WO2015084031A1 - Appareil de nettoyage et procédé de commande associé - Google Patents

Appareil de nettoyage et procédé de commande associé Download PDF

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Publication number
WO2015084031A1
WO2015084031A1 PCT/KR2014/011717 KR2014011717W WO2015084031A1 WO 2015084031 A1 WO2015084031 A1 WO 2015084031A1 KR 2014011717 W KR2014011717 W KR 2014011717W WO 2015084031 A1 WO2015084031 A1 WO 2015084031A1
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WO
WIPO (PCT)
Prior art keywords
unit
rotation
cleaner
movement
force
Prior art date
Application number
PCT/KR2014/011717
Other languages
English (en)
Korean (ko)
Inventor
김병찬
정경한
김신
이원민
김은성
윤상식
이병인
오우람
정연규
정재영
Original Assignee
삼성전자주식회사
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 삼성전자주식회사 filed Critical 삼성전자주식회사
Priority to US15/101,410 priority Critical patent/US10881257B2/en
Priority to CN201480074656.6A priority patent/CN105939646B/zh
Priority to EP14868103.4A priority patent/EP3064117B1/fr
Priority claimed from KR1020140170225A external-priority patent/KR102333540B1/ko
Publication of WO2015084031A1 publication Critical patent/WO2015084031A1/fr

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Classifications

    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/28—Suction cleaners with handles and nozzles fixed on the casings, e.g. wheeled suction cleaners with steering handle
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/32—Handles
    • A47L9/325—Handles for wheeled suction cleaners with steering handle

Definitions

  • the present invention relates to a cleaner and a method for controlling the cleaner, and more particularly, to a cleaner and a method for controlling the cleaner for improving driving performance and convenience.
  • a vacuum cleaner is a device that cleans by removing foreign substances in the room, and a vacuum cleaner is generally used at home.
  • the vacuum cleaner uses the suction power of the blower to suck the air and separates the foreign matter from the sucked air with a device such as a filter to clean the room.
  • the vacuum cleaner is largely canister type and upright. type).
  • the canister cleaner includes a main body in which a blower and a dust collector are built in, a suction body installed separately from the main body to suck dust from the floor, and a connection pipe connecting the main body and the suction body and provided with a handle. Therefore, the user cleans while holding the handle of the canister cleaner and moving the suction body in the direction to be cleaned.
  • the upright cleaner has an upright body, a suction body integrally coupled to the lower part of the body, a wheel for allowing the body to move along the bottom surface, a handle gripped by the user, and the like.
  • the suction body of the upright cleaner is parallel to the floor, and the body rotates about one or more rotational axes perpendicular to the running direction.
  • the upright cleaner Since the upright cleaner has a main body coupled to the upper end of the brush of the suction body, the load of the main body is transferred to the brush, so that the user has a problem in that it is difficult to move, change direction, and reciprocate the cleaner.
  • the main body of the upright cleaner since the main body of the upright cleaner has a rotating shaft parallel to the floor surface and perpendicular to the driving direction, the main body of the upright cleaner is combined with the brush, so when the user performs the cleaning work, all the loads of the body generated by the rotation of the user's hand are transferred to the user. If you continue to have a feeling of fatigue.
  • One aspect of the present invention is to provide a cleaner and a method of controlling the cleaner to detect the magnitude and direction of the force applied to the handle portion and to control the movement of the cleaning tool assembly based on the detected magnitude and direction of the force. It is a task.
  • Vacuum cleaner according to the spirit of the present invention
  • a cleaning tool assembly connected to the body, the cleaning tool assembly being movably connected in at least one axial direction
  • a handle part connected to the main body and receiving a force of a user
  • a detector provided in the handle part and detecting a magnitude and a direction of a force applied to the handle part
  • a control unit controlling a moving direction of the cleaning tool assembly based on the detected direction of the force, and controlling a moving distance of the cleaning assembly based on the detected magnitude of the force.
  • the detection unit may include a first detection unit that detects a linear movement force corresponding to the linear movement of the slide unit, and a second detection unit that detects a rotation movement force corresponding to the rotational movement of the slide unit.
  • the handle part receives a first holder part connected to the slide part and transmitting a straight movement force and a rotational movement force of the slide part, and a rotational movement force connected to the first holder part and transmitted to the first holder part.
  • a second holder part wherein the first detection part includes a linear potentiometer connected to the first holder part and the resistance value is changed when the first holder part moves by a straight moving force transmitted to the slide part;
  • the second detection unit may include a rotational potentiometer connected to the second holder unit and having a resistance value changed when the first holder unit and the second holder unit move by a rotational movement force transmitted to the slide unit. Can be.
  • the first detection unit may include a linear potentiometer connected to the slide unit and having a resistance value changed when the slide unit moves straight by a linear movement force transmitted to the slide unit.
  • the first detection unit may include an optical sensor installed in the body part or the cap part to emit light toward the slide part and detect an amount of light reflected by the slide part and incident.
  • the handle part may further include a reflector disposed on an outer circumferential surface of the slide part and having a plurality of reflecting cells having different reflectances.
  • the first detector may emit light toward the reflector disposed on the slide part and reflect the light. It may include an optical sensor for detecting the amount of light reflected from the negative incident.
  • the handle part further includes a shaft member connected to the slide part, wherein the first detection part is disposed back and forth on the guide part, and is disposed at a position corresponding to the position of both ends of the shaft member and corresponds to the proximity of the shaft member. It may include a capacitance detection unit for detecting the capacitance.
  • the second detection unit may include a rotational potentiometer that is connected to the guide unit and rotates when the guide unit is rotated by a rotational movement force transmitted to the slide unit.
  • the handle part may be disposed on a side of the slide part to rotate in conjunction with a rotational movement of the slide part, and further include a reflector including a plurality of reflecting cells having different reflectivities, and the second detection part may include a side of the slide part. It may include an optical sensor for emitting light toward the reflector disposed in the and detects the amount of light reflected by the reflector.
  • the handle part further includes a contact member connected to the slide part, and the first detection part is disposed at the left and right sides of the guide part and is disposed at a position corresponding to the position of the contact member and corresponds to the proximity of the contact member. It may include a capacitance detection unit for detecting the capacitance.
  • the hand part may further include a first elastic part allowing the slide part to move to the initial position when the straight moving force is applied, and a second elastic part allowing the slide part to move to the initial position when the rotary moving force is applied.
  • the handle part may further include a reflection part disposed at a side of the slide part, and the detection part may include an optical sensor that emits light toward the reflection part and detects an amount of light reflected by the reflection part disposed at the side of the slide part. Can be.
  • the cleaning tool assembly has a housing, a brush portion disposed in the housing and used for dust, at least two wheels, and a wheel motor that applies rotational force to the at least two wheels, respectively, and moves to add a moving force. It may include wealth.
  • the control unit may determine the moving direction and the moving distance of at least one of the forward, backward, left turn and right turn of the cleaning tool assembly based on the magnitude and direction of the force detected by the detector, and the determined moving direction and the moving distance Based on the rotation direction and the rotational speed of the wheel motor can be controlled respectively.
  • Vacuum cleaner according to the spirit of the present invention
  • a cleaning tool assembly connected to the main body and movably provided with respect to the surface to be cleaned
  • a handle part connected to the main body so as to be gripped and provided to move relative to the main body
  • a control unit for controlling a moving speed and a rotating amount of the cleaning tool assembly, wherein the controlling unit controls the moving speed and the rotating amount according to the relative moving amount of the handle unit.
  • the handle portion a control portion provided to be grippable; And a guide part configured to guide the movement of the control part and to move relative to the main body.
  • the guide portion, the rotation guide portion is provided so as to rotate relative to the body; And a movement guide part extending from the rotation guide part and configured to move the control part.
  • the control unit is formed to surround at least a portion of the movement guide portion, the control body is formed to be movable on the outer circumferential surface of the movement guide portion; And a control holder protruding from the inner circumferential surface of the control body, wherein the movement guide part comprises: a resistor formed to extend along the moving direction of the control part; A displacement member coupled to the control holder, the displacement member being movable along with the control holder to adjust the resistance of the resistor; It may be characterized in that it comprises at least one moving return elastic member for elastically pressing so that the displacement member moves to the original position.
  • the movement guide part includes a pair of movement limiting members provided to selectively contact both sides of the movement direction of the control holder, and to prevent movement of a predetermined section, wherein the at least one movement return elastic member includes: And a pair of moving return elastic members for pressing the ends of the pair of movement limiting members toward the control holder.
  • the main body may include an inclined portion disposed to face the rotatable guide portion at a portion to which the rotatable guide portion is rotatably coupled, and having a pair of inclined surfaces symmetrically formed on the rotatable guide portion.
  • a steering unit provided with a relative rotational movement with respect to the rotation guide and to move elastically straight in the rotation guide portion, the steering unit having one end movable to the inclined portion; Can be.
  • the inclined portion includes a first inclined surface, a second inclined surface symmetrical with the first inclined surface, and an inflection portion where the first inclined surface and the second inclined surface meet, and the steering unit includes the first inclined surface by an external force or Moving along the second inclined surface, and when the external force is released may be provided to be located in the inflection portion.
  • the rotation guide unit includes a steering holder for guiding movement of the steering unit, and the steering holder includes a pair of holder stoppers provided to limit the rotation of the steering unit to a predetermined section. can do.
  • the rotation guide part rotates about a rotation axis formed along the longitudinal direction of the main body, and the movement guide part extends from the rotation guide part along a moving axis formed to be inclined at a predetermined angle with the rotation axis.
  • the main body may include a standby state in which the main body is disposed perpendicular to the ground, and a use state in which the main body is inclined from the standby state, and in the use state, the moving shaft may be provided to be parallel to the ground.
  • Vacuum cleaner according to the spirit of the present invention
  • a cleaning tool assembly connected to the main body and provided to be in close contact with the surface to be cleaned
  • a handle part connected to the main body so as to be gripped and provided to manipulate the main body
  • a control unit for controlling the moving speed and the rotation amount of the cleaning tool assembly, the control unit for controlling to change the moving speed and the rotation amount in accordance with the operation direction and the force applied to the operation of the handle portion
  • a movement guide unit having a movement detecting sensor for detecting an operation in the front and rear directions of the control unit and transferring the movement to the control unit; And a rotation sensing sensor which senses the movement in the rotational direction of the control unit and transmits it to the control unit, one end of which is extended from the movement guide part and the other end of which is a rotation guide part connected to the main body. do.
  • the control unit is formed to surround at least a portion of the movement guide portion, the control body is formed to move the outer peripheral surface of the movement guide portion; And a control holder protruding from an inner circumferential surface of the control body, wherein the movement detecting sensor is disposed at the front of the control holder, the first movement sensing the force applied to the front of the control unit and the force applied to the rear. Detection sensor; And a second movement detection sensor disposed at the rear of the control holder and configured to sense the movement to the rear of the control unit and the force applied to the rear of the control unit.
  • the rotation guide unit the rotation guide body rotatably provided with respect to the main body;
  • a first rotation sensor disposed on an outer circumferential surface of the rotation guide body to sense a movement in the first rotation direction of the rotation guide body and an applied force;
  • a second rotation sensor disposed on an outer circumferential surface of the rotation guide body to sense a movement in a second rotation direction opposite to the first rotation direction of the rotation guide body and a force applied thereto. can do.
  • the movement detecting sensor and the rotation detecting sensor may include a pressure sensor.
  • the cleaner is in close contact with the surface to be cleaned and is movable by rotation of a plurality of wheels, a cleaning tool assembly, a main body connected to the cleaning tool assembly, a handle part connected to the main body and provided to be gripped, and a direction of a force applied to the handle part. And a controller configured to change the rotation speed and the rotation amount of the plurality of wheels according to at least one of sizes.
  • the cleaner may further include a state detection sensor that detects the inclination of the main body, and the controller may determine whether the cleaner is in use or whether the cleaner is lying according to the inclination of the main body.
  • the cleaner further includes an obstacle detecting sensor for detecting an obstacle on a moving path, and the controller is configured to reduce the rotational speed and the amount of rotation of the plurality of wheels or to detect the obstacle by the obstacle detecting sensor. Can stop the rotation.
  • the cleaner further includes an input unit manipulated by a user, and when the input unit is operated, the controller may reduce the rotation speed and the rotation amount of the plurality of wheels or stop the rotation of the plurality of wheels.
  • the controller may control the cleaner to move at a constant speed according to a user's selection or a predefined setting.
  • the handle part may include at least one of a first detector that detects a linear movement force and outputs a corresponding electrical signal, and a second detector that detects a rotational movement force and outputs a corresponding electrical signal.
  • the controller may control to change the rotation speed and the rotation amount of the plurality of wheels when the straight movement force or the rotation movement force exceeds a predetermined range.
  • the controller may block the operation of the cleaning tool assembly when the electrical signal is output for a longer time than a predetermined time in the first detector or the second detector.
  • the cleaner further includes a storage battery that can be charged according to an external power source, and the controller may block the operation of the cleaning tool assembly when the storage battery is charged.
  • the control method of the cleaner may be performed by a cleaner including a cleaning tool assembly in close contact with the surface to be cleaned and movable by rotation of a plurality of wheels, a main body connected to the cleaning tool assembly, and a handle part connected to the main body to be gripped. Can be.
  • the control method of the cleaner may include detecting at least one of a direction and a magnitude of a force applied to the handle part, determining a rotation speed and a rotation amount of the plurality of wheels using at least one of the direction and the magnitude of the force; The plurality of wheels may be driven according to the rotation speed and the rotation amount.
  • the cleaner further includes a state detection sensor for detecting an inclination of the main body, and a method of controlling the cleaner may include detecting an inclination of the main body and whether the cleaner is in use or whether the cleaner is lying down according to the inclination of the main body. The method may further include determining.
  • the cleaner further includes an obstacle detecting sensor for detecting an obstacle on a moving path, and a method of controlling the cleaner includes a rotation speed and a rotation amount of the plurality of wheels according to the obstacle detecting by the obstacle detecting sensor and a result of detecting the obstacle. It may further include reducing or stopping the rotation of the plurality of wheels.
  • the cleaner further includes an input unit manipulated by a user, and the method of controlling the cleaner may include outputting an electrical signal by the input unit according to an operation and reducing rotation speeds and rotation amounts of the plurality of wheels according to the electrical signal. Or stopping the rotation of the plurality of wheels.
  • the control method of the cleaner may further include moving the cleaner at a constant speed according to a user's selection or a predefined setting.
  • the handle part may include at least one of a first detector that detects a linear movement force and outputs a corresponding electrical signal, and a second detector that detects a rotational movement force and outputs a corresponding electrical signal.
  • the control method of the cleaner may further include controlling to change the rotation speed and the rotation amount of the plurality of wheels when it is determined whether the straight movement force or the rotation movement force exceeds a predetermined range.
  • the control method of the cleaner may further include blocking the operation of the cleaning tool assembly when the electrical signal is output for a longer time than a predetermined time in the first detector or the second detector.
  • the cleaner further includes a storage battery that can be charged according to an external power source, and the control method of the cleaner may further include blocking an operation of the cleaning tool assembly when the storage battery is charged.
