the present invention is to provide an automatic cleaner which is movably attached to an inclined cleaning surface to perform a cleaning operation.

Moreover, it aims at providing the automatic cleaner which can clean two cleaning surfaces simultaneously.

Automatic cleaner according to an embodiment of the present invention for achieving the above object, the first moving unit disposed to be movable on one side of the cleaning surface; A second moving part disposed to be movable on the other side of the cleaning surface; A moving wheel provided on at least one of the first moving part and the second moving part; A drive motor providing a driving force to the moving wheel; Fixing means for allowing the first moving part and the second moving part to be fixed to the cleaning surface; And a control unit for controlling to increase or decrease the driving force output from the drive motor based on the moving direction of the first moving unit or the second moving unit.

In addition, according to another aspect of the present invention, an automatic cleaner includes: at least one moving unit disposed to be movable on a glass window; A moving wheel provided on the moving unit; A drive motor providing a driving force to the moving wheel; Fixing means for imparting a fixing force so that the moving part is attached to the glass window; A cleaning member provided on the moving part and cleaning at least one side of the glass window; And a controller configured to adjust the current applied to the drive motor such that the drive motor generates an output equal to or greater than the sum of the weight of the moving unit and the fixing force of the fixing means.

According to yet another aspect, an automatic cleaner includes: a driving unit movably disposed on one side of a glass window; A driven part disposed on the other side of the glass window and moving according to the movement of the driving part; A moving wheel provided for movement of the driving unit or the follower; A drive motor providing a driving force to the moving wheel; A plurality of magnetic members provided in the driving unit and the follower; Cleaning member for cleaning one side or the other side of the glass window; And a controller for controlling the driving force of the driving motor to be generated differently when the driving part or the driven part is moved upward, downward, or sideward of the glass window.

According to another aspect of the present invention, there is provided an automatic cleaner comprising: a driving unit movably disposed on one side of a cleaning surface disposed to be inclined with respect to the ground; A driven part disposed on the other side of the glass window and moving according to the movement of the driving part; A moving wheel provided for movement of the driving unit or the follower; A drive motor providing a driving force to the moving wheel; A plurality of magnetic members disposed on both sides of the glass window; And a control unit controlling a current applied to the driving motor such that the driving motor is generated only by a driving force having a predetermined magnitude, according to the moving direction of the driving unit or the follower.

According to the automatic cleaner according to the embodiment of the above configuration, the plurality of moving parts can be attached to the cleaning surface by the magnetic force of the magnetic member, there is an effect that can be easily moved by the driving force of the drive unit.

In addition, the plurality of moving parts are disposed with the cleaning surface interposed therebetween, and a cleaning member is provided between the moving part and the cleaning surface, so that the cleaning operation of both cleaning surfaces can be effectively performed.

In addition, according to the moving direction of the moving part, since the output of the drive motor can be controlled, the moving part can be easily fixed and moved with respect to the inclined cleaning surface.

In addition, since a moving wheel having a predetermined frictional force is provided in the moving part, the moving part can be smoothly moved.

In addition, since the output of the drive motor can be properly controlled in consideration of the weight of the moving part, the magnetic member provided on the moving part, the frictional force of the moving wheel, and the like, there is an effect that the output of the unnecessary motor is not wasted.

In addition, the sensor is provided for detecting the obstacle in the automatic cleaner, there is an effect that can perform a cleaning operation while automatically driving along the edge of the cleaning surface.

1 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is attached to the cleaning surface.

2 is a bottom perspective view showing a configuration of a first moving unit according to a first embodiment of the present invention.

3 is a bottom perspective view showing a configuration of a second moving unit according to the first embodiment of the present invention.

4 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is fixed to the cleaning surface.

5 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is moved above the cleaning surface.

6 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is moved from the left side to the right side of the cleaning surface.

7 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is moved below the cleaning surface.

8 is a block diagram showing a configuration of the first moving unit according to the first embodiment of the present invention.

9 is a bottom perspective view showing a configuration of a second moving unit according to a second embodiment of the present invention.

10 is a cross-sectional view showing a state in which the automatic cleaner according to the third embodiment of the present invention is attached to the cleaning surface.

11 is a bottom perspective view illustrating a configuration of a first moving unit according to a fourth exemplary embodiment of the present invention.

12 is a cross-sectional view showing a state in which an automatic cleaner according to a fifth embodiment of the present invention is fixed to a cleaning surface.

13 is a cross-sectional view showing a state in which the automatic cleaner according to the sixth embodiment of the present invention is attached to the cleaning surface.

