WO2019031800A1 - 로봇청소기 - Google Patents
로봇청소기 Download PDFInfo
- Publication number
- WO2019031800A1 WO2019031800A1 PCT/KR2018/008933 KR2018008933W WO2019031800A1 WO 2019031800 A1 WO2019031800 A1 WO 2019031800A1 KR 2018008933 W KR2018008933 W KR 2018008933W WO 2019031800 A1 WO2019031800 A1 WO 2019031800A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- bumper
- main body
- movement
- impact
- guider
- Prior art date
Links
Images
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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4044—Vacuuming or pick-up tools; Squeegees
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0466—Rotating tools
- A47L9/0477—Rolls
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Definitions
- the present invention relates to a robot cleaner, and more particularly, to a robot cleaner for relieving an impact with a bumper.
- the cleaning robot is a mobile robot that travels by itself in a certain area and can automatically clean the cleaning space by sucking foreign substances such as dust accumulated on the floor, or can be cleaned in such a manner that it moves by using a rotation map and wipes the floor with a rotation map have.
- the cleaning mobile robot may be impacted by the structure of the house or other obstacles, and may include a bumper structure to mitigate the impact. Inside the structure of the bumper, it includes an impact sensor that detects the impact, and senses the impact in each direction.
- the impact sensor generally has one sensor in each direction to sense the impact in each direction. When there are many directions requiring impact detection, the number of impact sensors must be increased accordingly. Therefore, It is a problem in terms of.
- Another object of the present invention is to provide a robot cleaner that adjusts the moving direction of a bumper.
- a robot cleaner including: a main body forming an outer shape; Moving means for moving the main body; A bumper protruding from an outer periphery of the main body; A shock sensor disposed at an angle to the main body to sense movement of the bumper; And a pressing portion whose curved end portion is pressed to press the impact detecting sensor when the bumper moves, so that the impact detecting sensor can detect an impact in at least two directions.
- the pressing portion of the robot cleaner according to the present invention is protruded to the rear of the bumper, and the main body has a pressing portion insertion hole for inserting the pressing portion from one side thereof, so that the pressing portion protrudes to the rear of the bumper, .
- the main body of the robot cleaner according to the present invention is connected to the bumper on the first surface and on the second surface perpendicular to the first surface so that the bumper is stably connected to the main body.
- the impact detection sensor of the robot cleaner according to the present invention includes a pair of left and right symmetrically arranged pairs of left and right virtual center lines dividing the bumper, A switch lever to be received; A sensor body for sensing a shock of the bumper by movement of the switch lever; And a rotating roller rotatably mounted on an end of the switch lever, wherein the switch lever is inclined rearward with respect to the imaginary center line so that the front and the side of the main body can be sensed.
- the end portion of the pressing portion of the robot cleaner according to the present invention is formed to surround the rotating roller so that the robot cleaner can sense the two directions.
- the robot cleaner according to the present invention may further include a movement guide unit configured to limit a movement range of the bumper and a placement restoration unit configured to restore a position of the bumper modified by an external impact, It is possible to prevent breakage and to detect a repeated impact.
- the movement guide unit of the robot cleaner according to the present invention includes a protruding guider protruding from the main body to limit the movement of the bumper, a bumper guider forming guide holes around the protruding guider and guiding movement of the bumper,
- the bumper guider includes a front bumper guider disposed on an imaginary center line dividing the bumper in a front portion of the bumper and a pair of rear bumper guiding members disposed symmetrically to the left and right with respect to a center line behind the front bumper guider Including the guider, to prevent the bumper from escaping from the main body due to impact applied to the bumper.
- the movement guide portion of the robot cleaner according to the present invention further includes a fixing nut which is fastened to the protruding guider within a range that does not restrict movement of the bumper in the front, rear, and left and right directions, so that the bumper is fixed to the main body movably.
- the restoration portion of the robot cleaner according to the present invention includes: a first protruding member protruding from the main body; A second projecting member projecting from the bumper in parallel with the first projecting member; And an elastic member elastically connecting the first projecting member and the second projecting member to detect a repeated impact applied to the bumper.
- the robot cleaner according to the present invention is configured such that the impact sensor is inclined and the pressing portion is formed in a banded shape at the end of the impact sensor, so that a small number of impact sensors can detect shocks in various directions, And advantages in terms of cost.
- the robot cleaner of the present invention is advantageous in that the protruding guider moves in the range of the bumper guider to limit movement of the bumper, thereby preventing breakage of the robot cleaner due to excessive movement of the bumper.