  • the steering performance of the cleaner can be improved by reducing the horizontal load felt when the user grabs and operates the handle of the cleaner, and also cleans by removing the vertical load imparted through the handle. It is possible to eliminate the fatigue during the work, thereby improving the convenience of the cleaner operation.
  • FIG. 1 is an exemplary view of a front surface of a cleaner according to a first embodiment.
  • FIG 2 is an exemplary view of a side of a cleaner according to a first embodiment.
  • FIG 3 is an exemplary view of a cleaning assembly provided in the cleaner according to the first embodiment.
  • FIG 4 is an exemplary view of a handle part provided in the cleaner according to the first embodiment.
  • FIG 5 is a detailed exemplary view of a hand grip part of a handle part provided in the cleaner according to the first embodiment.
  • 15A, and 15B are exemplary views of a detection unit provided in the handle unit illustrated in FIG. 5.
  • 16 is a control block diagram of the cleaner according to the first embodiment.
  • 17, 18A and 18B are views illustrating movement of the cleaning tool assembly corresponding to the operating state of the handle part shown in FIG. 5.
  • FIG. 19 is a perspective view of a cleaner according to a second embodiment of the present invention.
  • 20 is a side view of the cleaner according to the second embodiment of the present invention.
  • 21 is a side view of the cleaner handle unit according to the second embodiment of the present invention.
  • FIG. 22 is an exploded perspective view of a cleaner handle part according to a second embodiment of the present invention.
  • FIG. 23 is a cross-sectional view of the handle portion cleaner according to a second embodiment of the present invention.
  • FIG. 24 is an enlarged cross-sectional view of a cleaner handle part according to a second embodiment of the present invention.
  • 25 is a view related to the coupling of the cleaner handle portion and the guide coupling portion according to the second embodiment of the present invention.
  • FIG. 26 is a cross-sectional view taken along the line AA ′ of FIG. 23;
  • 27 is a view of the steering unit and the handle portion operation according to the second embodiment of the present invention.
  • 29 is a partially enlarged view of a cleaner according to a third embodiment of the present invention.
  • FIG. 30 is a perspective view of a cleaning tool assembly according to a third embodiment of the present invention.
  • FIG. 31 is a view of a cleaner according to a third embodiment of the present invention.
  • FIG. 32 is a view of a cleaner handle unit according to a fourth embodiment of the present invention.
  • 33 is a view of the elastic return of the cleaner handle portion according to the fourth embodiment of the present invention.
  • 35 is a view of the elastic return of the cleaner handle portion according to the fifth embodiment of the present invention.
  • 36 is a view of a steering unit of the cleaner handle unit according to the fifth embodiment of the present invention.
  • FIG. 37 is a partial cross-sectional view of a cleaner handle part according to a sixth embodiment of the present invention.
  • FIG. 38 is a view of detecting a rotation amount of a cleaner handle part according to a sixth embodiment of the present invention.
  • 39 is a partial cross-sectional view of the handle portion of the cleaner according to the seventh embodiment of the present invention.
  • FIG 40 is a view of detecting the rotation amount of the cleaner handle part according to the seventh embodiment of the present invention.
  • 41 is a view of the internal structure of the handle portion cleaner according to an eighth embodiment of the present invention.
  • FIG 43 is a cross-sectional view of the handle portion of the cleaner according to the ninth embodiment of the present invention.
  • 45 is a view for explaining a state detection sensor provided in the cleaner according to the tenth embodiment of the present invention.
  • 46 is a view for explaining an operation of a cleaner provided with a state detection sensor according to a tenth embodiment of the present invention.
  • 47 is a view for explaining a cleaner provided with an obstacle sensor according to an eleventh embodiment of the present invention.
  • FIG. 48 is a view for explaining an operation of a cleaner provided with an obstacle sensor according to an eleventh embodiment of the present invention.
  • 49 is a view illustrating a configuration of a cleaner that is an embodiment of the present invention.
  • 50A is a view illustrating an embodiment of a handle unit in which an input unit is provided.
  • 50B is a view showing another embodiment of a handle part provided with an input part
  • 51 is a flowchart of a first embodiment of a method of controlling an operation of a cleaner.
  • FIG. 52 is a flowchart of a second embodiment of a method of controlling an operation of a cleaner.
  • 53 is a flowchart of a third embodiment of a method of controlling an operation of a cleaner.
  • 54 is a flowchart of a fourth embodiment of a method of controlling an operation of a cleaner.
  • 55 is a flowchart of a fifth embodiment of a method of controlling an operation of a cleaner
  • 56 is a flowchart of a sixth embodiment of a method of controlling an operation of a cleaner.
  • 57 is a flowchart of a sixth embodiment of a method of controlling an operation of a cleaner.
  • Figure 1 is a front view of the cleaner according to the first embodiment and Figure 2 is a side view of the cleaner according to the first embodiment.
  • the cleaner of the first embodiment is an upright cleaner 1, which includes a main body 100, a cleaning tool assembly 200, and a handle part 300.
  • the cleaner 1 is driven by receiving power from an external power source or an internal battery.
  • the main body 100 is equipped with a cleaning tool assembly 200 on one side, and the handle unit 300 is mounted on the other side, and stores foreign substances sucked from the cleaning tool assembly 200 and acts on the handle unit 300. Force is transmitted to the cleaning tool assembly 200.
  • the main body 100 is detachably mounted to the body base part 110 and the body base part 110, and a cyclone (not shown) is built therein, and the dust is separated and collected by using the centrifugal force of the cyclone.
  • the dust collecting part 120 and the dust collecting cover 130 detachably mounted on the upper surface of the dust collecting part 120 and opening and closing the dust collecting part 120 and the dust collecting part 120 are fixed to the body base part 110 to be detachable. It includes a locking unit 140 for fixing.
  • the dust collides with the wall of the dust collector by the centrifugal force, falls to the lower portion of the dust collector, and is collected in the dust collector, and the purified air rises from the center and flows out.
  • the dust collecting cover 130 may form an upper surface of the dust collecting unit 120 which is a part of the dust collecting unit 120.
  • the main body 100 is disposed below the body base part 110 and the dust collecting part 120 coupled to each other, and is mounted to the suction part 150 and the body base part 110 to generate suction force necessary for a cleaning operation.
  • the path portion 160 and the body base portion 110 which form a path to allow the dust and foreign substances sucked by the suction force generated by the 150 to enter the dust collecting unit 120, the outside of the purified air in the dust collecting unit 120 It further comprises an exhaust unit 170 for discharging to.
  • the suction unit 150 includes a suction motor (not shown) for generating a suction force.
  • passage 160 is a passage connecting the cleaning tool assembly 200 and the dust collecting unit 120, and may be integrally formed with the body base unit 110.
  • the passage part 160 includes a clamp 161 for holding and fixing a hose (not shown) inserted into the dust collecting part 120.
  • the main body 100 further includes a cord reel 180 mounted on the body base part 110 and wound with a cord line connected to an external commercial power source, and protecting and accommodating a wound course line.
  • the cleaning tool assembly 200 is mounted to the lower portion of the main body 100 so as to be rotatable back and forth based on the driving direction when moving forward or backward.
  • the cleaning tool assembly 200 is in contact with the bottom surface and sweeps or scatters dust on the bottom surface and sucks in dust or dust scattered. At this time, the sucked dust is transmitted to the dust collector 120.
  • This cleaning tool assembly is described with reference to FIG. 3.
  • the cleaning tool assembly 200 may include a housing 210 forming an external appearance, a brush part 220 disposed in the housing 210 to write dust, and disposed in the housing 210 and disposed on a cleaner. It includes a moving unit 230 for applying a moving force.
  • the cleaning tool assembly 200 further includes a knob member 240 disposed in the housing 210 and configured to adjust the height of the height adjusting wheel.
  • the brush unit 220 may be formed in a drum shape.
  • the brush part 220 is a brush member 221 for sweeping dust on the bottom surface by using a rotational force, a brush base part 222 for fixing both ends of the brush member 221 to be rotatable, and a housing ( A brush cover 223 mounted on the 210 and independent of the brush member in the form of a chamber, and protecting the brush member 221, a suction port 224 formed in the brush cover 223, and suction of dust, and a suction port 224. And a connecting pipe 225 for connecting the passage 160 and transferring the dust sucked through the suction port 224 to the passage 160.
  • the suction port 224 is a hole in which dust is sucked by the suction force generated by the suction unit 150.
  • the brush unit 220 further includes a brush motor (not shown) for applying a rotational force to the brush member 221.
  • the moving unit 230 is located at the rear of the housing 210, a pair of main wheels 231 for moving the cleaning tool assembly 200, and a rear of the housing 210, but a pair of main wheels ( 231 and the auxiliary wheel 232 which is located further rearward and provides an auxiliary movement force to the movement force of the main wheel 231, and which is located behind the brush base portion 222 of the brush portion, According to the height adjustment wheel for adjusting height 233 is included.
  • the moving unit 230 further includes a pair of wheel motors 234 that apply rotational force to the pair of main wheels 231, respectively.
  • the pair of wheel motors 234 rotate in a rotational direction and rotational speed corresponding to the direction and magnitude of the force acting on the handle portion 300.
  • the pair of main wheels 231 receives the rotational force from the wheel motor 234 connected to each other, and rotates in the rotational direction and rotational speed which are transmitted to the cleaning tool assembly 200 in the user's intended movement direction. Allow to move by distance.
  • the moving part 230 further includes an elastic member 235 mounted on a hinge part (not shown) connecting the main body 100 and the cleaning tool assembly 200 to apply an elastic force to the rotational drive of the main body 100. It is also possible.
  • the handle part 300 is coupled to the main body 100, is gripped by the user's hand, and transmits a force acting when the user grips the cleaning assembly 200.
  • Such a handle part 300 will be described with reference to FIGS. 4 and 5.
  • the handle part 300 includes a handle base part 310 coupled to the body base part 110 of the main body, a handle cover 320 coupled to the handle base part 310, and a handle.
  • the base portion 310 and the handle cover 320 is coupled to include a hand grip portion 330 mounted to the distal end thereof.
  • the handle base 310 and the handle cover 320 may be formed integrally with each other.
  • the hand grip part 330 includes a body part 331 coupled to the body base part 110 of the main body, a guide part 332 coupled to the body part 331, and a guide part 332.
  • Cap portion 333 is coupled to the end of the) and the slide portion 334 mounted to the outside of the guide portion 332 slidably sliding between the body portion 331 and the cap portion 333.
  • the hand grip part 330 may apply an elastic force to the slide part 334 moving straight between the body part 331 and the cap part 333 to maintain the straight neutral position and the first elastic part 335 and the cap part ( And a second elastic part 336 that maintains the center of rotation by applying an elastic force to the slide part 334 positioned and rotated 333.
  • first elastic portion 335 may be disposed on both sides of the slide portion 334, and the second elastic portion includes a torsion spring.
  • the guide portion 332 is inserted into the slide portion 334 so as to be movable. That is, the slide portion 334 and the guide portion 332 have a shape corresponding to each other.
  • the slide unit 334 and the guide unit 332 may be formed in a cylindrical shape to enable the front and rear straight movement and the left and right rotational movement of the slide unit 334 moving along the guide unit 332.
  • the hand grip part 330 further includes a detector 400 for detecting the magnitude of the force acting on the slide part 334 and the direction of the force.
  • the magnitude of the force acting on the slide portion 334 corresponds to the moving distance of the cleaning tool assembly
  • the direction of the force acting on the slide portion 334 corresponds to the moving direction of the cleaning tool assembly
  • the detection unit 400 includes a first detection unit 410 and a guide unit 332 that detect the forward, backward moving direction, and straight moving force of the slide unit 334 moving straight along the guide unit 332.
  • the second detection unit 420 detects the left and right rotational movement directions and the rotational movement force of the slide unit 334 which is rotationally moved.
  • the detector 400 transmits the first detection signal detected by the first detector 410 to the controller 500, and transmits the second detection signal detected by the second detector 420 to the controller 500.
  • the configuration of the control unit 500 will be described later.
  • the first detector 410 may be implemented as any one of an optical sensor such as a linear potentiometer and an infrared sensor, a capacitive sensor, a strain gauge, a load cell, a magnetic sensor, and a high frequency oscillation inductive sensor, and the second detector 420.
  • an optical sensor such as a linear potentiometer and an infrared sensor, a capacitive sensor, a strain gauge, a load cell, a magnetic sensor, and a high frequency oscillation inductive sensor
  • the second detector 420 can be implemented with any one of optical sensors such as rotary potentiometers and infrared sensors, capacitive sensors, strain gauges, load cells, magnetic sensors, and high frequency oscillation inductive sensors.
  • the hand grip unit 330 further includes an operation member such as a joystick.
  • FIG. 6 is an example of a hand grip unit 330 provided with a detector 400.
  • the first detection unit of the detection unit 400 includes a first potentiometer 411, which is a linear potentiometer that detects a linear movement direction and a linear movement force such as straight and reverse movement of the slide portion, and the second detection portion rotates such as left and right rotation of the slide portion.
  • the second potentiometer 421 which is a rotational potentiometer which detects a moving direction and rotational moving force is included.
  • the structure of the hand grip part 330 having the first potentiometer 411 and the second potentiometer 421 will be described.
  • the guide part is rotatably mounted between the body part 331 and the cap part 333 of the hand grip part 330.
  • the guide part 332 is formed with a guide hole 332a for limiting the linear movement area of the slide part 344.
  • An accommodating space 332b is formed inside the guide part 332, and a first potentiometer 421 and a second potentiometer 421 are disposed in the accommodating space 332b.
  • the hand grip part 330 includes a first holder part 337 positioned in the guide hole 332a and reciprocating linearly in the hole area of the guide hole 332a.
  • the slide part 334 includes a first connection hole for mechanical connection with the first holder part 337, and the first holder part 337 has a second connection hole for mechanical connection with the slide part 334. It includes.
  • the hand grip part 330 further includes a connection member 337a for mechanically connecting the first connection hole of the slide part and the second connection hole of the first holder part.
  • the first holder part 337 is mechanically connected to the slide part 334 on one side thereof and mechanically connected to the first potentiometer 411 on the other side of the first holder part 337. 411).
  • the hand grip part 330 is disposed in the receiving space 332b of the guide part 332 and is rotatably disposed, and fixedly mounts the first potentiometer 411 and is connected to the second potentiometer 421 ( 338).
  • the second holder 338 transmits the force acting on the slide 334 to the second potentiometer 421.
  • the first potentiometer 411 and the second potentiometer 421 will be described in more detail.
  • the first potentiometer 411 is a variable resistor that converts linear displacement into a change in electrical resistance.
  • the first potentiometer 411 is disposed in the accommodating space 332b in the guide part and is fixed to the second holder part 338. And a first displacement member 411b connected to the first holder part 337 to adjust the resistance value of the first resistor 411a while sliding the first resistor 411a.
  • the resistance value of the first resistor 411a of the first potentiometer is changed based on the direction and distance in which the first displacement member 411b of the first potentiometer moves straight, and the resistance value of the first potentiometer 411 is changed. Based on this, the linear movement direction and the linear movement force of the slide unit can be obtained.