14 is a block diagram showing a configuration of an automatic cleaner according to a sixth embodiment of the present invention.

Hereinafter, with reference to the drawings will be described a specific embodiment of the present invention. However, the spirit of the present invention is not limited to the embodiments presented, and those skilled in the art who understand the spirit of the present invention can easily suggest other embodiments within the scope of the same idea.

Referring to FIG. 1, the automatic cleaner 10 according to the first embodiment of the present invention includes a first moving unit 100 and a second moving unit 200 provided at both sides of the cleaning surface 20. do. The cleaning surface 20 is inclined with respect to the ground. For example, the cleaning surface 20 may be disposed perpendicular to the ground, and the ground may be understood as a surface corresponding to the floor surface of a building or any place.

The first moving part 100 includes a first main body 110 provided to be movable on one side of the cleaning surface 20, and is coupled to a lower side of the first main body 110 and the first moving part 100. ) Is a first magnetic member 150 to be fixed to the second moving part 200.

At least a portion of the first magnetic member 150 is positioned inside the first body 110, and the remaining portion is positioned below the bottom of the first body 110 and exposed to the outside.

The first magnetic member 150 protrudes from the first body 110 toward the cleaning surface 20 and is positioned close to the magnetic member 250 of the second moving part 200, thereby providing an effect of magnetic force. It can be maximized.

The first moving part 100 further includes a first cleaning member 170 provided to be in contact with one side of the cleaning surface 20 and cleaning one side of the cleaning surface 20. The first cleaning member 170 may be detachably coupled to a bottom surface of the first body 110 and a bottom surface of the first magnetic member 150.

Due to the fact that the first magnetic member 150 protrudes to the lower side of the first body 110, the thickness of the portion of the first cleaning member 170 corresponding to the first magnetic member 150 is different. It may be thinner than the thickness of the part. The first cleaning member 170 may be formed of a material such as a sponge or cloth capable of absorbing dust and absorbing moisture.

A coupling means for coupling the first cleaning member 170 to the bottom portion of the first body 110 may be provided. The coupling means may include tape or velcro (aka 'sticky').

The first moving part 100 further includes a plurality of moving wheels 130 to facilitate the movement of the first body 110. In a state in which the first moving part 100 is placed on one side of the cleaning surface 20, the moving wheel 130 may be in contact with the one side.

The first body 110 is provided with an input unit 115 for inputting a predetermined command for the operation of the automatic cleaner 10. The input unit 115 may include a power input unit. The second moving part 200 has a shape corresponding to the first moving part 100 and is disposed at a position facing the first moving part 100 with respect to the cleaning surface 20.

The second moving part 200 is coupled to a lower side of the second main body 210 and the second main body 210 provided to be movable on the other side of the cleaning surface 20 and the second moving part 200. ) Is a second magnetic member 250 to be fixed to the first moving part (100).

The second magnetic member 250, together with the first magnetic member 150, "fixing means" for fixing the first moving part 100 and the second moving part 200 with respect to the cleaning surface 20 Can be understood as.

At least a portion of the second magnetic member 250 is positioned inside the second body 210, and the remaining portion is exposed to the outside at a position below the bottom of the second body 210. The second magnetic member 250 protrudes from the second body 210 toward the cleaning surface 20 and is positioned close to the first magnetic member 150, thereby maximizing the effect of magnetic force.

As a result, the first moving part 100 and the second moving part 200 may be configured to be fixed to each other by the first magnetic member 150 and the second magnetic member 250.

An attractive force acts between the first magnetic member 150 and the second magnetic member 250. The attraction force has a size that allows the first moving part 100 and the second moving part 200 to be fixed to both sides of the cleaning surface 20.

The second moving part 200 further includes a second cleaning member 270 provided to be in contact with the other side of the cleaning surface 20 and cleaning the other side of the cleaning surface 20. The second cleaning member 270 may be detachably coupled to the bottom surface of the second body 210 and the bottom surface of the second magnetic member 250.

The material of the second cleaning member 270 and the bonding method are used for the description of the first cleaning member 270. The first cleaning member 170 and the second cleaning member may be referred to as an "adsorption member" for wiping off foreign matter.

Due to the fact that the second magnetic member 250 protrudes to the lower side of the first body 210, the thickness of the portion of the second cleaning member 270 corresponding to the second magnetic member 250 is different. It may be thinner than the thickness of the part.

2 is a bottom perspective view showing a configuration of a first moving unit according to a first embodiment of the present invention, and FIG. 3 is a bottom perspective view showing a configuration of a second moving unit according to a first embodiment of the present invention.