- the robot cleaner of the present invention is advantageous in that the pressing portion for pressing the impact sensor to the rear of the bumper is protruded so long as the robot cleaner is sensitive to the impact in front of the robot cleaner.
- FIG. 1 is a perspective view of a robot cleaner according to an embodiment of the present invention.
- FIG. 2 is a front view of Fig.
- FIG. 3 is a side view of Fig.
- FIG. 4 is a bottom view of Fig.
- FIG. 5 is a view showing a state where a main body and a bumper of a robot cleaner according to an embodiment of the present invention are separated.
- FIG. 6 is a view illustrating a main body according to an embodiment of the present invention.
- FIG. 7 is a view showing a bumper according to an embodiment of the present invention.
- Fig. 8 is a plan view of Fig. 7.
- FIG. 9 is a cross-sectional view taken along line IX-IX 'of FIG. 3; FIG.
- FIG. 10 is a view showing a state in which the lower structure of the bumper according to the embodiment of the present invention is separated.
- FIG. 11 is a view showing an upper structure of a main body and a bumper of a robot cleaner according to an embodiment of the present invention.
- FIG. 12 is a view of the fixing member removed in FIG. 11; FIG.
- FIG. 13 is a view showing a state in which the base of the main body is removed in Fig.
- FIG. 14A is a view for explaining the basic positions of the impact sensing part and the movement guide part according to the movement of the bumper according to one embodiment of the present invention.
- FIG. 14B is a view for explaining the positions of the impact sensing part and the movement guide part according to the movement of the bumper when an impact is applied at the front center of the bumper according to an embodiment of the present invention.
- FIG. 14C is a view for explaining the positions of the impact sensing part and the movement guide part according to the movement of the bumper when an impact is applied to the front side of the bumper according to one embodiment of the present invention.
- FIG. 14D is a view for explaining the positions of the impact sensing part and the movement guide part according to the movement of the bumper when an impact is applied to the side surface of the bumper according to an embodiment of the present invention.
- FIG. 1 is a perspective view of a robot cleaner according to an embodiment of the present invention.
- 2 is a front view of Fig. 3 is a side view of Fig. 4 is a bottom view of Fig.
- FIG. 5 is a view showing a state where a main body and a bumper of a robot cleaner according to an embodiment of the present invention are separated.
- 6 is a view illustrating a main body according to an embodiment of the present invention.
- 7 is a view showing a bumper according to an embodiment of the present invention.
- Fig. 8 is a plan view of Fig. 7.
- Fig. FIG. 9 is a cross-sectional view taken along line IX-IX 'of FIG. 3; FIG.
- the robot cleaner according to the present embodiment includes a main body 20 forming an outer shape; A moving means (50) for moving the main body; A bumper (100) protruding from the outer periphery of the main body; An impact sensor (40) inclined to the main body to sense movement of the bumper; And a pressing portion 112 having a curved end portion for pressing the impact detection sensor when the bumper moves.
- the moving means of the robot cleaner may include a wheel, a rolling mower, or a spin mower as means for moving the main body 20 for traveling.
- the spin mower 50 which rotates in contact with the floor, As a moving means.
- the present invention is not limited to this, but may be applied to a robot cleaner used as a moving means such as a wheel.
- the main body 20 of the robot cleaner according to the present embodiment may further include a control unit (not shown) for controlling the driving motor and the moving means for driving the spin pump, which is the moving means 50.
- the control unit determines the position of the obstacle by detecting the impact of the front or the left and right rooms with the impact detection sensor 40 to be described below or determines the presence or absence of a cliff bottom in the cleaning area by the cliff sensors 150a and 150b The material of the floor can be discriminated.
- the main body 20 may further include a storage unit for storing water according to the functions of the robot cleaner, a flow path and a pump for supplying water stored in the storage unit to the spin water pump.
- the main body 20 may be constituted by an upper cover covering the upper part and a base connected with the spinmat 50 or the bumper 100 constituting the moving means to protect the internal structure.
- the base according to this embodiment forms a step at a portion connected to the bumper.
- the main body according to the present embodiment may be connected to the bumper on the first and second surfaces 22 and 24, which are different from each other.
- the first surface 22 and the second surface 24 may be formed perpendicular to each other.
- the first surface 22 of the main body according to the present embodiment is a front surface and the second surface 24 is a surface facing downward.
- a pressing portion insertion hole 26 into which a pressing portion of a bumper to be described below is inserted is formed on the first surface 22 of the main body 20 .