  • the straight moving direction and the moving distance of the cleaning tool assembly corresponding to the user's intention can be obtained.
  • the straight moving distance of the cleaning tool assembly can be determined based on the straight moving force.
  • the second potentiometer 421 is a variable resistor that converts rotational displacement into a change in electrical resistance.
  • the second potentiometer 421 is disposed in the receiving space 332b in the guide portion, but is fixed to the cap portion 333 and the second resistor 421a.
  • the second displacement member 421b is connected to the holder 338 and adjusts the resistance value of the second resistor 421a while sliding the second resistor 421a.
  • the rotational movement force acting on the slide unit 334 is transmitted to the first holder unit 337 through the connecting member 337a, and the first holder unit (
  • the rotational force transmitted to the 337 is transmitted to the guide unit 332 and the first potentiometer 411, and the second holder for the rotational movement force transmitted to the first potentiometer 411 to fix the first potentiometer 411.
  • the rotational force transmitted to the portion 338 and transmitted to the second holder portion 338 is finally transmitted to the second displacement member 421b of the second potentiometer, and the rotational force transmitted to the second displacement member 421b.
  • the second displacement member 421b slides the second resistor 421b.
  • the resistance value of the second resistor of the second potentiometer is changed based on the direction and distance in which the second displacement member 421b of the second potentiometer is rotated, and based on the resistance value of the second potentiometer, Rotational movement force can be obtained.
  • the rotational movement direction and the rotational movement distance of the cleaning tool assembly corresponding to the user's intention may be obtained.
  • the rotational movement distance of the cleaning tool assembly is a left and right rotation angle of the cleaning tool assembly.
  • the angle change amount may be calculated according to the change in the resistance value of the second potentiometer and the rotation angle of the cleaning tool assembly corresponding to the calculated angle change amount may be obtained. .
  • the first detection unit of the detection unit 400 includes an infrared sensor 412 which is an optical sensor that detects the linear movement direction and the linear movement direction such as straight and reverse of the slide unit 334, and the second detection unit rotates the left and right sides of the slide unit. And a potentiometer 422 for detecting the rotational movement direction and the rotational movement force of the back.
  • the potentiometer 422 is a rotational potentiometer.
  • the structure of the hand grip part 330 having the infrared sensor 412 and the potentiometer 422 will be described.
  • the infrared sensor 412 for detecting the moving distance of the slide part 334 which moved from the body part 331 is provided.
  • the infrared sensor 412 can also detect the moving distance of the slide part 334 provided in the cap part 333 and moved from the cap part.
  • the infrared sensor 412 is positioned on the outer side of the body 331 so that the emitted infrared rays and the incident infrared rays do not interfere with the guide part 332 and the first elastic part 335.
  • the outer diameter of the slide portion 334 is similar to or the same as the outer diameter of the body portion 331 and the cap portion 333.
  • the infrared sensor 412 emits infrared light and detects the amount of infrared light reflected and reflected from the side of the slide unit 334.
  • the slide unit 334 moves straight, the slide unit 334 approaches or moves away from the infrared sensor 412. As the slide unit 334 approaches or moves away from the infrared sensor 412, the slide unit 334 slides. The amount of infrared light reflected and reflected by the unit 334 is changed.
  • the cleaner detects the moving distance and the moving direction of the slide unit 334 based on the amount of light detected by the infrared sensor 412 and checks the moving direction and the moving distance of the cleaning tool assembly corresponding to the detected moving direction and the moving distance. Then move the cleaning tool assembly in the identified moving direction by the identified moving distance.
  • the detecting of the moving distance and the moving direction of the slide unit 334 based on the amount of light detected by the infrared sensor 412 is performed based on the amount of change of the amount of light detected before the slide unit movement and the amount of light detected after the slide unit movement. Detecting the magnitude and direction of the force applied to the portion 334 and confirming the movement distance and the movement direction of the cleaning tool assembly corresponding to the detected magnitude and direction.
  • the guide part 332 of the hand grip part 330 is rotatably mounted between the body part 331 and the cap part 333, is mechanically connected to interlock with the slide part 334, and mechanically connected to the potentiometer 422. do.
  • the potentiometer 422 is a variable resistor that converts rotational displacement into a change in electrical resistance.
  • the potentiometer 422 is a resistor 422a fixedly disposed at the cap 333 and a resistance of the resistor 422a while sliding the resistor 422a. And a displacement member 422b for adjusting the value.
  • the displacement member 422b slides the resistor 422b by the rotational force transmitted to the displacement member 422b, and the resistance value of the resistor is changed by the rotational movement force of the displacement member 422b.
  • the rotational movement direction and the rotational movement force can be obtained based on the resistance value of the potentiometer 422.
  • the rotational movement direction and the rotational movement distance of the cleaning tool assembly corresponding to the user's intention can be obtained.
  • the rotational movement distance of the cleaning tool assembly can calculate the angle change amount according to the change in the resistance value of the potentiometer and determine the rotation angle of the cleaner based on the calculated angle change amount.
  • the first detection unit of the detection unit 400 includes an infrared sensor 413 which is an optical sensor that detects the linear movement direction and the linear movement direction such as straight and reverse of the slide unit 334, and the second detection unit is a slide unit 334 Potentiometer 423 for detecting the rotational movement direction and the rotational movement force, such as the left and right rotation.
  • the potentiometer 423 is a rotational potentiometer.
  • the structure of the hand grip part 330 having the infrared sensor 413 and the potentiometer 423 will be described.
  • the hand grip part 330 further includes a reflection part 430 positioned on the slide part 334 and reflecting the incident light when the light emitted from the infrared sensor 413 is incident.
  • the reflector 430 is formed in the longitudinal direction extending from the body 331 to the cap 333.
  • the reflector 430 includes a plurality of reflective cells having a predetermined size and disposed adjacent to each other, and the plurality of reflective cells have different reflectances of light.
  • the plurality of reflecting cells of the reflecting part 430 are formed in a gradation manner, and have a characteristic of gradually high reflectivity toward the cap part 333 from the body part 331.
  • the plurality of reflecting cells of the reflecting unit 430 has a color with a high reflectivity gradually from the body portion 331 to the cap portion 333.
  • the plurality of reflective cells may have a characteristic of gradually lower reflectivity from the body portion 331 to the cap portion 333.
  • An infrared sensor 413 is provided between the body portion 331 and the cap portion 333 of the hand grip portion 330 to detect the distance that the slide portion 334 has moved from the body portion 331.
  • the slide portion 334 has an outer diameter smaller than that of the body portion 331 and the cap portion 333 to facilitate the installation of the infrared sensor 413 and to facilitate infrared emission and detection.
  • the infrared sensor 413 is electrically and mechanically connected to the body part or the cap part, and is located in a moving area in which the slide part 334 is moved straight, but is located at a part where the user does not touch when the slide part 334 is gripped.
  • the infrared sensor 412 emits infrared rays and detects the amount of infrared rays reflected and reflected by the reflector 430 located in the slide unit 334.
  • the cleaner detects the movement distance of the slide part, which is the distance between the body part and the slide part, based on the amount of light detected by the infrared sensor 413.
  • Detecting the movement distance of the slide portion here includes detecting the movement distance of the slide portion based on the amount of change in the amount of light detected before the slide portion movement and the amount of light detected after the slide portion movement.
  • the reflecting unit 430 located in the slide unit 334 moves in conjunction with the movement of the slide unit 334, and thus faces the infrared sensor 413.
  • the position of the reflecting cell of the reflecting unit 430 is changed, and at this time, the infrared sensor detects the amount of infrared light reflected from the facing reflecting cell.
  • the reflection cell facing the infrared sensor 413 is changed, and the amount of light incident from the reflection cell facing the infrared sensor is changed, and from the body part 331 based on the amount of light. It is possible to detect the movement distance of the slide part 334 which moved.
  • the guide part 332 of the hand grip part 330 is rotatably mounted between the body part 331 and the cap part 333.
  • the guide part 332 is mechanically connected to the slide part 334 to be linked to the movement of the slide part 334 and mechanically connected to the potentiometer 423 so as to transmit the rotational movement force to the potentiometer 423.
  • the potentiometer 423 is a variable resistor that converts rotational displacement into a change in electrical resistance.
  • the resistor 423a is fixedly disposed on the cap 333 and the resistance of the resistor 423a while sliding the resistor 423a.
  • a displacement member 423b for adjusting the value.
  • the displacement member 423b is slid on the resistor 423b by the rotational movement force transmitted to the displacement member 423b of the potentiometer, and the resistance value of the resistor 423a is changed by the rotational movement force of the displacement member 423b. do.
  • the rotational movement direction can be obtained based on the resistance value of the potentiometer 423, and the rotational movement force can be obtained based on the change amount of the resistance value.
  • the rotational movement force is a rotation angle of the cleaning tool assembly, and it is possible to calculate the change amount of the rotation angle of the slide part according to the change of the resistance value of the potentiometer and to determine the rotation angle of the cleaner based on the calculated angle change amount.
  • the rotational movement direction and the rotational movement distance (ie, the rotational angle) of the cleaning tool assembly corresponding to the user's intention can be obtained.
  • the first detection unit of the detection unit 400 includes an infrared sensor 414 which is an optical sensor that detects the linear movement direction and the linear movement force such as the straight and the reverse of the slide unit 334, and the second detection unit includes the slide unit 334 Potentiometer 424 for detecting the rotational movement direction and the rotational movement force, such as the left and right rotation.
  • the structure of the hand grip unit 330 having the infrared sensor 414 and the potentiometer 424 will be described.
  • the potentiometer 424 is a rotational potentiometer, and is the same as the potentiometer 423 of FIG.
  • the hand grip part 330 further includes a reflection part 430 positioned inside the slide part 334 and reflecting the incident light when the light emitted from the infrared sensor 414 is incident.
  • the reflector 430 is formed in the longitudinal direction extending from the body 331 to the cap 333, and the description thereof will be omitted as it is the same as the reflector 430 of FIG. 8.
  • the guide part 332 of the hand grip part 330 is provided with the infrared sensor 414 for detecting the distance which the slide part 334 moved from the body part 331. As shown in FIG.
  • the infrared sensor 414 emits infrared light and detects the amount of infrared light reflected and reflected by the reflector 430 located in the slide part 334.
  • the cleaner detects the movement distance of the slide part, which is the distance between the body part and the slide part, based on the amount of light detected by the infrared sensor 414.
  • Detecting the movement distance of the slide portion here includes detecting the movement distance of the slide portion based on the amount of change in the amount of light detected before the slide portion movement and the amount of light detected after the slide portion movement.
  • the reflecting unit 430 located in the slide unit 334 moves in conjunction with the movement of the slide unit 334, thereby facing the infrared sensor 414.
  • the position of the reflecting cell of the reflecting unit 430 is changed, and at this time, the infrared sensor detects the amount of infrared light reflected from the facing reflecting cell.
  • the reflection cell facing the infrared sensor 414 is changed, and the amount of light incident from the reflection cell facing the infrared sensor is changed. It is possible to detect the movement distance of the slide part 334 which moved.
  • the first detection unit of the detection unit 400 includes a first infrared sensor 415, which is an optical sensor for detecting a straight moving direction and a straight moving force such as straight and reverse of the slide unit 334, and the second detecting unit includes a slide unit And a second infrared ray sensor 425 for detecting the rotational movement direction and the rotational movement force such as the left and right rotation of the 334.
  • a first infrared sensor 415 is an optical sensor for detecting a straight moving direction and a straight moving force such as straight and reverse of the slide unit 334
  • the second detecting unit includes a slide unit And a second infrared ray sensor 425 for detecting the rotational movement direction and the rotational movement force such as the left and right rotation of the 334.
  • the structure of the hand grip unit 330 having the first infrared sensor 415 and the second infrared sensor 425 will be described.
  • the hand grip part 330 is positioned on the side of the slide part 334, and is positioned along the outer edge of the circle corresponding to the area in which the slide part rotates, and then the light emitted from the infrared sensor 415 is incident. It further includes a reflector 430 for reflecting the incident light.
  • the reflector 430 includes a plurality of reflective cells having a predetermined size and disposed adjacent to each other, and the plurality of reflective cells have different reflectances of light.
  • the plurality of reflecting cells of the reflector 430 are formed in a gradation manner, and have a characteristic of gradually decreasing reflectivity from the reference position r toward the first rotation direction r1, and the second rotation direction r2 at the reference position. It gradually has high reflectivity as it goes to).
  • the plurality of reflecting cells of the reflecting unit 430 has a color with high reflectivity gradually from one end to the other end.
  • a first infrared sensor 415 is provided for detecting the movement distance of the slide portion 334 moved from the body portion 331.
  • the first infrared sensor 415 may be provided in the cap 333 to detect the moving distance of the slide 334 moved from the cap.
  • the first infrared sensor 415 is positioned outside the body 331 so that the emitted infrared rays and the incident infrared rays do not interfere with the guide part 332 and the first elastic part 335.
  • the outer diameter of the slide portion 334 is similar to or the same as the outer diameter of the body portion 331 and the cap portion 333.
  • the first infrared sensor 415 emits infrared rays and detects an amount of infrared rays reflected by the side of the slide unit 334 and incident.
  • the slide unit 334 moves straight, the slide unit 334 is closer to or farther from the first infrared sensor 415, and thus the slide unit 334 is closer to the first infrared sensor 415. As the distance increases, the amount of infrared light reflected by the slide unit 334 is changed.
  • the cleaner detects the moving distance and the moving direction of the slide unit 334 based on the amount of light detected by the first infrared sensor 415, and the moving direction and the moving distance of the cleaning tool assembly corresponding to the detected moving direction and the moving distance. Move the cleaning tool assembly by the identified moving distance in the identified moving direction.
  • the detecting of the moving distance and the moving direction of the slide unit 334 based on the light amount detected by the first infrared sensor 415 is based on the amount of change of the light amount detected before the slide unit movement and the light amount detected after the slide unit movement. Detecting the magnitude and direction of the force applied to the slide unit 334 and confirming the movement distance and the direction of movement of the cleaning tool assembly corresponding to the magnitude and direction of the detected force.
  • the cap part 333 of the hand grip part 330 is provided with the 2nd infrared sensor 425 for detecting the distance which the slide part 334 rotated.
  • the second infrared sensor 425 may be provided in the body portion 331.
  • the second infrared sensor 425 faces the reflector 430.
  • the second infrared sensor 425 emits infrared light and detects the amount of infrared light reflected and reflected by the reflector 430 located on the side of the slide part 334.
  • the cleaner detects a rotation angle that is a rotational movement distance of the slide unit based on the amount of light detected by the second infrared sensor 425.
  • the reflecting unit 430 located on the side of the slide unit 334 rotates in conjunction with the rotational movement of the slide unit 334, and accordingly, the second infrared sensor
  • the position of the reflecting cell of the reflecting unit 430 facing 425 is changed, and at this time, the second infrared sensor 425 detects the amount of infrared light reflected by the reflecting cell facing.