2 and 3, the first body 110 of the first moving unit 100 according to the first embodiment of the present invention includes a first bottom portion 112 constituting a bottom surface. The first cleaning member 170 protrudes downward from the first bottom surface 112.

The plurality of moving wheels 130 may be disposed at both sides of the first cleaning member 170. On the outer circumferential surface of the movable wheel 130, a non-slip groove 132 for maintaining a predetermined friction force with respect to the cleaning surface 20 is formed.

The sliding wheel 130 may be prevented from sliding on the cleaning surface 20 by the anti-slip groove 132, the first body 110 is in the process of rotating the moving wheel 130 It may be moved on the cleaning surface 20.

The first main body 110 includes a plurality of driving motors 135 that provide driving force to the plurality of moving wheels 130 and a plurality of driving forces of the driving motor 135 to the moving wheels 130. The drive shaft 136 is further included.

The driving motor 135 and the driving shaft 136 are located inside the first body 110, and at least a portion of the moving wheel 130 protrudes below the first bottom portion 112. In a state where the first body 110 is placed on the cleaning surface 20, the moving wheel 130 and the first cleaning member 170 may be in contact with the cleaning surface 20.

The first main body 110 further includes a first sensing sensor 180 and a second sensing sensor 182 for sensing an obstacle on a moving path of the first moving unit 100. The first sensor 180 and the second sensor 182 may be referred to as a “detector”. A plurality of first sensing sensors 180 and second sensing sensors 182 may be provided on both sides of the first body 110, respectively. In addition, the first detection sensor 180 is provided at the front portion or the rear portion of the first body 110.

When the distance between the front part of the first body 110 and the obstacle is detected within a predetermined distance in the moving direction of the first moving part 100, the first moving part 100 stops moving and changes direction. This can be done. The direction change of the first moving unit 100 may be rotated by controlling the driving directions of the plurality of drive motors 135.

That is, when one driving motor 135 of the plurality of driving motors 135 rotates in the clockwise direction, and the other driving motor 135 rotates in the counterclockwise direction, the first moving unit 100 moves in one direction. Can be rotated. The driving motor 135 may be a synchronous motor capable of rotating in both directions, and may be an inverter motor having a variable output of the motor.

The second detection sensor 182 may be provided to the first bottom portion 112, and may detect the presence of a jaw or a bent portion (a portion of which the path is broken) on the movement path of the first moving part 100. have. When the second detection sensor 182 detects the jaw or the bent portion, the first moving unit 100 may stop moving and change direction.

When the first moving unit 100 proceeds in the "A" direction, the first detection sensor 180 or the second detection sensor 182 provided in front of the first body 110 is operated. On the other hand, when the first moving unit 100 proceeds in the "B" direction, the first detection sensor 180 or the second detection sensor 182 provided at the rear of the first body 110 may be operated. Can be.

Although not shown in the drawings, the first sensor 180 and the second sensor 182 may be provided in the second moving part 200. That is, the first and

second detection sensors

180 and 182 may be provided in any one or more of the first moving part 100 and the second moving part 200.

The second main body 210 of the second moving part 200 includes a second bottom part 212 forming a bottom. The second bottom surface portion 212 is provided with a second magnetic member 250 and a second cleaning member 270. The second magnetic member 250 may be disposed at a position corresponding to the first magnetic member 150.

The first moving part 100 may be referred to as a "drive part" that moves by a driving force of a driving motor, and the second moving part 200 moves by a driving force of the driving part and the attraction force of the

magnetic members

150 and 250. Can be called "follower".

When the driving motor 135 is driven and the moving wheel 130 is rotated while the first moving part 100 and the second moving part 200 are fixed with respect to the cleaning surface 20, the first moving part 100 and the second moving part 200 are fixed to the cleaning surface 20. 1 The moving unit 100 moves in a predetermined direction. In addition, the second moving part 200 may be moved in dependence on the first moving part 100 by the attraction force between the first and second

magnetic members

150 and 250.

Referring to FIG. 4, the first moving part 100 and the second moving part 200 according to the first embodiment of the present invention may be fixed to both sides of the cleaning surface 20. The cleaning surface 20 may be understood as an inclined surface forming an angle of α with respect to the ground 30. Α may have a value of 90 °.

A plurality of forces are applied to the first moving part 100 and the second moving part 200. In detail, F1 due to its own weight acts on the first moving part 100 in the direction of gravity. When the mass of the first moving part 100 is m1, F1 = m1 * g (g is gravity acceleration) is established.