- the protruding guider 28 of the movement guide portion and the first protruding member 30 of the disposition restoration portion are protruded.
- the robot cleaner 10 is arranged such that the spin mats 50 are inclined by a predetermined angle? With respect to the bottom surface.
- the robot cleaner 10 is arranged so as not to come into contact with the floor surface evenly on the entire surface of the spin mitt 50 but to be tilted by a certain angle?
- the main body 20 is connected to the moving means.
- the main body 20 is moved by the moving means.
- the moving means includes a driving unit driven by a power source such as a motor, and a spin weight 50 moved by driving the driving unit.
- the main body 20 is connected to the bumper 100 at one side.
- the bumper 100 is disposed to protrude from the main body 20.
- the bumper (100) cushions the impact applied to the main body (20).
- the bumper 100 is disposed so as to protrude in the traveling direction of the robot cleaner 10.
- the bumper 100 is disposed so as to protrude from left and right chambers of the moving direction and the moving direction of the robot cleaner 10.
- the bumper 100 according to the present embodiment is disposed so as to protrude forward of the main body 20.
- the bumper (100) is disposed so as to protrude from the front of the main body (20) and left and right rooms.
- an impact detection sensor 40 which is a constitution of an impact detection unit to be described below, is disposed inside the main body.
- a pressing portion insertion hole 26 into which a pressing portion 112 protruding to the rear of the bumper 100, which is a constitution of the impact sensing portion to be described later, is inserted is formed at one side of the main body. 9, the pressing portion insertion hole 26 is formed to be larger than the cross section of the pressing portion body 114 passing through the pressing portion insertion hole 26. As shown in Fig.
- the bumper 100 is disposed on one side of the main body 20.
- the bumper (100) is disposed below the main body (20).
- the bumper 100 is connected to the main body 20 so as to be movable below the main body 20.
- the bumper 100 includes a housing 102 that forms an outer shape and the housing 102 includes an upper cover 104 disposed to face the main body 20 and a structure inside the bumper 100 And a lower cover 106, which engages with the upper cover 104, below the upper cover 104 to protect the upper cover 104. As shown in FIG.
- the pressing portion protrudes rearward from the rear surface of the housing 102.
- the upper surface 108 of the housing is formed with a guide hole 126 of a movement guide portion for restricting the movement of the bumper and a pressing portion for transmitting an impact applied to the bumper to the impact sensor is protruded from the rear surface of the housing.
- the pressing portion protrudes rearward from the rear surface of the housing 102.
- a cleaning module 140 for removing foreign matters on the surface to be cleaned can be accommodated inside the bumper 100 according to the present embodiment.
- a space for receiving the cleaning module 140 may be formed in the housing of the bumper according to the present embodiment.
- the cleaning module 140 includes a pair of dust containers 144 which receive foreign substances introduced into the inside of the bumper 100 housing 102 and are detached and removed from the lower side of the housing 102; And a pair of agitators 142 disposed inside the housing 102 to send foreign substances present on the surface to be cleaned by the rotation operation to the pair of dust containers 160.
- the pair of agitators 142 sweeps the surface to be cleaned by the rotating operation and moves the foreign substances present on the surface to be cleaned to the dust container 144 disposed at the rear.
- the robot cleaner 10 may include a spin wheel 50 and a auxiliary wheel 146 disposed at a forwardly spaced position.
- the bumper 100 according to the present embodiment includes the auxiliary wheels 146 contacting the floor.
- the auxiliary wheel 146 is disposed on the bottom surface of the housing 102 of the bumper 100.
- the auxiliary wheel 146 prevents the robot cleaner 10 from rolling over in the front-rear direction.
- the auxiliary wheels 146 provide a relative position of the cleaning module 140 to the floor, thereby allowing the cleaning module 140 to efficiently perform cleaning.
- the auxiliary wheel 146 is disposed on the lower side of the bumper 100 housing 102.
- the auxiliary wheel 146 smoothes the back and forth movement of the bottom surface of the bumper 100. 7, the auxiliary wheel 146 is provided such that the bottom of the bumper 100 housing 102 is spaced apart from the bottom in a range where the pair of editors 142 can contact the horizontal bottom.
- the bumper 100 may be provided with a plurality of auxiliary wheels 146a, 146b, 146m.
- the plurality of auxiliary wheels 146a, 146b, 146m may be provided symmetrically.
- the robot cleaner 10 may include a pair of auxiliary wheels 146a and 146b disposed on the left and right sides of the bumper 100, respectively.