  • the reflection cell facing the second infrared sensor 425 is changed, and the amount of light incident from the reflection cell facing the second infrared sensor 425 is changed and is based on the amount of light. It is possible to detect the rotation angle of the slide unit 334 rotated.
  • the first detection unit of the detection unit 400 includes a first infrared sensor 416, which is an optical sensor that detects the linear movement direction and the linear movement direction of the slide unit 334, such as going straight, backward, etc.
  • the second detection unit is a slide unit
  • a second infrared sensor 426 for detecting the rotational movement direction and the rotational movement force such as the left and right rotation of 334.
  • the structure of the hand grip unit 330 having the first infrared sensor 416 and the second infrared sensor 426 will be described.
  • the hand grip part 330 further includes a first reflecting part 431 positioned inside the slide part 334 and reflecting the incident light when the light emitted from the first infrared sensor 416 is incident.
  • the first reflecting portion 431 is formed in the longitudinal direction extending from the body portion 331 to the cap portion 333, and the description thereof will be omitted as it is the same as the reflecting portion 430 of FIG. 8.
  • the hand grip part 330 is positioned on the side of the slide part 334, and is positioned along the outer edge of the circle corresponding to the area in which the slide part rotates, and reflects the incident light when the light emitted from the second infrared sensor 426 is incident.
  • the second reflector 432 is further included.
  • the second reflecting portion 432 is formed on the side of the slide portion, and the description is the same as the reflecting portion 430 of FIG. 10.
  • the guide portion 332 of the hand grip portion 330 is provided with a first infrared sensor 416 for detecting the distance that the slide portion 334 has moved from the body portion 331.
  • the first infrared sensor 416 emits infrared light and detects the amount of infrared light reflected and reflected by the first reflector 431 located on the slide 334.
  • the cleaner detects the movement distance of the slide part, which is the distance between the body part and the slide part, based on the amount of light detected by the first infrared sensor 416.
  • Detecting the movement distance of the slide portion here includes detecting the movement distance of the slide portion based on the amount of change in the amount of light detected before the slide portion movement and the amount of light detected after the slide portion movement.
  • the first reflecting unit 431 located in the slide unit 334 moves in conjunction with the movement of the slide unit 334, and accordingly, the first infrared sensor 416 ) And the position of the reflective cell of the first reflecting unit 431 is changed, and at this time, the infrared sensor detects the amount of infrared light reflected from the facing reflective cell.
  • the cap part 333 of the hand grip part 330 is provided with the 2nd infrared sensor 426 for detecting the distance which the slide part 334 rotated.
  • the second infrared sensor 426 may be provided in the body portion 331.
  • the second infrared sensor 426 faces the second reflecting portion 432.
  • the second infrared sensor 426 emits infrared rays and detects the amount of infrared rays reflected by the second reflector 432 positioned on the side of the slide unit 334 and incident.
  • the cleaner detects a rotation angle that is a rotational movement distance of the slide part based on the amount of light detected by the second infrared sensor 426.
  • FIG. 13 is another example of the hand grip part 330 provided with the detection part 400.
  • the detection unit 400 is a form in which the first detection unit and the second detection unit are integrated.
  • the detection unit 400 detects the linear movement direction and the linear movement force of the slide unit 334, such as going straight and reverse, and rotates the left and right of the slide unit 334.
  • Infrared sensor 400 for detecting the movement direction and rotational movement force.
  • the structure of the hand grip part 330 having the infrared sensor 400 will be described.
  • the hand grip part 330 is positioned on the side of the slide part 334, and is located along the outer edge of the circle corresponding to the area in which the slide part rotates, and reflects the incident light when the light emitted from the infrared sensor 400 is incident.
  • a portion 430 is further included.
  • the second reflecting portion 432 is formed on the side of the slide portion, and the description is the same as the reflecting portion 430 of FIG. 10.
  • the body part 331 of the hand grip part 330 is provided with an infrared sensor 400 for detecting the amount of infrared light reflected by the reflecting part 430.
  • the infrared sensor 400 emits infrared rays and detects the amount of infrared rays reflected and reflected by the reflector 430 located on the side of the slide unit 334.
  • the amount of infrared light varies depending on the distance between the infrared sensor and the side surface of the slide part and the correlation between the reflection cell facing the infrared sensor. This data is obtained in advance by experiment.
  • the amount of light detected is different depending on the reflection cell facing the infrared sensor.
  • the reflecting cell facing the infrared sensor is the same, but as the distance to the slide part is changed, the amount of light incident after being reflected from the slide part is also changed.
  • the linear movement distance, the linear movement direction, the rotation angle and the rotation direction of the slide unit can be obtained based on the correlation between the distance between the infrared sensor and the slide unit and the rotation angle of the slide unit.
  • the first detection unit of the detection unit 400 includes a first capacitance sensor 417 for detecting a straight moving direction and a straight moving force such as forward and backward of the slide unit 334, and the second detection unit includes a slide unit 334 And a second capacitance sensor 427 for detecting a rotational movement direction and a rotational movement force such as left and right rotation.
  • the structure of the hand grip part 330 having such first and second capacitance sensors 417 and 427 will be described.
  • the hand grip part 330 includes a shaft member 350 mounted to the slide part 334.
  • the shaft member 350 moves in a straight line along the guide part 332 in conjunction with the linear movement of the slide part 334.
  • the shaft member 350 is made of a flexible material.
  • the shaft member 350 further includes a contact member 350a capable of contacting the second capacitance sensor.
  • the first capacitive sensor 417 includes a first sensor 417a for sensing a straight direction corresponding to the forward, and a second sensor 417b for sensing a straight direction corresponding to the reverse, and a second electrostatic
  • the capacitive sensor 427 includes a third sensor 427a for sensing a rotational direction corresponding to the right turn and a fourth sensor 427b for sensing the rotational direction corresponding to the left turn.
  • the first sensor 417a and the second sensor 417b of the first capacitive sensor are located at both ends of the shaft member 350.
  • the shaft member 350 moves forward in association with the linear movement of the slide unit 334, the shaft member 350 is closer to the first sensor 417a and further away from the second sensor 417b. .
  • the capacitance detected by the first sensor 417a increases, and the capacitance detected by the second sensor 417b decreases.
  • the moving distance of the slide part corresponding to the capacitance of the first sensor or the second sensor of the first capacitance sensor is stored in advance in the cleaner.
  • first capacitive sensors Although two first capacitive sensors are used here, it is also possible to detect the linear movement distance of the slide part with only one first capacitive sensor.
  • the third sensor 427a and the fourth sensor 427b of the second capacitance sensor are located at both ends of the contact member 350a provided in the shaft member.
  • the third sensor 427a of the second capacitance sensor is located on the right side with respect to the shaft member, and the fourth sensor 427b is located on the left side with respect to the shaft member.
  • the contact member 350a rotates in right direction in conjunction with the right rotation of the shaft member, and the contact member 350a is rotated by the right rotation of the contact member 350a. Is closer to the third sensor 427a and farther from the fourth sensor 427b. As a result, the capacitance detected by the third sensor 427a increases, and the capacitance detected by the fourth sensor 412b decreases.
  • the contact member 350a rotates left in response to the left rotation of the shaft member, and thus the contact member 350a rotates through the third sensor 427a. Further away from and closer to the fourth sensor 427b. As a result, the capacitance detected by the third sensor 427a is reduced, and the capacitance detected by the fourth sensor 427b is increased.
  • the rotation angle which is the movement distance of the slide part corresponding to the capacitance of the third sensor or the fourth sensor of the second capacitance sensor, is stored in advance in the cleaner.
  • the capacitive sensor is used as the first detection unit and the second detection unit, it is also possible to use a strain gauge that measures the degree of deformation when deformed by an external force applied through the shaft member or the contact member, and also detects the force or load. It is also possible to use a load cell.
  • 15A and 15B illustrate still another example of the hand grip unit 330 provided with the detection unit 400.
  • the first detection unit of the detection unit 400 includes a first strain gauge 418 that detects a straight moving direction and a straight moving force such as forward and backward of the slide unit 334, and the second detection unit includes a slide unit 334 And a second strain gauge 428 for detecting a rotational movement direction and a rotational movement force, such as left and right rotation of the device.
  • the hand grip part 330 further includes a body part, a cap part, a guide part disposed between the body part and the cap part, and further includes an operation member 360 mounted to the guide part.
  • the operation member 360 can be mounted to the guide portion by a flexible shaft member 360a).
  • the operation member 360 is made of a joystick shape, and moves back, front, left, and right by the shaft member.
  • the first strain gauge 418 includes a first gauge 418a for sensing a straight direction corresponding to the advance, and a second gauge 418b for sensing a straight direction corresponding to the reverse, and a second strain gauge 428 includes a third gauge 428a for sensing a rotational direction corresponding to the right rotation and a fourth gauge 428b for sensing the rotational direction corresponding to the left rotation.
  • the first gauge 418a of the first strain gauge is located in front of the operating member 360, and the second gauge 418b is located behind the operating member 360.
  • the operation member 360 moves forward, the first gauge is deformed by the operation member, and when the operation member 360 moves backward, the second gauge is deformed by the operation member.
  • the vacuum cleaner is stored in advance with the straight movement distance of the cleaning tool assembly corresponding to the deformation degree of the first gauge and the second gauge of the first strain gauge.
  • the third gauge 428a of the second strain gauge is located on the right side of the operation member 360, and the fourth gauge 428b is located on the left side of the operation member 360.
  • the third gauge is deformed by the operation member
  • the fourth gauge is deformed by the operation member
  • the rotation direction intended by the user is a right rotation or a left rotation, and also the rotation angle of the cleaning tool assembly intended by the user.
  • the rotation angle of the cleaning tool assembly corresponding to the deformation degree of the third gauge and the fourth gauge of the second strain gauge is stored in advance in the cleaner.
  • strain gauge is used as the first detection unit and the second detection unit, it is also possible to use a capacitance sensor whose capacitance changes due to the movement of the operation member, and also use a load cell for detecting the force or load applied by the operation member. It is also possible.
  • 16 is a control block diagram of the cleaner according to the first embodiment.
  • the cleaner capable of steering control includes a detection unit 400 and a driving module 500.
  • the detector 400 detects the magnitude of the force applied by the user and the direction of the force, and transmits the detected signal to the controller 510 of the driving module 500.
  • the direction of the force is at least one of the front, rear, left, and right
  • the magnitude of the force is the displacement of the cleaning tool assembly, the movement distance when going straight and the rotation angle of the rotary type.
  • the direction of the force is determined by whether the value of the detection signal before the slide portion increases or decreases, and the magnitude of the force is determined by the difference between the detected value before the slide portion movement and the detected value after the slide portion movement.
  • the driving module 500 adds the moving force of the cleaner by driving the moving unit provided in the cleaning tool assembly based on the signal detected by the detection unit.
  • the driving module 500 includes a control unit 510, a storage unit 520, and a driving unit 530.
  • the controller 510 determines the magnitude and direction of the force acting on the hand part 300 based on the received detection signal, and based on the determined magnitude and direction of the force. By controlling the driving of the wheel motor provided in the cleaning tool assembly.
  • the controller 510 controls the rotation direction of the pair of wheel motors in the first direction so that the cleaning tool assembly moves forward. If it is determined that the direction of the force acting on the handle part is the reverse direction, the cleaning tool assembly is moved backward by controlling the rotation direction of the pair of wheel motors in the second direction.
  • control unit 510 checks the moving distance corresponding to the magnitude of the force acting on the handle part when moving forward or backward, checks the number of revolutions of the wheel motor corresponding to the identified moving distance, and pairs with the identified number of revolutions. To control the rotation of the wheel motor.
  • the controller 510 controls the rotation direction of the pair of wheel motors in the first direction, but at different rotation speeds.
  • the cleaning tool assembly is controlled by controlling the rotation direction of the pair of wheel motors in the first direction with different rotation speeds. Turn left.
  • control unit 510 checks the rotation angle corresponding to the magnitude of the force acting on the handle part during the right turn or the left turn, and confirms the number of revolutions of the pair of wheel motors corresponding to the identified rotation angle, respectively, Each channel controls the rotation of a pair of wheel motors.
  • the storage unit 520 may store a movement direction corresponding to the magnitude of the force, and store a movement distance (or rotation angle) corresponding to the amount of change in the magnitude of the force.
  • the storage unit 520 may store a detection signal corresponding to the initial position of the slide unit.
  • the driving unit 530 rotates each wheel motor connected to the pair of wheels based on the command of the control unit 410.
  • FIG. 19 is a perspective view of a cleaner according to a second embodiment of the present invention
  • FIG. 20 is a side view of a cleaner according to a second embodiment of the present invention
  • FIG. 21 is a side view of a cleaner handle unit according to a second embodiment of the present invention
  • 22 is an exploded perspective view of a cleaner handle part according to a second embodiment of the present invention.
  • the vacuum cleaner may include an main body 610, a cleaning tool assembly 620, a handle part 630, and a controller as an upright cleaner. Such a cleaner may be driven by receiving power from an external power source or an internal battery.
  • the cleaning tool assembly 620 is provided to be movable with respect to the surface to be cleaned. The cleaning tool assembly 620 is in contact with the bottom surface and sweeps or scatters dust on the bottom surface and sucks in the dust or dust scattered.
  • the main body 610 may be equipped with a cleaning tool assembly 620 on one side and a handle part 630 on the other side.
  • the main body 610 stores the foreign matter sucked by the cleaning tool assembly 620 and transmits the force applied to the handle part 630 to the cleaning tool assembly 620.
  • the handle part 630 is provided to change the direction of the cleaner or to change the moving speed. That is, the handle part 630 may be manipulated to operate the cleaner. Although the cleaner may be operated by physical manipulation of the handle 630, the cleaner may be easily operated through electrical manipulation as in the embodiment of the present invention.
  • the handle part 630 is provided to move relative to the main body 610, and the manipulation of the handle part 630 is detected by the detector.
  • the cleaning tool assembly 620 may be controlled by the control unit using the signal detected by the detection unit.
  • cleaning tool assembly 620 is controlled. Through this, the user can easily change the direction of the cleaner, move, control the speed, and rotate.
  • the controller controls the cleaning tool assembly 620 based on the information about the relative movement amount and the relative rotation amount transmitted from the handle part 630.
  • the controller may control the moving speed and the rotation amount of the cleaning tool assembly 620 according to the manipulation direction of the handle part 630 and the force applied to the manipulation.
  • the handle part 630 may include a control part 632 and a guide part 640.
  • the control unit 632 is provided to be gripped by the user. In addition, the control unit 632 is provided to move along the guide unit 640 to be described later. That is, the control unit 632 is provided to move relative to the guide unit 640.
  • the control unit 632 is formed to surround at least a portion of the movement guide unit 650 to be described later, the control body 633 and the control body 633 which is formed to be movable on the outer circumferential surface of the movement guide unit 650. It may include a control holder 635 protruding from the inner circumferential surface of the.
  • the guide part 640 guides the movement of the control part 632 and is provided to be relative to the main body 610.
  • the guide part 640 may include a rotation guide part 670 and a movement guide part 650.