In the second moving part 200, F2 due to its own weight acts in the direction of gravity. If the mass of the second moving part 200 is m2, F2 = m2 * g (g is gravity acceleration) is established. The attraction force Fm acts between the first magnetic member 150 and the second magnetic member 250. The Fm may be defined as a mutual pulling force generated by the magnetic forces of the first magnetic member 150 and the second magnetic member 250.

Between the first magnetic member 150 and the second magnetic member 250, a shear force (shear magnetic force) Ft acting upward of the cleaning surface 20 acts. The Ft is a force acting in a direction parallel to the cleaning surface 20 and may be generated by the magnetic force of the first magnetic member 150 and the second magnetic member 250. The Fm and Ft may be understood as a kind of "fixing force" generated by the

magnetic members

150 and 250, respectively.

The wheel friction force F3 generated by friction with the cleaning surface 20 acts on the movable wheel 130. And, the wheel friction force F3 may be a "stop friction force" and can be understood as F3 = μ _s * N (μ _s = static friction coefficient, N = vertical drag). The F3 is a force generated by the contact of the moving wheel 130 and the cleaning surface 20, and may act upwardly of the cleaning surface 20. That is, the F3 may act in the same direction as the Ft. As a result, the first moving part 100 and the second moving part 200 may be fixed to each other by the Fm acting in the left and right directions of the cleaning surface 20.

In addition, considering the balance of forces in the vertical direction of the cleaning surface 20, the value of Ft + F3 may be formed larger than the F1 + F2. In this case, the first moving part 100 and the second moving part 200 may not move below the cleaning surface 20.

5 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is moved upward of the cleaning surface, and FIG. 6 is an automatic cleaner according to the first embodiment of the present invention moved from the left side to the right of the cleaning surface. 7 is a cross-sectional view illustrating a state in which the automatic cleaner according to the first embodiment of the present invention is moved below the cleaning surface.

Referring to FIG. 5, the automatic cleaner 10 according to the first embodiment of the present invention may be moved upwardly (in the A direction) along the cleaning surface 20. Here, "upward" means the direction of overcoming gravity and moving.

5 to 7, only the first moving part 100 is shown, but the second moving part 200 may be disposed on the opposite side of the first moving part 100 with respect to the cleaning surface 20. . In the process of moving the automatic cleaner 10 from the lower side of the cleaning surface 20 toward the upper side, F1 + F2 + Ft described with reference to FIG. 4 may act downward.

In addition, wheel friction force F4 generated by contact with the cleaning surface 20 acts on the moving wheel 130. And, the wheel friction force F4 may be a "kinetic friction force" and can be understood as F4 = μ _k * N (μ _k = coefficient of kinetic friction, N = vertical drag). Here, μ _k may have a value smaller than μ _s .

In addition, the F4 acts in a direction opposite to the direction in which the automatic cleaner 10 moves, that is, under the cleaning surface 20. As a result, a force of F1 + F2 + F4 + Ft may act below the cleaning surface 20. The driving motor 135 may output a force of F _M to provide a driving force for the movement of the automatic cleaner 10. In addition, in order to allow the automatic cleaner 10 to move upward, the F _M may have a value greater than the force of F1 + F2 + F4 + Ft.

Referring to FIG. 6, the automatic cleaner 10 according to the first embodiment of the present invention may be moved from the upper left side to the right side (in the B direction) of the cleaning surface 20. Of course, the automatic cleaner 10 may be moved from the upper right side to the left side of the cleaning surface 20.

In the process of moving the automatic cleaner 10 from one side (left or right) of the cleaning surface 20 toward the other side (right or left), the automatic cleaner 10 moves to the automatic cleaner 10. F4 + Ft can be acted in the opposite direction. In order for the automatic cleaner 10 to move, the force F _M output by the driving motor 135 may have a value greater than F4 + Ft.

Referring to FIG. 7, the automatic cleaner 10 according to the first embodiment of the present invention may be moved from the upper side of the cleaning surface toward the lower side (in the C direction).

In the process of moving the automatic cleaner 10 from the upper side to the lower side of the cleaning surface 20, F4 + Ft described above with reference to FIG. 4 may act upward. F1 + F2 due to the weight of the automatic cleaner 10 may act downward. In addition, a force F _M is applied to the driving motor 135 so that the automatic cleaner 10 may move to the lower side of the cleaning surface 20.

As a result, when the value of F _M + F1 + F2 is greater than the F4 + Ft, the automatic cleaner 10 may be moved downward. That is, it can be formed within the range of F _M > F4 + Ft-F1-F2.