- the left auxiliary wheel 146a is disposed on the left side of the cleaning module 140.
- the right auxiliary wheel 144b is disposed on the right side of the cleaning module 140.
- the pair of auxiliary wheels 144a and 144b are disposed at left and right symmetrical positions.
- a central assistant wheel 144m may be provided.
- the center assistant wheel 144m is disposed between the pair of dust containers 143. [
- the center assistant wheel 144m is disposed at a position spaced apart in the front-rear direction from the pair of auxiliary wheels 144a and 144b.
- the robot cleaner 10 may include a cliff sensor 150a or 150b for detecting the presence or absence of a cliff on a floor in a moving area.
- the robot cleaner 10 according to the present embodiment may include a plurality of cliff sensors 150a and 150b.
- the cliff sensor 150a 150b according to the present embodiment may be disposed at a front portion of the robot cleaner 10.
- the cliff sensor 150a 150b according to the present embodiment may be disposed on one side of the bumper 100.
- the cliff sensors 150a and 150b may include at least one light emitting element and at least one light receiving element.
- the control unit can determine the material of the bottom based on the amount of light reflected by the bottom of the light output from the light emitting element and received by the light receiving element.
- control unit determines the material of the floor as a hard floor, and if the light amount of the reflected light is smaller than the predetermined value, can do.
- the floor may have different degrees of light reflection depending on the material, and a hard floor may reflect a relatively large amount of light, and a carpet may reflect less light relatively. Therefore, the control unit can determine the material of the bottom based on the amount of the reflected light, which is reflected from the floor and received by the light receiving element, from the light emitting element.
- the controller determines that the floor material is a hard floor, and if the light amount of the reflected light is smaller than the predetermined reference value, can do.
- the reference value for determining the material of the floor may be set for each distance between the floor and the cliff sensors 150a and 150b.
- the reference value when the distance from the floor detected by the cliff sensors 150a and 150b is 25 mm and the reference value when the distance is 35 mm may be different.
- control unit can be used as a criterion of the bottom material only when the distance from the floor detected by the cliff sensors 150a and 150b is a certain distance or more.
- control unit can determine the material of the floor based on the amount of reflected light detected when the distance from the floor detected by the cliff sensors 150a and 150b is 20 mm or more.
- the carpet can be identified based on the amount of reflected light detected by the cliff sensors 150a and 150b, and the amount of reflected light detected by the cliff sensors 150a and 150b and the motor load current value
- the floor condition can be distinguished by double or triple. Thus, the floor condition can be more accurately identified.
- the bumper 100 is disposed in front of the robot cleaner 10 and can detect obstacles or cliffs disposed in the moving direction of the robot cleaner and detects the material of the floor disposed in the forward direction can do.
- FIG. 10 is a view showing a state in which the lower structure of the bumper according to the embodiment of the present invention is separated.
- 11 is a view showing an upper structure of a main body and a bumper of a robot cleaner according to an embodiment of the present invention.
- FIG. 12 is a view of the fixing member removed in FIG. 11;
- FIG. 13 is a view showing a state in which the base of the main body is removed in Fig.
- FIG. 10 the impact sensing unit, the movement guide unit, and the arrangement restoring unit of the robot cleaner according to the present embodiment will be described with reference to FIGS. 10 to 13.
- FIG. 10 the impact sensing unit, the movement guide unit, and the arrangement restoring unit of the robot cleaner according to the present embodiment will be described with reference to FIGS. 10 to 13.
- FIG. 10 the impact sensing unit, the movement guide unit, and the arrangement restoring unit of the robot cleaner according to the present embodiment
- the robot cleaner 10 includes an impact detection unit for detecting an impact generated in the bumper 100, a movement guide unit for restricting the movement of the bumper 100, and a bumper 100 And a restoration unit for restoring the restoration.
- the impact sensing unit senses an impact of the bumper 100 due to an external force.
- the impact detection unit senses the impact of the bumper 100 by the impact detection sensor 40.
- the impact generated in the bumper 100 is an external pressure applied to the bumper 100 irrespective of whether the bumper 100 moves or abuts against an external object during movement of the robot cleaner, (100).
- the impact sensing unit includes an impact sensing sensor 40 for sensing an external impact and a pressing unit 112 for transmitting the impact generated from the bumper 100 to the impact sensing sensor 40.
- the impact detection sensor 40 is fixedly disposed inside the main body 20.
- the impact detection sensor 40 according to the present embodiment is disposed inside the main body 20 and behind the pressing portion insertion hole 26.