  • the rotation guide part 670 is provided to rotate about the main body 610. That is, the rotation guide part 670 is provided in the shape of a substantially rod, and is provided to be able to rotate relative to the main body 610. In detail, the rotation guide is provided to rotate about the main body 610 about a virtual rotation axis Xr formed in the longitudinal direction of the main body 610. The rotation guide part 670 is provided to define the left and right directions with respect to the traveling direction of the cleaner.
  • the rotation guide part 670 is provided with a sensor for detecting rotation of the handle part 630.
  • the operation of the sensor and the rotation guide unit 670 will be described in detail later.
  • the movement guide part 650 may extend from the rotation guide part 670.
  • the movement guide part 650 is provided in the shape of a substantially rod, and is defined to define the front-rear direction with respect to the traveling direction of the cleaner.
  • the movement guide part 650 is provided to allow the control part 632 to be described later to move.
  • the movement guide part 650 is provided such that the control part 632 is movable in the front-rear direction.
  • a movement guide rail 633a formed in a groove shape is formed on an inner surface of the control body 633, and a movement guide rail 633a is formed on the movement guide part 650.
  • the corresponding movement guide protrusion 651 is formed.
  • the movement guide part 650 may be arranged to be parallel to the surface to be cleaned.
  • the movement guide part 650 is formed along the movement axis Xm formed to be inclined at a predetermined angle with the rotation axis Xr of the rotation guide part 670, and the control unit 632 is along the movement axis Xm. It is arranged to move. That is, the movement guide part 650 may be bent and extended from the rotation guide part 670.
  • the rotation guide part 670 rotates about the rotation axis Xr formed along the longitudinal direction of the main body 610, and the movement guide part 650 is a movement axis Xm formed to be inclined at a predetermined angle with the rotation axis Xr. It may extend from the rotation guide portion 670 along the ().
  • the cleaner may include a standby state in which the main body 610 is disposed perpendicular to the ground, and a use state in which the main body 610 is inclined from the standby state, and in the use state, the moving shaft Xm may be parallel to the ground.
  • the moving shaft Xm is provided in parallel with the ground, so that the user can apply only a force for horizontal movement to the control unit 632 so that the cleaner can be easily operated. Will be.
  • the movement guide part 650 is provided with a sensor for detecting the movement of the handle part 630.
  • the operation of the sensor and the movement guide unit 650 will be described in detail later.
  • FIG. 23 is a cross-sectional view of the cleaner handle unit according to the second embodiment of the present invention
  • FIG. 24 is an enlarged cross-sectional view of the cleaner handle unit according to the second embodiment of the present invention.
  • the detection unit includes a first detection unit that detects the linear movement direction and the linear movement force of the control unit 632, and a second detection unit that detects the rotation direction and the rotation movement force of the guide unit 640.
  • the first detection unit transmits the first detection signal detected from the first detection unit to the control unit, and transmits the second detection signal detected from the second detection unit to the control unit.
  • the first detector may be implemented by any one of an optical sensor such as a linear potentiometer and an infrared sensor, a capacitive sensor, a strain gauge, a load cell, a magnetic sensor, and a high frequency oscillation inductive sensor
  • the second detector may be a rotary It can be implemented with any one of optical sensors such as potentiometers and infrared sensors, capacitive sensors, strain gauges, load cells, magnetic sensors, and high frequency oscillation inductive sensors.
  • the movement guide part 650 includes a first detection part and a movement return elastic member 652.
  • the first detection unit includes a first potentiometer 656, which is a linear potentiometer for detecting a straight moving direction such as straight, backward, and the like moving force of the control unit 632.
  • the first potentiometer 656 is a variable resistor that converts linear displacement into a change in electrical resistance.
  • the potentiometer 656 is connected to a control holder 635 and a resistor 656a fixedly disposed inside the movement guide part 650, and is connected to the resistor 656a. It includes a displacement member 656b for adjusting the resistance value of the resistor 656a while sliding.
  • the resistance value of the resistor 656a of the first potentiometer 656 is changed based on the direction and distance in which the displacement member 656b of the first potentiometer 656 moves straight, and the resistance of the first potentiometer 656 is changed. On the basis of the value, it is possible to obtain an electrical signal for the direction of the linear movement and the linear movement force of the control unit 632.
  • the straight moving direction and the moving distance of the cleaning tool assembly 620 corresponding to the user's intention may be obtained.
  • the straight movement distance of the cleaning tool assembly 620 may be determined based on the straight movement force.
  • At least one moving return elastic member 652 is provided, and the displacement member 656b is provided to return to its original position.
  • the moving return elastic member 652 is provided with a pair, and the displacement member 656b and the control holder 635 can be returned to the original position so that the displacement member 656b whose position is changed by the operation of the control unit 632 can be returned to its original position. It is provided to elastically pressurize.
  • the movement guide part 650 is provided to selectively contact both sides of the movement direction of the control holder 635, and includes a pair of movement limiting members 654 provided to prevent movement of a predetermined section.
  • the pair of moving return elastic members 652 are provided to press the ends of each of the pair of limiting movement members 654 toward the control holder 635 disposed between the pair of limiting movement members 654.
  • the pair of moving return elastic members 652 include a first moving return elastic member 652a disposed in front of the control holder 635 and a second moving return elasticity disposed behind the control holder 635.
  • the pair of movement limiting members 654 may include a first movement limiting member 654a disposed between the first movement return elastic member 652a and the control holder 635, and a second movement return elastic member 652b and the control. And a second movement limiting member 654b disposed between the holders 635.
  • control holder 635 moves the displacement member 656b to change the resistance value of the resistor 656a.
  • control holder 635 presses the first movement limiting member 654a while moving forward.
  • control holder 635 moves the displacement member 656b to change the resistance of the resistor 656a.
  • control holder 635 presses the second movement limiting member 654b while moving backward.
  • the control unit 632 When the external force on the control unit 632 is released, the control unit 632 returns to the original position by the first moving return elastic member 652a and the second moving return elastic member 652b.
  • FIG. 25 is a view illustrating a combination of a cleaner handle part and a guide coupling part according to a second embodiment of the present invention.
  • FIG. 26 is a cross-sectional view taken along line AA ′ of FIG. 23.
  • the rotation guide part 670 includes a second detection part and a steering unit 674.
  • the second detector includes a second potentiometer 676 which is a rotational potentiometer for detecting a rotational movement direction and a rotational movement force such as the left and right rotation of the rotation guide unit 670.
  • a second potentiometer 676 which is a rotational potentiometer for detecting a rotational movement direction and a rotational movement force such as the left and right rotation of the rotation guide unit 670.
  • the second potentiometer 676 is fixedly disposed on the guide coupling portion 611 of the main body 610, and is provided to detect rotation of the rotation guide part 670.
  • the second potentiometer 676 is coupled to the sensor hole 676a of the rotation guide part 670 to detect the rotation of the rotation guide part 670.
  • the steering unit 674 is provided to enable elastic return to the rotation of the rotation guide part 670. First, the inclined portion 612 to which the steering unit 674 moves will be described.
  • the inclined portion 612 is provided at a portion coupled to the rotation guide portion 670 in the main body 610.
  • the inclined portion 612 may be disposed to face the rotation guide portion 670.
  • the inclined portion 612 is formed such that a pair of inclined surfaces are symmetric with each other.
  • the inclined portion 612 is an inflection portion 612c where the first inclined surface 612a, the second inclined surface 612b symmetrical with the first inclined surface 612a, and the first inclined surface 612a and the second inclined surface 612b meet. ).
  • the steering unit 674 is provided to rotate relative to the main body 610 together with the rotation guide, and is provided to move straight elastically in the rotation guide part 670.
  • One end of the steering unit 674 is provided to contact the inclined portion 612, the other end is provided to be elastically supported by the steering elastic member 675.
  • the steering unit 674 is maintained in contact with the inclined portion 612 while the inclined portion 612 Will move along.
  • the steering unit 674 moves along the first inclined surface 612a or the second inclined surface 612b by an external force, and is disposed at the inflection portion 612c when the external force is released.
  • the rotation guide part 670 may include a steering holder 677.
  • the steering holder 677 is provided to guide the movement of the steering unit 674 so that the steering unit 674 can elastically move straight.
  • the steering holder 677 is formed integrally with the rotation guide part 670 and is rotatably provided together with the rotation guide part 670.
  • the steering holder 677 has a hole-shaped steering hole 679 formed therein so that the steering unit 674 can be inserted and moved therein.
  • the steering holder 677 is formed in a substantially cylindrical shape.
  • the steering holder 677 may include a holder stopper 678.
  • the holder stopper 678 is provided so as not to deviate from a certain section with respect to the rotation of the steering holder 677 and the steering unit 674 by the rotation of the rotation guide part 670. That is, it is provided to limit the rotation of the steering holder 677 and the steering unit 674 to a certain section.
  • the holder stopper 678 may be provided to protrude from the steering holder 677, and a pair may be provided at both sides of the steering unit 674 so that the steering unit 674 does not escape from contact with the inclined portion 612. .
  • the steering unit 674, the holder stopper 678, and the inclined portion 612 may be disposed on the same plane perpendicular to the direction of the rotation axis Xr of the rotation guide portion 670.
  • 27 is a view related to the steering unit and the handle unit operation according to the second embodiment of the present invention.
  • FIG. 27A illustrates a steering unit 674 disposed on the first inclined surface 612a when an external force in one direction acts on the handle part 630.
  • the rotation guide part 670 moving relative to the main body 610 rotates in one direction.
  • one end of the steering unit 674 contacts the first inclined surface 612a at the inflection portion 612c and moves the first inclined surface 612a.
  • the steering elastic member 675 is in a compressed state than the initial state.
  • one end of the steering unit 674 moves along the first inclined surface 612a by the elastic return of the steering elastic member 675 to be positioned at the inflection portion 612c.
  • FIG. 27B illustrates the steering unit 674 disposed in the home position when no external force acts on the handle part 630.
  • One end of the steering unit 674 is located in the inflection portion 612c.
  • FIG. 27C illustrates the steering unit 674 disposed on the second inclined surface 612b when the external force in the other direction of the handle part 630 is applied.
  • the rotation guide part 670 moving relative to the main body 610 rotates in the other direction.
  • one end of the steering unit 674 is in contact with the second inclined surface 612b in the inflection portion 612c to move the second inclined surface 612b.
  • the steering elastic member 675 is in a compressed state than the initial state.
  • one end of the steering unit 674 moves along the second inclined surface 612b by the elastic return of the steering elastic member 675 to be positioned at the inflection portion 612c.
  • the cleaner according to the present embodiment may include an main body 610, a cleaning tool assembly 620, and a handle part 630 as an upright cleaner. Such a cleaner may be driven by receiving power from an external power source or an internal battery.
  • the main body 710 may be equipped with a cleaning tool assembly 720 on one side and a handle part 730 on the other side.
  • the main body 710 stores foreign substances sucked from the cleaning tool assembly 720 and transmits the force applied to the handle part 730 to the cleaning tool assembly 720.
  • FIG. 29 is an enlarged view of a part of a cleaner according to a third embodiment of the present disclosure
  • FIG. 30 is a perspective view of a cleaning tool assembly according to a third embodiment of the present disclosure.
  • the cleaning tool assembly 720 is mounted on the lower portion of the main body 710 so as to be rotatable in the front-rear direction or the left-right direction with respect to the traveling direction when moving forward or backward.
  • the main body 710 and the cleaning tool assembly 720 may be connected through the rotating part 729, and the main body 710 may rotate through the rotating part 729 while the cleaning tool assembly 720 is in contact with the surface to be cleaned.
  • An elastic member is provided inside the rotating part 729, and the spring force is canceled by the spring force to cancel the moment load generated as the handle part 730 and the main body 710 are inclined by the use of the user. Compensation will be made.
  • the torsion spring may be applied to the elastic member.
  • the cleaning tool assembly 720 is in contact with the bottom surface and sweeps or scatters dust on the bottom surface and sucks dust or dust scattered. At this time, the sucked dust is transferred to the dust collector.
  • the cleaning tool assembly 720 is disposed in the cleaning tool housing 722 forming the exterior, the brush part 723 disposed in the cleaning tool housing 722 and used for dust, and the cleaning tool housing 722 disposed in the cleaning tool housing 722 and moved to the cleaner. It includes a drive unit 725 for applying a force.
  • the brush unit 723 is equipped with a front wheel 724 supporting the front of the cleaning tool assembly 720.
  • the driving unit 725 may include a driving force generator 726 for generating a driving force, and at least two main wheels 727 for moving the cleaning tool assembly 720 while receiving power from the driving force generator 726. have.
  • the type of the driving force generator 726 is not limited, but in the embodiment of the present invention, the driving force generator 726 includes a motor.
  • Combination of the driving force generating unit 726 and the main wheel 727 is not limited, but in the embodiment of the present invention, the driving force generating unit 726 and the main wheel 727 are connected by a belt 728, and the driving force generating unit ( Power generated from 726 may be provided to be transmitted to the main wheel 727.
  • the driving force generator 726 may be disposed in front of the cleaning tool assembly 720, and the main wheel 727 may be disposed at the rear side.
  • the main wheel 727 is disposed behind the rotating part 729 so that the cleaner can be stably supported.
  • the cleaning tool assembly 720 may be supported by two points by the front wheel 724 and the main wheel 727. Of course, it is also possible to design to mount more wheels than this, in the embodiment of the present invention, the cleaning tool assembly 720 is supported by two points on the surface to be cleaned, even if the surface to be cleaned, the cleaning tool assembly ( 720 can be brought into close contact.
  • FIG. 31 is a view of a cleaner according to a third embodiment of the present invention.
  • WB means the weight of the lower portion around the rotating part 729. That is, the weight of the cleaning tool assembly 720 is meant.
  • WU means the weight of the upper portion around the rotating part (729). That is, the weight of the main body 710 and the handle portion 730.
  • C means the rotation center of the rotating unit 729, S means the distance from the control unit 732 of the handle portion 730.
  • R is the distance from C to WB's center of gravity.
  • Ff means the ground reaction force of the front wheel 724,
  • Fr means the ground reaction force of the main wheel 727.
  • a and b mean the distance from the center of gravity of the WB to the front wheel 724 and the rear wheel, respectively.
  • L means the distance from C to the main wheel 727.
  • Mc means an elastic moment generated in the elastic member of the rotating part 729.
  • WU is formed much larger than Gp (WU >> Gp).
  • the rotating unit 729 is provided with an elastic member, the moment load generated by tilting the handle portion 730 and the main body 710 is compensated by the elastic restoring force to compensate for the weight applied to the user's hand You lose. Therefore, even if the inclination is increased, Mc acts from the elastic member so that the fixed state can be maintained even if the ⁇ value is increased.
  • the protruding distance of the main wheel 727 is related to the design factor and steering performance of the upright cleaner. In other words, when the protrusion distance is increased, it is possible to safely prevent the rear tip of the cleaner, but the steering of the upright cleaner becomes a problem. It also hurts aesthetics by design.
  • additional weight may be disposed in front of the cleaning tool assembly 720 to minimize L.