If the F _M value is within a negative range, the driving motor 135 may apply a braking force to the automatic cleaner 10, and at this time, the automatic cleaner 10 may be stably moved downward. . Here, the "braking force" may be understood as a driving force of a predetermined size for driving the rotational direction of the moving wheel 130 to the opposite of the moving direction of the automatic cleaner 10.

As described with reference to FIGS. 5 to 7, the magnitude of the force F _M output from the drive motor 135 is the largest when the automatic cleaner 10 moves upward, and the smallest when the downward movement moves. And F _M in the case of lateral movement has a value between these values.

Referring to FIG. 8, in the first moving unit 100 according to the first embodiment of the present invention, an acceleration sensor 185 for detecting a change in the moving speed of the automatic cleaner 10 or the first moving unit 100 is provided. ), An altitude sensor 186 for detecting a height change of the automatic cleaner 10 or the first moving unit 100, and a controller 180 for controlling them.

The automatic cleaner 10 or the first moving unit 100 is controlled to be moved at a preset speed on the cleaning surface 20. That is, the automatic cleaner 10 may be moved at a constant speed regardless of which direction (up, down, or side) it moves. The acceleration sensor 185 may detect a change in the moving speed of the automatic cleaner 10 or the first moving unit 100.

When the moving speed is out of a preset speed range, the controller 180 may control the driving motor 135 to correct the moving speed of the first moving part 100 to the preset speed. .

The altitude sensor 186 may detect a change in the moving height of the first moving unit 100. For example, the altitude sensor 186 may detect whether the first moving part 100 moves upward or downward or in a lateral direction.

The controller 180 may adjust the output of the driving motor 135 according to the moving direction of the first moving unit 100. That is, the controller 180 may adjust the current applied to the driving motor 135. That is, F calculated in FIGS. 5 to 7 according to the moving direction of the first moving unit 100._MofThe value can be adjusted appropriately.

By such a configuration, the driving motor 135 may output as much output as necessary according to the moving direction of the first moving part 100, and thus does not waste unnecessary output from the driving motor 135. There is this.

Hereinafter, the second to sixth embodiments will be described. In describing these embodiments, differences from the first embodiment will be mainly described. For the same parts as those of the first embodiment, the description of the first embodiment and reference numerals are used.

Referring to FIG. 9, the second moving part 200 according to the second exemplary embodiment of the present invention includes a second main body 210 that is movably attached to the cleaning surface 20, and the second main body 210. The second cleaning member 270 provided to the second bottom portion 212 of the plurality of magnetic members are provided with a magnetic force 280 is included.

The second cleaning member 270 may be disposed at an approximately center portion of the second bottom portion 212, and the plurality of magnetic members 280 may be disposed at an edge portion of the second bottom portion 212. Although not illustrated, a plurality of magnetic members may be provided in the first moving part 100 at positions corresponding to the magnetic members 280.

The magnetic member of the first moving part 100 may be referred to as a “first magnetic member” and the magnetic member 280 of the second moving part 200 may be referred to as a “second magnetic member”. By providing a plurality of magnetic members on the bottom of each moving part, mutual coupling force of the first and second moving

parts

100 and 200 may be improved.

Referring to FIG. 10, a first moving wheel 130 is provided on the first moving part 100 and a second moving wheel 230 is provided on the second moving part 200 according to the third embodiment of the present invention. Is provided.

One side of the first moving wheel 130 may be provided with the driving motor and driving shaft described with reference to FIG. 2. In addition, the driving motor and the driving shaft may also be provided on one side of the second moving wheel 130. On the other hand, one side of the second moving wheel 130, a rotation detecting unit 235 for detecting the rotation of the second moving wheel 230 is provided.

When the second moving part 200 starts to move depending on the movement of the first moving part 100, the second moving wheel 130 may be rotated, and the rotation detecting part 235 may be rotated. The rotation of the two moving wheels 130 can be detected.

The rotation detecting unit 235 detects the rotation of the second moving wheel 230 and transmits the rotation to the control unit (not shown) of the second moving unit 200. The control unit drives the driving motor to The second moving wheel 230 may be smoothly rotated. Since the moving wheel is also provided in the second moving part 200, there is an effect that the movement of the second moving part 200 as a “following part” can be smoothed.

However, the second moving unit 200 may not be provided with a separate control unit, and the detection content of the rotation detecting unit 235 may be a control unit of the first moving unit by a wired or wireless communication method (in the first embodiment). 180).

Another embodiment is proposed.

The second moving wheel 230 may be naturally rotated by the traction force of the first moving part 100. That is, one side of the second moving wheel 230 is not provided with a separate drive motor and a drive shaft, the second moving wheel 230 is the cleaning surface according to the movement of the second moving part (200) It may be rotated by friction with 20).

Referring to FIG. 11, the first body 110 according to the fourth embodiment of the present invention includes a first cleaning member 170 provided on the first bottom surface 112. Both sides of the first cleaning member 170 are provided with a first moving wheel 130 and a second moving wheel 138 rotatably provided.

The first main body 110 includes a first driving motor 135 and a first driving shaft 136 for transmitting a driving force to the first moving wheel 130. In addition, the first main body 110 includes a second driving motor 137 and a second driving shaft 139 for transmitting a driving force to the second moving wheel 148.

In front and rear of the first bottom portion 112, a plurality of

agitators

145 and 146 rotatably provided to shake off the foreign matter of the cleaning surface 20 are provided. The

agitators

145 and 146 may be referred to as "rotary cleaning members".

The plurality of agitators may include a first agitator 145 provided at a rear of the first main body 110 and rotating by a driving force of the first driving motor 135, and of the first main body 110. A second agitator 146 provided at the front side and rotating by the driving force of the second driving motor 137 is included. The first cleaning member 170 may be disposed between the first agitator 145 and the second agitator 146.

As the first moving unit 100 moves in one direction, the first cleaning member 170 may clean the foreign material after the cleaning of the first agitator 145 or the second agitator 146. .

Between the first drive motor 135 and the first agitator 145, a first power transmission member 141 for transmitting a driving force of the first drive motor 135 is provided. In addition, a second power transmission member 142 is provided between the second driving motor 137 and the second agitator 146 to transmit a driving force of the second driving motor 137.

The first power transmission member 141 extends rearward from the first drive motor 135, and the second power transmission member 142 extends forward from the second drive motor 137. The first and second

power transmission members

141 and 142 may be disposed to be wound around the outer peripheral surfaces of the

drive shafts

136 and 139 and the

agitator

145 and 146, respectively. In addition, the first and second

power transmission members

141 and 142 may include a belt or a rope.

Although not shown in FIG. 11, the second moving part 200 may be provided with the first and second agitators. The agitator of the second moving part 200 may be driven by a driving motor, or may be rotated by friction with the cleaning surface 20 according to the movement of the second moving part 200.

Referring to FIG. 12, the automatic cleaner 10 according to the fifth embodiment of the present invention may be moved along the cleaning surface 20, which is defined as an inclined surface formed to be inclined upward with respect to the ground 30. The inclined surface 50 may form an angle θ with respect to the ground 80. And, θ may be in a range larger than 0 ° and less than 90 °.

The force acting in the direction parallel to the cleaning surface 20 with respect to the own weight F1 of the first moving part 100 is F1 * sinθ, and the force acting in the direction perpendicular to the cleaning surface 20 is F1. It can be understood as * cosθ. Here, the F1 * cos θ acts in a direction away from the first moving part 100 with respect to the cleaning surface 20.

With respect to the magnetic weight F2 of the second moving part 100, the force acting in the direction parallel to the cleaning surface 20 can be understood as F2 * sinθ, which acts in a direction perpendicular to the cleaning surface 20. The force to do can be understood as F2 * cosθ. Herein, the F2 * cosθ acts in a direction in which the second moving part 200 approaches the cleaning surface 20.

In addition, between the first moving part 100 and the second moving part 200, the attraction force Fm is applied by the magnetic force of the first magnetic member 150 and the second magnetic member 250. The Fm may act in a direction perpendicular to the cleaning surface 20. Shear magnetic force (Ft) by the magnetic force of the first and second magnetic members (150,250) may be directed upward in parallel to the cleaning surface (20). In addition, the friction force F3 acting on the cleaning surface 20 by the moving wheel 130 may be operated upward in parallel to the cleaning surface 20.

In summary, with respect to the force in the direction perpendicular to the cleaning surface 20, the force toward the cleaning surface 20 is Fm + F2cosθ, the force in the direction away from the cleaning surface 20 can be understood as F1cosθ. As a result, in order to fix the automatic cleaner 10 to the cleaning surface 20, Fm + F2cosθ may be larger than F1cosθ.

On the other hand, with respect to the force in the direction horizontal to the cleaning surface 20, the force acting downward of the cleaning surface 20 is F1 * sinθ + F2 * sinθ, the force acting upward of the cleaning surface 20 is Ft Can be understood as + Fm. In order for the automatic cleaner 10 to be fixed at a predetermined position without slipping with respect to the cleaning surface 20, the Ft + Fm may be larger than F1 * sinθ + F2 * sinθ.