  • an adapter (not shown) provided in the driving unit 725 and the driving unit 725 may be disposed in front of the cleaning tool assembly 720 to increase the value of b to minimize L.
  • the driving force generating unit 726 is disposed in front of the cleaning tool assembly 720, and the driving force generating unit 726 is connected to the main wheel 727 to drive the driving force to the main wheel 727. This can be configured to forward. Through this, by increasing the value of b, L can be minimized.
  • FIG. 32 is a view of a cleaner handle unit according to a fourth embodiment of the present invention
  • FIG. 33 is a view of elastic return of the cleaner handle unit according to the fourth embodiment of the present invention
  • FIG. 34 is a fourth embodiment of the present invention.
  • Figure 2 is a view of the operation of the rotary return unit according to the handle portion operation of the cleaner according to.
  • the handle part 830 is provided to change the direction of the cleaner or to change the moving speed. That is, the cleaner may be operated by sensing the manipulation of the handle part 830.
  • the handle part 830 is provided to move relative to the main body 810, and the manipulation of the handle part 830 is detected by the detection part.
  • the cleaning tool assembly 820 may be controlled by the control unit using the signal detected by the detection unit.
  • cleaning tool assembly 820 is controlled. This allows the user to easily change the direction of the cleaner, move, rotate.
  • the handle part 830 may include a guide part 840 and a control part 832.
  • the control unit 832 is provided to be gripped by the user. In addition, the control unit 832 is provided to move along the guide unit 840 described later. That is, the control unit 832 is provided to move relative to the guide unit 840.
  • the control unit 832 is formed to surround at least a portion of the movement guide unit 850 to be described later, the control body 833 and the control body 833 is formed so as to move the outer circumferential surface of the movement guide unit 850. It may include a control holder 835 protruding from the inner circumferential surface of the.
  • the guide unit 840 guides the movement of the control unit 832 and is provided to be relative to the main body 810.
  • the guide part 840 may include a rotation guide part 870 and a movement guide part 850.
  • the rotation guide part 870 is provided to rotate about the main body 810. That is, the rotation guide part 870 is provided in the shape of a substantially rod, and is provided to be able to rotate relative to the main body 810. In this embodiment, the rotation guide part 870 is rotatably coupled to the guide coupling part 811 extending from the main body 810. The rotation guide part 870 is provided to define left and right directions with respect to a traveling direction of the cleaner.
  • the movement guide part 850 may extend from the rotation guide part 870.
  • the movement guide part 850 is provided in the shape of a substantially rod, and is defined to define the front-rear direction with respect to the traveling direction of the cleaner.
  • the movement guide part 850 is provided to allow the control part 832 to move.
  • the movement guide part 850 is provided such that the control part 832 is movable in the front-rear direction.
  • the movement guide part 850 may be arranged to be parallel to the surface to be cleaned.
  • the movement guide part 850 may be disposed on the same line as the longitudinal direction of the rotation guide part 870.
  • a rotation return part 842 may be provided between the rotation guide part 870 and the main body 810.
  • the rotation return unit 842 satisfies this if it is a material having elastic force.
  • the tension spring can be applied.
  • One end of the rotation return unit 842 may be fixed to the first fixing unit 814 provided inside the guide coupling unit 811, and the other end may be fixed to the second fixing unit 841 provided in front of the rotation guide. have.
  • the rotation return part 842 When the external force is applied to the handle part 830 and the rotation guide part 870 rotates in one direction with respect to the main body 810, the rotation return part 842 has one end and the other end of the first fixing part 814, While being fixed to the second fixing portion 841, tension is achieved. In addition, even when rotating in the other direction, the rotary return portion 842 is tensioned while one end and the other end are fixed to the first fixing portion 814 and the second fixing portion 841, respectively.
  • Figure 36 is a view of the steering unit of the cleaner handle unit according to the fifth embodiment of the present invention.
  • the second rotation return unit may be additionally included in the handle part 930 of the fourth embodiment. That is, the rotation return part in the fourth embodiment is called the first rotation return part, and the rotation return part additionally provided in the present embodiment is called the second rotation return part.
  • the second rotation return unit may include a steering unit 974.
  • the steering unit 974 is provided to enable elastic return to the rotation of the rotation guide part 970. First, the inclined portion 912 to which the steering unit 974 moves will be described.
  • the inclined portion 912 is provided in the guide coupling portion 911 which is a portion coupled to the rotation guide portion 970 in the main body 910.
  • the inclined portion 912 may be disposed to face the rotation guide portion 970.
  • the inclined portion 912 is formed such that a pair of inclined surfaces are symmetric with each other.
  • the inclined portion 912 is a curved portion 912c where the first inclined surface 912a, the second inclined surface 912b symmetrical with the first inclined surface 912a, and the first inclined surface 912a and the second inclined surface 912b meet. ).
  • the steering unit 974 is provided to rotate relative to the main body 910 together with the rotation guide, and is provided to move straightly elastically in the rotation guide part 970.
  • One end of the steering unit 974 is provided to contact the inclined portion 912, and the other end is provided to be elastically supported by the steering elastic member 975.
  • the steering unit 974 maintains contact with the inclined portion 912 while maintaining the inclined portion 912. Will move along.
  • the steering unit 974 moves along the first inclined surface 912a or the second inclined surface 912b by an external force, and is disposed at the inflection portion 912c when the external force is released.
  • the rotation guide part 970 may include a steering holder 997.
  • the steering holder 997 is provided to guide the movement of the steering unit 974 so that the steering unit 974 elastically moves straight.
  • the steering holder 997 is formed integrally with the rotation guide part 970 and is rotatably provided together with the rotation guide part 970.
  • the steering holder 997 is formed with a hole-shaped steering hole 979 so that the steering unit 974 can be inserted and moved therein.
  • the steering holder 997 is formed in a substantially cylindrical shape.
  • the first fixing part 914, the second fixing part 941 and the rotation returning part 942 are the same as the description in the fourth embodiment.
  • FIG. 37 is a partial cross-sectional view of the cleaner handle part according to the sixth embodiment of the present invention
  • FIG. 38 is a view related to the rotation amount detection of the cleaner handle part according to the sixth embodiment of the present invention.
  • the rotation guide unit 1070 includes a code disc 1085 for detecting a rotational movement direction and a rotational movement force such as left and right rotation of the control unit 1032.
  • a code disc 1085 for detecting a rotational movement direction and a rotational movement force such as left and right rotation of the control unit 1032.
  • the structure of the handle portion 1030 having the code disk 1085 and the optical sensor 1080 will be described.
  • the optical sensor 1080 may include a photo emitter 1081, a phototransistor 1082, and a photo detector 1083.
  • the photo emitter 1081 may be provided to convert electrical energy into light energy.
  • the photo emitter 1081 may be disposed inside the rotation guide part 1070.
  • the phototransistor 1082 is provided to convert light energy into electrical energy.
  • the photodetector 1083 is provided to convert electrical energy into a signal that can be measured.
  • the code disk 1085 is provided in a disc shape, and a coded region 1080a is provided along the circumferential direction. That is, the light energy emitted from the photo emitter 1081 is selectively incident on the phototransistor 1082 through the portion where the coded region 1080a is located.
  • the photo emitter 1081 is provided on the rotation guide part 1070 and provided to rotate together with the rotation guide part 1070.
  • the phototransistor 1082, the code disk 1085, and the photodetector 1083 are disposed in the guide coupling portion 1011 of the main body 1010.
  • Photo emitter 1081 emits light energy toward phototransistor 1082 and optionally beyond coded region 1080a of code disk 1085 provided between photo emitter 1081 and phototransistor 1082. Incident to the phototransistor 1082.
  • the rotation guide part 1070 When the rotation guide part 1070 is rotated, the position of the photo emitter 1081 is changed, so that the light energy passing through the coded region 1080a of the code disc 1085 is changed in its shape.
  • the light energy incident on the phototransistor 1082 is converted into electrical energy again and converted into a signal that can be measured by the photodetector 1083, thereby detecting the rotation angle of the rotation guide unit 1070.
  • the detected information is delivered to the controller.
  • FIG. 39 is a partial cross-sectional view of the cleaner handle part according to the seventh embodiment of the present invention
  • FIG. 40 is a view related to the rotation amount detection of the cleaner handle part according to the seventh embodiment of the present invention.
  • the second detection unit of the rotation guide unit 1170 includes an optical sensor 1185 for detecting a rotational movement direction and a rotational movement force such as left and right rotation of the control unit 1132.
  • an optical sensor 1185 for detecting a rotational movement direction and a rotational movement force such as left and right rotation of the control unit 1132.
  • the structure of the handle portion 1130 having the optical sensor 1185 will be described.
  • An optical sensor 1185 is provided in the guide coupling unit 1111 of the main body 1110, and the rotation guide unit 1170 reflects the incident light when the light emitted from the optical sensor 1185 is incident. More).
  • the reflector 1184 may be formed in the circular disk panel 1184a.
  • the circular disk panel 1184a may be provided to rotate together with the rotation of the rotation guide part 1170, and the reflection part 1184 may be formed in a circular shape on the circular disk panel 1184a.
  • the reflecting unit 1184 includes a plurality of reflecting cells having a predetermined size and disposed adjacent to each other, and the reflecting cells have different reflectances of light. That is, the plurality of reflecting cells of the reflecting unit 1184 are formed in a gradation manner, and have a characteristic of gradually high reflectivity from the reference position r toward the first rotation direction r1, and in the second rotation direction r2. It gradually has low reflectivity.
  • the plurality of reflecting cells of the reflecting unit 1184 may have a color with high reflectivity gradually from one end to the other end.
  • the guide coupling part 1111 of the main body 1110 may be provided with an optical sensor 1185 for detecting the rotation distance of the rotation guide part 1170 moved from the main body 1110.
  • the optical sensor 1185 is provided to face the reflector 1184.
  • the optical sensor 1185 emits light and detects the amount of light reflected and reflected by the reflector 1184 located in the rotation guide unit 1170.
  • the cleaner detects the rotation angle, which is the rotation movement distance of the control unit 1132, based on the amount of light detected by the light sensor 1185.
  • the reflection unit 1184 located in the rotation guide unit 1170 rotates in association with the rotational movement of the control unit 1132, accordingly the optical sensor 1185
  • the position of the reflecting cell of the reflecting unit 1184 facing the surface is changed, and at this time, the optical sensor 1185 detects the amount of infrared light reflected from the facing reflecting cell.
  • the control unit 1132 rotates as described above, the reflection cell facing the optical sensor 1185 changes, and the amount of light incident from the reflection cell facing the optical sensor 1185 changes, and the rotation is performed based on the amount of light. It is possible to detect the rotation angle of the handle portion 1130.
  • Figure 41 is a view of the internal structure of the cleaner handle unit according to the eighth embodiment of the present invention
  • Figure 42 is a cross-sectional view of the cleaner handle unit according to the eighth embodiment of the present invention.
  • the handle part 1230 is provided to change the direction of the cleaner or to change the moving speed. That is, the cleaner may be operated by sensing the manipulation of the handle part 1230.
  • the handle part 1230 is provided to move relative to the main body 1210, and the manipulation of the handle part 1230 is detected by the detection part.
  • the cleaning tool assembly 1220 may be controlled by the control unit with the signal detected by the detection unit.
  • the cleaning tool assembly Control 1220 by sensing the force applied to the handle portion 1230, or by measuring the relative movement and relative rotation amount relative to the main body 1210 of the handle portion 1230, to grasp the user's intention for the operation of the cleaner, the cleaning tool assembly Control 1220. This allows the user to easily change the direction of the cleaner, move, rotate.
  • the handle part 1230 may include a guide part 1240 and a control part 1232.
  • the control unit 1232 is provided to be gripped by a user. In addition, the control unit 1232 is provided to move along the guide unit 1240 described later. That is, the control unit 1232 is provided to move relative to the guide unit 1240.
  • the guide part 1240 guides the movement of the control part 1232 and is provided to be relative to the main body 1210.
  • the guide part 1240 may include a rotation guide part 1270 and a movement guide part 1250.
  • the rotation guide part 1270 is provided to be able to rotate left and right with respect to the main body 1210. That is, the rotation guide part 1270 is provided in the shape of a substantially bar, and is provided to be able to move relative to the main body 1210. In this embodiment, the rotation guide part 1270 is relatively movable to the guide coupling part 1211 extending from the main body 1210. The rotation guide part 1270 is provided to define left and right directions with respect to a traveling direction of the cleaner.
  • the movement guide part 1250 may extend from the rotation guide part 1270.
  • the movement guide part 1250 is provided in the shape of a substantially rod, and is defined to define the front-rear direction with respect to the traveling direction of the cleaner.
  • the movement guide part 1250 is provided to move the control part 1232.
  • the movement guide part 1250 is provided such that the control part 1232 is movable in the front-rear direction.
  • the movement guide part 1250 When the main body 1210 is inclined at a predetermined angle with respect to the surface to be cleaned to use the upright cleaner, the movement guide part 1250 may be arranged to be parallel to the surface to be cleaned.
  • the movement guide part 1250 may be disposed on the same line as the longitudinal direction of the rotation guide part 1270.
  • the rotation guide part 1270 is a rotation guide body 1271 provided to be rotatable about a guide rotation axis Xg provided on the guide coupling part 1211, and a rotation surrounding at least a part of the rotation guide body 1271. It includes an elastic member (1272), and a rotation sensor 1273 for detecting the operation of the rotation guide body (1271).
  • the rotation guide body 1271 is provided to be able to rotate left and right about the guide rotation axis Xr.
  • the rotating elastic member 1272 is provided to surround at least a portion of the rotation guide body 1271 and is formed to fill a space between the rotation guide body 1271 and the guide coupling portion 1211. In this configuration, the rotation guide body 1271 moves only by the length of the compression of the rotational elastic member 1272 when an external force is generated and moves left and right, and when the external force is released, the rotational elastic member 1272 returns. It moves to its original position by the elastic force.
  • the rotation sensor 1273 may be provided in pairs on the left and right sides of the rotation elastic member 1272, respectively.
  • the rotation sensor 1273 may include a pressure sensor as an example.
  • the pressure sensor is used as a sensor for sensing the movement of the rotation guide unit 1270, the sensing unit can be sensed even if the movement of the rotation guide unit 1270 is not large.
  • the pair of rotation detection sensors 1273 detects the movement of the rotation guide body 1271 and transmits the detected motion to the controller.
  • the left side is referred to as a first rotational sensor 1273a and the right side is referred to as a second rotational sensor 1273b based on the advance direction of the cleaner.
  • the rotation guide body 1271 rotates to the left about the guide rotation axis Xr, and the rotation elastic member 1272 and the first rotation detection sensor. 1273a is pressed.
  • the pressure is sensed and sent to the control unit to operate the cleaning tool assembly 1220.
  • FIG. 43 is a cross-sectional view of the cleaner handle unit according to the ninth embodiment of the present invention
  • FIG. 44 is a view of the internal structure of the cleaner handle unit according to the ninth embodiment of the present invention.
  • the handle part 1330 is provided to change the direction of the cleaner or to change the moving speed. That is, the cleaner may be operated by detecting the manipulation of the handle unit 1330.
  • the handle part 1330 is provided to move relative to the main body, and the manipulation of the handle part 1330 is detected by the detection part.
  • the control unit may be provided to control the cleaning tool assembly through the control unit with the signal detected by the detection unit.
  • the handle part 1330 may include a guide part 1340 and a control part 1332.
  • the control unit 1332 is provided to be gripped by a user. In addition, the control unit 1332 is provided to move along the guide unit 1340 described later. That is, the control unit 1332 is provided to move relative to the guide unit 1340.
  • the control unit 1332 is formed to surround at least a portion of the movement guide unit 1350 to be described later, the control body 1333 and the control body 1333 which is formed to move the outer circumferential surface of the movement guide unit 1350, the control body 1333 It may include a control holder 1335 protruding from the inner circumferential surface of the.
  • the guide unit 1340 guides the movement of the control unit 1332 and is provided to be relative to the main body.
  • the guide part 1340 may include a rotation guide part 1370 and a movement guide part 1350.
  • the rotation guide part 1370 is provided to be able to rotate left and right with respect to the main body. That is, the rotation guide unit 1370 is provided in the shape of a substantially bar, and is provided to allow relative movement with respect to the main body. In this embodiment, the rotation guide part 1370 is relatively movable to the guide coupling part 1311 extending from the main body. The rotation guide part 1370 is provided to define left and right directions with respect to a traveling direction of the cleaner.
  • the movement guide part 1350 may extend from the rotation guide part 1370.
  • the movement guide part 1350 is provided in a substantially bar shape, and is provided to define the front-rear direction with respect to the traveling direction of the cleaner.
  • the movement guide part 1350 is provided to move the control part 1332.
  • the movement guide part 1350 is provided such that the control part 1332 is movable in the front-rear direction.
  • the movement guide part 1350 When the main body is inclined at a predetermined angle with respect to the surface to be cleaned to use the upright cleaner, the movement guide part 1350 may be arranged to be parallel to the surface to be cleaned. The movement guide part 1350 may be disposed on the same line as the longitudinal direction of the rotation guide part 1370.
  • the movement guide part 1350 may include a pair of moving elastic members 1360 disposed before and after the moving direction of the control holder 1335, a pair of stoppers 1361 disposed outside the pair of moving elastic members 1360, and the like. It includes a movement sensor 1362 to detect the operation of the control holder 1335.
  • the control unit 1332 is provided to be linearly movable in the front-rear direction along the movement guide unit 1350. As the control unit 1332 moves, the control holder 1335 of the control unit 1332 also moves forward and backward to selectively press one of the pair of moving elastic members 1360.
  • the moving elastic member 1360 in front of the control holder 1335 is called the first moving elastic member 1360a
  • the moving elastic member 1360 at the rear of the control holder 1335 is called the second moving elastic member ( 1360b).
  • a pair of stoppers 1361 may be provided outside the pair of moving elastic members 1360 to limit the movement of the moving elastic members 1360. Between the pair of stoppers 1361 and the pair of moving elastic members 1360, a pair of movement detecting sensors 1362 may be provided to sense the operation of the control holder 1335. The pair of motion detection sensors 1362 detects an operation of the control holder 1335 and transmits the same to the control unit.
  • the movement detection sensor 1332 in front of the control holder 1335 is called the first movement detection sensor 1362a
  • the movement detection sensor 1362 behind the control holder 1335 is the second movement detection sensor 1362b. It is called.
  • the control holder 1335 presses the first moving elastic member 1360a and the first moving elastic member 1360a. And pressure is applied to the first movement detection sensor 1362a between the stopper 1361 and the stopper 1361. In the first movement detection sensor 1362a, pressure is sensed and sent to the control unit to manipulate the cleaning tool assembly.
  • the control holder 1335 presses the second moving elastic member 1360b and the second moving elastic member 1360b. And a pressure is applied to the second movement detection sensor 1362b between the stopper 1361 and the stopper 1361b. In the second movement detection sensor 1362b, pressure is sensed and sent to the control unit to manipulate the cleaning tool assembly.
  • the rotation guide part 1370 is formed to be rotatable about the guide rotation shaft Xr provided on the guide coupling part 1311 and radially protrudes from the rotation guide body 1371. It includes a rotation guide protrusion, a rotating elastic member 1372 provided on both sides of the rotation guide projection, and a rotation sensor 1373 for detecting the rotation of the rotation guide body (1371).
  • Rotation guide body (1371) is provided so as to rotate left and right about the guide rotation axis (Xr). As the rotation guide body 1372 rotates, the rotation guide protrusion also rotates to selectively press one of the pair of rotational elastic members 1372.
  • the pair of rotation detection sensors 1373 detects the movement of the rotation guide body 1372 and transmits the detected motion to the controller.
  • the rotating elastic member 1372 in the first rotation direction r1 in the rotation guide projection is called the first rotation elastic member 1372
  • the rotation elastic member in the second rotation direction r2 in the rotation guide projection. 1372 is referred to as a second rotating elastic member 1372.
  • a pair of rotation detecting sensors 1373 may be provided outside the pair of rotational elastic members 1372.
  • the rotation detection sensor 1373 in the first rotation direction r1 in the rotation guide projection is called the first rotation detection sensor 1373a
  • the rotation detection sensor in the second rotation direction r2 in the rotation guide projection. 1373 is referred to as a second rotation detection sensor 1373b.
  • the first fixing portion 1314, the second fixing portion 1321, and the rotation returning portion 1342 are the same as those in the fourth embodiment.
  • Figure 46 is a view for explaining the operation of the cleaner provided with a state detection sensor according to the tenth embodiment of the present invention. to be.
  • the cleaner may be provided with a state detection sensor 30 for detecting a state of the cleaner.
  • the state sensor 30 detects a current state of the cleaner and outputs an electrical signal according to the detection result, so that a processor provided in the cleaner may transmit a control command according to the current state of the cleaner to various parts of the cleaner.
  • the state detection sensor 30 may include a tilt sensor, an acceleration sensor, or a rotation detection sensor.
  • An inclination sensor is a sensor which detects the inclination of a sensor or the apparatus with a sensor according to the object provided in the housing which accommodates various components, for example, the movement of a ball, or the flow state of the fluid provided in the housing.
  • An acceleration sensor is a sensor capable of detecting dynamic force such as acceleration, vibration or shock of a sensor or a device in which a sensor is installed using a piezoelectric element, a capacitance, a moving speed of a conductor, a strain gauge of a resistance wire or a strain gauge of a semiconductor.
  • the acceleration sensor may include a gyro sensor.
  • the rotation detection sensor is a sensor capable of detecting whether or not the rotation angle or the rotation angle of a rotatable object such as a wheel. The rotation sensor may detect whether the object is rotated by detecting light, applying electricity, or measuring torque.
  • the state sensor 30a may be provided in the handle unit 1430. More specifically, the state detection sensor 30a may be installed in the housing constituting the handle part 1430. In this case, the state detection sensor 30a may be provided in a frame 1411 connecting the handle unit 1430 and the main body 1410. The state detection sensor 30a installed in the handle unit 1430 may be an acceleration sensor or an inclination sensor.
  • the state detection sensor 30b may be provided in the main body 1410.
  • the state detection sensor 30b may be installed in the housing constituting the main body 1410.
  • the position at which the state sensor 30b is installed in the main body 1410 may be arbitrarily determined according to a system designer's selection.
  • the state detection sensor 30b installed in the main body 1410 may be an acceleration sensor or an inclination sensor.
  • the state detection sensor 30c may be installed in the cleaning tool assembly 1420, and more specifically, may be installed at or around the rotating shaft between the cleaning tool assembly 1420 and the main body 1410. .
  • the state detection sensor 30c installed in the cleaning tool assembly 1420 may include a rotation detection sensor capable of detecting how much the main body 1410 is rotated based on the cleaning tool assembly 1420.
  • the state detection sensor 30 may measure the inclination ⁇ of the main body 1410, which is a degree in which the main body 1410 is inclined from the normal of the reference plane.
  • the reference surface may include the ground or the bottom surface of the cleaning tool assembly 1420.
  • the state sensor 30 may output an electrical signal corresponding to the inclination ⁇ of the main body 1410, and the output electrical signal may be transmitted to a processor provided inside the cleaner.
  • the processor provided inside the cleaner may receive an electrical signal and determine whether the cleaner operates according to the inclination ⁇ of the main body 1410, or determine whether the cleaner is standing or lying down.
  • the processor may generate a control signal to control the cleaner according to the determination result.
  • FIG. 47 is a view for explaining a cleaner provided with an obstacle sensor according to an eleventh embodiment of the present invention
  • FIG. 48 is a view for explaining an operation of the cleaner provided with an obstacle sensor according to an eleventh embodiment of the present invention.
  • One or more obstacle sensors 33 may be provided on the front surface of the cleaning tool assembly 1520.
  • the front surface of the cleaning tool assembly 1520 may include one surface formed to face the moving direction of the cleaning tool assembly 1520.
  • the cleaning tool assembly 1520 may include a brush unit 1523 that uses dust.
  • one or more obstacle sensors 33 may be provided on the front surface of the brush unit 1523.
  • the obstacle sensor 33 may detect an obstacle 99 existing in a moving direction of the cleaner 1500 and output an electrical signal corresponding to the detection result.
  • the obstacle sensor 33 may detect the obstacle 99 located in the moving direction by using visible light, infrared rays, or ultrasonic waves. For example, when the obstacle sensor 33 is an infrared sensor, the obstacle sensor 33 irradiates infrared (IR) in the moving direction, and receives the infrared rays reflected by the obstacle 99 and returns, thereby the presence of the obstacle 99. Can be detected. In addition, the obstacle sensor 33 may measure the direction of the obstacle 99 and the distance between the obstacle 99 and the cleaner 1500 by using the infrared reception direction or the time required until the infrared reception.
  • IR infrared
  • the obstacle sensor 33 may output an electrical signal corresponding to the presence or absence of the obstacle 99, the direction of the obstacle 99 or the distance between the obstacle 99 and the cleaner 1500, and at the obstacle sensor 33.
  • the output signal can be delivered to the processor.
  • the processor may generate a control signal for controlling the cleaner 1500 based on the signal transmitted from the obstacle sensor 33.
  • 49 is a diagram illustrating a configuration of a cleaner that is an embodiment of the present invention.
  • the cleaner 1 includes an input unit 10, a handle unit 20, a state detection sensor 30, an obstacle sensor 33, a control unit 40, a driving unit 41, and a wheel 42. And a power source 43.
  • the input unit 10 may receive a command from a user.
  • the user may control whether the cruise function is performed or the wheel rotation speed is reduced by manipulating the input unit 10.
  • the input unit 10 may output an electrical signal according to a user's manipulation and transmit the electrical signal to the controller.
  • the controller 40 may control the operation of the cleaner 1 by generating a control command corresponding to the signal transmitted from the input unit 10.
  • the input unit 10 may include one or more physical buttons, a touch pad, a touch screen, an operation stick, a trackball, a knob, or various operation devices operable by other users.
  • FIG. 50A is a view illustrating an embodiment of a handle unit provided with an input unit
  • FIG. 50B is a diagram illustrating another embodiment of a handle unit provided with an input unit.
  • the input unit 1531 may be installed on an upper surface 1532 of the upper frame 1533 of the handle unit 1530.
  • the input unit 1531 may be a physical button as shown in FIG. 50A, or may be a touch pad or an operation stick. The user may manipulate the input unit 1531 by using a thumb while holding the handle unit 1530.
  • the input unit 1537 may be installed on the bottom surface 1536 of the upper frame 1535 of the handle unit 1534.
  • the input unit 1537 may be a physical button as shown in FIG. 50B, or may be a touch pad or an operation stick.
  • the input unit 1537 may have a trigger form, and the user may operate by using the input unit 1537 by pulling the trigger form using an index finger or a middle finger while holding the handle unit 1534. You can enter a command.
  • the input unit 10 may be provided in the handle unit 20 for convenience of operation, but the installation position of the input unit 10 is not limited to the above-described embodiment.
  • the input unit 10 may be provided in, for example, a main body or a cleaning tool assembly, and may be installed in various positions that can be considered by the system designer.
  • the handle part 20 may include a plurality of sensors 21 as described above.
  • the plurality of sensors 21 may include the above-described detection unit 22, and the detection unit 22 may move forward and backward in the forward direction and backward direction of the slide unit 334 moving straight along the guide unit 332.
  • It may include a first detection unit 23 for detecting the movement force and a second detection unit 24 for detecting the left and right rotational movement direction and the rotational movement force of the slide unit 334 is rotated along the guide portion 332.
  • the first detection unit 23 may include the above-described movement detection sensor
  • the second detection unit 24 may include the above-described rotation detection sensor.
  • the first detector 23 and the second detector 24 may output an electrical signal corresponding to the force applied from the user according to the manipulation of the handle part 20 of the user and transmit the electrical signal to the controller 40. More specifically, when a force is applied to the handle part 20 according to the manipulation of the handle part 20 of the user, the displacement of the control part (632 of FIG. 20) provided in the handle part 20 is changed, and the first detection part 23 is applied. ) And the second detector 24 may output such a displacement as an electrical signal of a corresponding voltage. The output signal may be transmitted to the controller 40.
  • the state sensor 30 may detect a current state of the cleaner, output an electrical signal according to the detection result, and transmit the electrical signal to the controller 40.
  • the state detection sensor 30 may include an inclination sensor 31 or an acceleration sensor 32 to detect the inclination of the main body.
  • the obstacle sensor 33 may detect the obstacle 99 existing in the moving direction of the cleaner, output an electrical signal according to the detection result, and transmit the electrical signal to the controller 40.
  • the control unit 40 receives an electrical signal output from at least one of the input unit 10, the detection unit 22 of the handle unit 20, the state sensor 30, and the obstacle sensor 33 and according to the received electrical signal.
  • the operation of the cleaner may be controlled by generating a control signal.
  • the controller 40 may determine the speed or direction of the wheels 42a and 42b of the cleaner according to the electrical signal transmitted from the detector 22 of the handle part 20. More specifically, the control unit 40 determines the magnitude of the force applied by the user to the handle unit 20 according to the electrical signal, and according to the determined first drive unit 41a or the right wheel (for driving the left wheel 42a). An operation of each of the second drivers 41b for driving 42b may be determined. The controller 40 may generate a control signal corresponding to the speed or direction of the wheels 42a and 42b of the cleaner. The generated control signal may be transmitted to the corresponding drivers 41a and 41b.
  • the controller 40 may receive information about the rotation speed or the rotation speed of each of the wheels 42a and 42b from at least one of the first driving unit 41a and the second driving unit 41b.
  • the controller 40 determines whether the wheels 42a and 42b are operating at the required level based on the rotational speed or the rotational speed, and at least one of the first drive unit 41a and the second drive unit 41b according to the determination result. Additional control signals may be further generated to reset one operation.
  • the control unit 40 may receive a feedback signal according to the operation of the driving units 41a and 41b and adjust the driving units 41a and 41b according to the feedback signal.