13 is a cross-sectional view showing a state in which the automatic cleaner according to the sixth embodiment of the present invention is attached to a cleaning surface, and FIG. 14 is a block diagram showing the configuration of the automatic cleaner according to the sixth embodiment of the present invention.

13 and 14, in the automatic cleaner 500 according to the sixth embodiment of the present invention, a suction force is generated so that the main body 510 and the main body 510 are attached to the cleaning surface 20. Adsorption unit 550 is included. Here, the automatic cleaner 500 may be understood as the first moving unit described in the first embodiment, and the adsorption unit 550 may be understood as a kind of fixing means.

The adsorption part 550 may be provided to generate a negative pressure inside the main body 510, and may be provided to a bottom surface of the main body 510. The suction unit 550 includes a suction motor 551 provided inside the main body unit 510 and a suction hole 555 through which external air is sucked due to a pressure difference. The suction hole 555 is formed in the bottom of the body portion 510.

The automatic cleaner 500 includes a controller 580 for adjusting the output of the suction motor 551. The controller 580 may control the output amount of the suction motor 551 to be added or decreased differently from when the automatic cleaner 500 is attached (fixed) to the cleaning surface 20 and when it is moved.

The bottom surface of the main body 510 is provided with a cleaning member 570 provided to be in contact with the cleaning surface 20 to clean the cleaning surface 20 when the automatic cleaner 500 is moved. The cleaning member 570 may be disposed on one side and the other side of the suction hole 555.

In addition, the bottom surface of the main body 510 is provided with a moving wheel 530 rotatably contacting the cleaning surface 20 to facilitate the movement of the main body 510. The moving wheel 530 may be driven by the moving motor 540. The bottom of the cleaning member 570 and the bottom of the moving wheel 530 may be spaced apart from the bottom of the body 510 by the same distance. Therefore, while the automatic cleaner 500 is fixed to the cleaning surface 20, the cleaning member 570 and the moving wheel 530 may be in contact with the cleaning surface 20 at the same time.

The output of the suction motor 551 is w1 while the automatic cleaner 500 is fixed to the cleaning surface 20, and the output of the suction motor 551 is w2 while the automatic cleaner 500 is moved. It can be formed as. The w1 and w2 are preset values, and the w2 may have a value less than or equal to w1.

In addition, the w2 may be defined as an output (suction input) in which the automatic cleaner 500 may be attached to the cleaning surface 20 but may be moved by a driving force of a predetermined size.

The moving motor 540 provides a driving force so that the automatic cleaner 500 can move by overcoming at least a portion of the suction force (fixing force) of the suction part 550. As described in the first embodiment, the output (driving force) of the moving motor 540 required according to the moving direction (upward, downward or sideward) of the automatic cleaner 500 may be determined differently.

The control unit 580 may adjust the force output from the moving motor 540 according to the moving direction of the automatic cleaner 500, thereby preventing unnecessary output of the moving motor 540. have.

The present invention can control the output of the drive motor according to the moving direction of the moving part, the industrial use is remarkable because the moving part can be easily fixed and moved with respect to the inclined cleaning surface.

Claims

A first moving part disposed to be movable on one side of the cleaning surface;

A second moving part disposed to be movable on the other side of the cleaning surface;

A moving wheel provided on at least one of the first moving part and the second moving part;

A drive motor providing a driving force to the moving wheel;

Fixing means for allowing the first moving part and the second moving part to be fixed to the cleaning surface; And

And a controller configured to increase or decrease a driving force output from the driving motor based on a moving direction of the first moving unit or the second moving unit.
The method of claim 1,

An acceleration sensor for sensing a change in speed of the first moving unit or the second moving unit; And

Automatic cleaner including an altitude sensor for detecting a change in the moving height of the first moving unit or the second moving unit.
The method of claim 1,

The driving force of the drive motor,

When the first moving unit or the second moving unit is moved upward is generated larger than when moving downward.
The method of claim 3, wherein

In the process of moving the first moving unit or the second moving unit upwards,

The driving force of the drive motor,

The weight of the first moving unit and the second moving unit,

Frictional force of the moving wheel and

An automatic cleaner controlled to be formed larger than the sum of the shear forces of the fixing means.
The method of claim 3, wherein

In the process of moving the first moving unit or the second moving unit downward,

The driving force of the drive motor,

At the sum of the frictional force of the moving wheel and the shearing force of the fixing means,