  • the controller 40 may increase the rotational speed or the number of rotations of the one or two wheels 42a, 42b.
  • the control signal may be generated, and the generated control signal may be transmitted to at least one of the first driver 41a and the second driver 41b.
  • the controller 40 controls to reduce the rotational speed or the number of rotations of the one or two wheels 42a and 42b.
  • the signal may be generated, and the generated control signal may be transmitted to at least one of the first driver 41a and the second driver 41b.
  • the controller 40 transmits a control signal to the power supply 43 for supplying current to each of the driving units 41a and 41b, thereby supplying current to each of the driving units 41a and 41b, or for each of the driving units 41a and 41b.
  • the intensity or direction of the current supplied to the 41b may be adjusted, and each of the driving units 41a and 41b may rotate at a predetermined speed in a predetermined direction according to whether the current is supplied, or the intensity and the direction.
  • the controller 40 may control the respective driving units 41a and 41b not to be driven even when the handle jaw 20 is operated according to the electrical signal output from the state sensor 30. In addition, the controller 40 may control the operation of each of the driving units 41a and 41b according to the electrical signal output from the obstacle sensor 33.
  • the controller 40 may include a processor and related circuits that may be implemented by one or more semiconductor chips and related components, and the processor may be a micro-controller unit (MCU).
  • MCU micro-controller unit
  • the first drive part 41a may rotate the left wheel 42a at a predetermined rotation speed in a predetermined direction
  • the second drive part 41b may rotate the right wheel 42b at a predetermined rotation speed in a predetermined direction.
  • the first driving unit 41a and the second driving unit 41b may be implemented as motors, and various motors, such as a DC motor, an AC motor, a cross-flow motor, a BLDC motor, a linear induction motor, or a step motor, may be implemented as motors. May be employed.
  • the first driver 41a may further include a sensor for detecting the rotational speed or the rotational speed of the left wheel 42a.
  • the second driver 41a may further include a sensor for detecting the rotation speed or the rotation speed of the left wheel 42a.
  • the sensor of the first driver 41a may transmit the detected rotation speed or the rotation speed to the controller 40.
  • various types of sensors that may be considered by a system designer may be employed to detect the rotational speed or the rotational speed of the motor.
  • the left wheel 42a may rotate in a predetermined direction and speed according to the operation of the first driver 41a.
  • the right wheel 42b may rotate in a predetermined direction and speed according to the operation of the second driver 42b.
  • the left wheel 42a and the right wheel 42b may be driven independently of each other. In other words, the left wheel 42a and the right wheel 42b may rotate at different speeds in different directions from each other. It is of course also possible for the left wheel 42a and the right wheel 42b to rotate at the same speed in the same direction.
  • the cleaner 1 moves or rotates in a predetermined direction, so that the user can move or rotate the cleaner 1 with less force. Will be. Therefore, the convenience of cleaning using a cleaner can be improved.
  • the power source 43 may supply power to each component of the cleaner, and may also supply a predetermined current to the first driver 41a and the second driver 41b as shown in FIG. 49.
  • the power source 43 may supply power to each component of the cleaner under the control of the controller 40.
  • the power source 43 may be implemented as a battery such as a storage battery, and the battery may be a secondary battery that can be charged by an external commercial current.
  • the battery may be a primary battery.
  • FIGS. 51 to 57 various embodiments of a method of controlling an operation of a cleaner will be described with reference to FIGS. 51 to 57.
  • the method for controlling the operation of the cleaner described below may be performed by using the cleaner of one or two or more embodiments of the above-described first to eleventh embodiments.
  • 51 is a flowchart of a first embodiment of a method of controlling an operation of a cleaner.
  • a user's force may be applied to the handle part in a state in which the cleaner is driven (S50).
  • the force applied here may include at least one of a force for moving the control unit in the front-rear direction and a force for rotating the control unit.
  • At least one of the first detector and the second detector may detect a force applied by the user and output an electrical signal according to the detected force (S52).
  • the processor of the cleaner may receive an electrical signal and determine a rotation direction and a rotation speed of at least one of the left wheel and the right wheel according to the sensed force (S53).
  • the moving speed of the cleaner according to the rotational speed of at least one of the left wheel and the right wheel may be determined to be smaller than a predetermined threshold.
  • the moving speed of the cleaner may be determined to be smaller than 1.5m per second. Accordingly, it is possible to prevent the deterioration of safety due to excessive high speed movement of the cleaner.
  • an error may also occur due to the inaccuracy of the structure inside the handle part, as measured values by the sensor, for example, the first detection part and the second detection part.
  • the neutral position of the sensor may be different from the desired position during fabrication. Therefore, the controller can prevent a malfunction due to an error by considering a section within a predetermined range as a dead zone based on a desired neutral position of the sensor.
  • the size of the day zone can be arbitrarily determined by the system designer.
  • the system designer may set the controller to regard the dead zone as a dead zone within ⁇ 1 mm based on the neutral position in the case of the first detector that detects the linear movement force.
  • the neutral position means a position at which the first detector does not output any signal or outputs a signal called a reference position, and the neutral position may be determined by a system designer's arbitrary selection.
  • the system designer may set the controller to regard the dead zone within ⁇ 1 degree (1 °) based on the neutral position.
  • the controller may determine the rotation direction and the rotation speed of at least one of the left wheel and the right wheel by reflecting the set dead zone.
  • the controller determines that there is no such movement or rotation, and ignores the signal output from the first detection unit or the second detection unit.
  • the control unit may control the operation of the driving unit only when the linear movement force or the rotary movement force detected by the first detection unit or the second detection unit exceeds a predetermined range.
  • a current is applied to the driving unit, and the driving unit is driven according to the applied current (s54).
  • the driving of the driving unit at least one of the left wheel and the right wheel rotates in a predetermined direction and a predetermined speed.
  • the feedback signal is transmitted to the controller, and the controller may adjust the operation of the driver by transmitting a control signal for resetting the operation of the driver according to the feedback signal (S56).
  • the driving unit is driven according to the signal transmitted from the control unit, and at least one of the left wheel and the right wheel rotates according to the driving of the driving unit.
  • FIG. 52 is a flowchart of a second embodiment of a method of controlling an operation of a cleaner.
  • the user may detect that an obstacle exists in the cleaner moving direction, and thus may manipulate the input unit (S58).
  • the input unit may be implemented by a physical button or a touch pad provided on the top or bottom surface of the handle unit described with reference to FIGS. 50A and 50B.
  • the controller may transmit a control signal to the driver to reduce the rotational speed of the wheel according to the manipulation of the input unit. If necessary, the controller may block the current applied to the driver (S59). In this case, the wheel may stop rotating.
  • the operation of the cleaner may also be changed (S60).
  • the cleaner since the rotation speed of the wheel is reduced or the rotation of the wheel is stopped, the cleaner may move less even when the same force is applied.
  • 53 is a flowchart of a third embodiment of a method of controlling an operation of a cleaner.
  • an electrical signal may be continuously output for at least one of the first detector and the second detector (for example, s62).
  • the first detection unit 23 may include the above-described movement detection sensor
  • the second detection unit 24 may include the above-described rotation detection sensor.
  • the controller determines that the handle is broken or malfunctions and cuts off the current applied to the driving unit.
  • the operation may be blocked (s63).
  • the predetermined time may be arbitrarily determined by the system designer.
  • the predetermined time may be arbitrarily selected by the system designer, for example between 0.5 seconds and 2 seconds.
  • the controller determines that the cleaner does not cause a malfunction when the signals output from the first detector and the second detector are output only within a predetermined time, for example, when the signals are output only within 0.5 seconds, and maintains the current operation of the cleaner.
  • the controller may control the operation of the cleaner driver according to the electrical signals previously output from the first detector and the second detector, and operate the cleaner driver according to the new electrical signals output from the first detector and the second detector. It may also be controlled (s66).
  • control unit may maintain the standby state of operation of the driving unit (S67).
  • 54 is a flowchart illustrating a fourth embodiment of a method of controlling an operation of a cleaner.
  • the controller may determine whether the state of the cleaner is being charged (S68).
  • the cleaner may be a wireless cleaner using a storage battery as a power source.
  • the controller stops controlling the cleaner operation according to the user's application of force (s69). In other words, if the state of the cleaner is being charged, the controller may ignore any electrical signal input from the first and second detectors.
  • the controller may control the operation of the cleaner by controlling the operation of the driver according to the applied force of the user sensed by the first and second detectors (S70).
  • 55 is a flowchart of a fifth embodiment of a method of controlling an operation of a cleaner.
  • a cruise function may be used according to a user's selection (s72).
  • the cruise function means that the cleaner is controlled to move at a constant speed according to a user's selection or a predefined setting.
  • the controller may stop the operation of the driving unit by blocking a current applied to the driving unit. Accordingly, when an obstacle exists on the moving path, the cleaner may be prevented from colliding with the obstacle.
  • the operation of the cleaner may be maintained (s74).
  • the operation of the cleaner may be maintained regardless of the cruise function (s76).
  • 56 is a flowchart of a sixth embodiment of a method of controlling an operation of a cleaner.
  • the state detection sensor may detect an inclination of the cleaner body and transmit a detection result to the controller (S77).
  • the inclination of the main body means the degree of inclination of the main body from the normal of the reference plane, and the reference plane may include a ground surface or a bottom surface of the cleaning tool assembly 1420.
  • the controller determines whether the inclination is less than or greater than the first critical angle. (S78) If the inclination is less than the first critical angle, the controller determines that the main body is standing perpendicular to or perpendicular to the ground, and the cleaner is not in use. It may be determined that (s79).
  • the first threshold may be arbitrarily selected by the system designer. For example, the first threshold may be 30 degrees.
  • the inclination is greater than the first critical angle, it may be determined that the main body is inclined to some extent, and accordingly, it may be determined that the cleaner is currently in use (s80).
  • 57 is a flowchart of a sixth embodiment of a method of controlling an operation of a cleaner.
  • the state detection sensor detects the tilt of the cleaner body (S81).
  • the inclination of the main body means the degree of inclination of the main body from the normal of the reference plane, and the reference plane may include a ground surface or a bottom surface of the cleaning tool assembly 1420.
  • the controller determines whether the inclination is less than or greater than the second critical angle (s82). If the inclination is greater than the second critical angle, the controller determines that the cleaner is lying on the ground and lying down (s83), and the inclination is the second critical angle. If smaller, the cleaner is erected at an angle, so it may be determined that the cleaner is in use (s84).
  • the second critical angle may be arbitrarily selected by the system designer. For example, the second critical angle can be any value between 80 degrees and 90 degrees.
  • control unit ignores the transmitted electric signal even if at least one of the first detection unit and the second detection unit (s85), the wheel according to the abnormal operation of the handle unit This rotation can be prevented (s86).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

La présente invention comprend: un corps; un ensemble outil de nettoyage raccordé au corps pour être mobile dans au moins une direction axiale; une partie poignée qui est raccordée au corps et qui reçoit une force d'un utilisateur; une partie de détection qui est disposée dans la partie poignée et qui détecte l'importance et la direction de la force appliquée à la partie poignée; et un dispositif de commande permettant de commander la distance de mouvement de l'ensemble outil de nettoyage sur la base de l'importance de la force détectée. Par conséquent, la présente invention peut réduire une charge horizontale ressentie par un utilisateur lors de la préhension d'une poignée d'un appareil de nettoyage vertical et de l'actionnement de l'appareil de nettoyage vertical, ce qui permet d'améliorer la performance de direction et de supprimer une charge verticale transférée par le biais de la poignée, ce qui permet de supprimer la fatigue ressentie pendant une opération de nettoyage et d'améliorer la praticité.
PCT/KR2014/011717 2013-12-02 2014-12-02 Appareil de nettoyage et procédé de commande associé WO2015084031A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US15/101,410 US10881257B2 (en) 2013-12-02 2014-12-02 Cleaner and method for controlling cleaner
CN201480074656.6A CN105939646B (zh) 2013-12-02 2014-12-02 吸尘器和控制该吸尘器的方法
EP14868103.4A EP3064117B1 (fr) 2013-12-02 2014-12-02 Appareil de nettoyage et procédé de commande associé

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
KR20130148643 2013-12-02
KR10-2013-0148643 2013-12-02
US201462046336P 2014-09-05 2014-09-05
US62/046,336 2014-09-05
US201462049579P 2014-09-12 2014-09-12
US62/049,579 2014-09-12
KR1020140170225A KR102333540B1 (ko) 2013-12-02 2014-12-02 청소기 및 청소기의 제어 방법
KR10-2014-0170225 2014-12-02

Publications (1)

Publication Number Publication Date
WO2015084031A1 true WO2015084031A1 (fr) 2015-06-11

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI635835B (zh) * 2015-07-13 2018-09-21 Ｌｇ電子股份有限公司 清掃機以及控制該清掃機的方法
EP3566629A1 (fr) * 2018-05-11 2019-11-13 HiZero Technologies Co., Ltd Robot de nettoyage
US10765287B2 (en) 2018-05-11 2020-09-08 Hizero Technologies Co., Ltd. Cleaning robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07308272A (ja) * 1994-05-19 1995-11-28 Sanyo Electric Co Ltd 自走式掃除機
WO1999007272A1 (fr) * 1997-08-11 1999-02-18 Koninklijke Philips Electronics N.V. Aspirateur avec buse d'aspiration et organes d'entrainement electriques reglables
KR20060064330A (ko) * 2004-12-08 2006-06-13 주식회사유진로보틱스 청소용 로봇 및 그 청소방법
KR100602226B1 (ko) * 2005-01-20 2006-07-19 엘지전자 주식회사 스윙브러시를 갖는 직립형 진공청소기
JP2006240361A (ja) * 2005-03-01 2006-09-14 Toshiba Corp 操作力アシストシステム及び電気掃除機

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07308272A (ja) * 1994-05-19 1995-11-28 Sanyo Electric Co Ltd 自走式掃除機
WO1999007272A1 (fr) * 1997-08-11 1999-02-18 Koninklijke Philips Electronics N.V. Aspirateur avec buse d'aspiration et organes d'entrainement electriques reglables
KR20060064330A (ko) * 2004-12-08 2006-06-13 주식회사유진로보틱스 청소용 로봇 및 그 청소방법
KR100602226B1 (ko) * 2005-01-20 2006-07-19 엘지전자 주식회사 스윙브러시를 갖는 직립형 진공청소기
JP2006240361A (ja) * 2005-03-01 2006-09-14 Toshiba Corp 操作力アシストシステム及び電気掃除機

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI635835B (zh) * 2015-07-13 2018-09-21 Ｌｇ電子股份有限公司 清掃機以及控制該清掃機的方法
US10638905B2 (en) 2015-07-13 2020-05-05 Lg Electronics Inc. Cleaner and control method therefor
EP3566629A1 (fr) * 2018-05-11 2019-11-13 HiZero Technologies Co., Ltd Robot de nettoyage
US10765287B2 (en) 2018-05-11 2020-09-08 Hizero Technologies Co., Ltd. Cleaning robot

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