The automatic cleaner controlled to be formed to be larger than the value of the first moving portion and the second moving portion minus the weight.
The method of claim 3, wherein

When the first moving part or the second moving part is moved in the left or right direction, the driving force of the driving motor is

And the first moving part or the second moving part is controlled to be smaller than a driving force when moving upward and larger than a driving force when moving downward.
The method of claim 6,

In the process of moving the first moving unit or the second moving unit laterally,

The driving force of the drive motor,

And the friction force of the moving wheel and the shear force of the fixing means are greater than the sum of the sums.
The method of claim 1,

In the fixing means,

And a plurality of magnetic members provided in the first moving part and the second moving part, respectively, and having a mutual attraction force.
At least one moving part disposed to be movable on the glass window;

A moving wheel provided on the moving unit;

A drive motor providing a driving force to the moving wheel;

Fixing means for imparting a fixing force so that the moving part is attached to the glass window;

A cleaning member provided on the moving part and cleaning at least one side of the glass window; And

And a controller configured to adjust a current applied to the drive motor such that the drive motor generates an output equal to or greater than a sum of the weight of the moving unit and the fixing force of the fixing means.
The method of claim 9,

In the moving unit,

A first moving part disposed on one side of the glass window; And

A second moving part disposed on the other side of the glass window is included,

The fixing means,

And a plurality of magnetic members provided in the first moving part and the second moving part to impart magnetic force.
The method of claim 9,

The fixing means,

The negative pressure is generated inside the moving part, an automatic cleaner including an adsorption part for fixing the moving part to the glass window.
The method of claim 11,

In the adsorption unit,

A suction motor generating a suction force; And

The vacuum cleaner is formed on one surface of the moving part, the suction cleaner for allowing air to be sucked.
The method of claim 12,

The control unit,

And a suction force of the suction motor is generated in a state in which the moving part is moved, than when the moving part is fixed to the glass window.
A driving unit disposed to be movable on one side of the glass window;

A driven part disposed on the other side of the glass window and moving according to the movement of the driving part;

A moving wheel provided for movement of the driving unit or the follower;

A drive motor providing a driving force to the moving wheel;

A plurality of magnetic members provided in the driving unit and the follower;

Cleaning member for cleaning one side or the other side of the glass window; And

And a control unit for controlling the driving force of the driving motor to be generated differently when the driving unit or the driven unit moves upward, downward, or sideward of the glass window.
The method of claim 14,

The driving force of the drive motor,

Among the moving directions of the drive unit or the follower,

In the process of moving the drive unit or the follower upwards, the largest amount of automatic cleaner.
The method of claim 14,

In the process of moving the driving unit or the driven part below the glass window,

The driving motor is an automatic cleaner for applying a braking force to the driving unit or the follower.
The method of claim 14,

And a sensing sensor provided on at least one surface of the driving unit or the follower and configured to detect an obstacle in the movement path of the driving unit or the follower.
The method of claim 14,

The cleaning member,

Adsorption member for wiping the foreign matter of one side or the other side of the cleaning surface; And

Is provided rotatably in the drive unit or the driven portion, automatic cleaner comprising a rotary cleaning member to shake off the foreign matter.
The method of claim 18,

The rotary cleaning member is provided with a plurality, the automatic cleaner, characterized in that the suction member is disposed between a plurality of rotary cleaning member.
The method of claim 18,

A drive shaft connecting the moving wheel and a drive motor;

And a power transmission member provided between the drive shaft and the rotary cleaning member and transmitting a rotational force of the drive shaft to the rotary cleaning member.
A driving unit movably disposed on one side of the cleaning surface disposed to be inclined with respect to the ground;

A driven part disposed on the other side of the glass window and moving according to the movement of the driving part;

A moving wheel provided for movement of the driving unit or the follower;

A drive motor providing a driving force to the moving wheel;

A plurality of magnetic members disposed on both sides of the glass window; And

And a controller configured to control a current applied to the driving motor such that the driving motor is generated only by a driving force having a predetermined magnitude, according to the moving direction of the driving unit or the follower.
The method of claim 21,

The cleaning surface is automatic cleaner to form an angle of greater than 0 ° to the ground less than 90 °.
The method of claim 21,

In the process of raising the driving unit or the driven unit, the control unit,

And a driving force of the driving motor to be generated at a value equal to or greater than a sum of the weights of the driving unit and the driven unit and the friction force between the moving wheel and the cleaning surface.
The method of claim 21,

The control unit in the process of descending the drive unit or the follower,

Automatic cleaner for controlling the driving force of the drive motor is generated in a direction that hinders the movement of the drive unit or the follower.