- the impact detection sensor 40 detects the movement of the bumper 100.
- the shock sensor 40 includes a switch lever 44 for receiving the impact of the bumper 100 by the movement of the pressing portion 112 and a sensor body 44 for sensing the impact of the bumper 100 by the movement of the switch lever 44.
- the switch lever 44 according to the present embodiment can be rotatably mounted on the end portion of the rotary roller 46.
- the impact detection sensor 40 is disposed symmetrically with respect to the imaginary center line X-X 'that divides the bumper 100 into left and right sides.
- the impact detection sensor 40 senses an impact of the bumper 100 occurring in a range between the side direction and the front direction in the direction in which the impact detection sensor 40 is disposed based on the center line X-X '.
- Each shock detection sensor 40 is disposed at an inclination as shown in FIG.
- the switch lever is disposed obliquely rearward from the sensor body 42, as shown in Fig.
- the angle? 1 inclined from the center line (X-X ') of the switch lever can be formed between 30 ° and 60 °.
- the pressing portion 112 protrudes from one surface of the bumper 100 in the direction in which the impact detection sensor 40 is disposed.
- the pressing portion 112 according to the present embodiment protrudes in the direction of the impact detection sensor 40 disposed at the back of the bumper 100.
- the pressing portion 112 includes an end portion 116 forming a curved surface to press one side of the impact detecting sensor 40 and a pressing portion body 114 projecting from the rear of the bumper and leading to the end portion 116.
- the pressing portion body 114 protrudes to the rear of the bumper and extends into the main body 20 through the pressing portion insertion hole 26 of the main body.
- the pressing portion insertion hole 26 is formed to be larger than the cross section of the pressing portion body 114 penetrating the pressing portion insertion hole 26 to enable the bumper 100 to move left and right.
- the pressing portion 112 protrudes from the rear surface of the bumper 100.
- the pressing portion 112 moves together with the bumper 100.
- the end portion 116 of the pressing portion 112 is disposed adjacent to or in contact with the end portion of the switch lever 44.
- the pressing portion 112 has a bar shape protruding rearward of the bumper 100, and the end portion 116 has a curved shape.
- the pressing portion 112 presses the end portion of the switch lever 44 with the impact of the bumper 100 generated between the side direction and the front direction of the bumper 100.
- the pressing unit 112 transmits the impact generated in the bumper 100 to the impact sensor 40.
- the pressing portion 112 is disposed adjacent to the end portion of the switch lever 44. [
- the end of the pressing portion 112 has the shape of a curved surface that surrounds one side of the rotary roller 46 disposed at the end of the switch lever 44.
- the pressing portion 112 has a shape to enclose an end portion of the switch lever 44.
- the robot cleaner 10 includes a movement guide portion that limits the movement range of the bumper 100.
- the movement guide unit includes a protruding guider 28 protruding from the main body 20 and restricting the movement of the bumper 100 and a guide hole 126 formed around the protruding guider 28, And a bumper guider 120 for guiding the bumper.
- the movement guide portion restricts the movement of the bumper (100). Even if an excessive impact is applied to the bumper 100, the bumper 100 does not move over a certain range by the movement guide portion.
- the bumper guider 120 is formed on the bumper 100.
- the bumper guider 120 forms a guide hole 126 having a substantially inverted triangular shape.
- the protruding guider 28 is disposed behind the guide hole 126 of the bumper in a state where no external force is applied (hereinafter referred to as a "reference position").
- the bumper guider 120 moves with the bumper 100.
- the movement of the bumper guider 120 is restricted by the protruding guider 28.
- the protruding guider 28 is a member protruding from the main body 20.
- the protruding guider 28 is disposed inside the guide hole 126 formed by the bumper guider 120.
- a fixing nut 130 connecting the bumper 100 to the main body 20 is fastened to the end of the protruding guider 28.
- the fixing nut 130 is fastened to the protruding guider 28 in a range that does not limit the front, rear, and lateral movement of the bumper 100.
- the protruding guider 28 and the fixing nut 130 restrict the upward and downward movement of the bumper 100.
- the bumper guider 120 includes a rear bumper guider 124 disposed on a hypothetical center line X-X 'that separates the bumper 100 from the rear portion of the bumper 100, And a front bumper guider 122 disposed symmetrically to the left and right with respect to the center line X-X 'in front.
- the rear bumper guider 124 includes a left rear bumper guider 124a formed on the left side of the center line X-X 'and a right rear bumper guider 124b formed on the right side of the center line X-X'.
- the left rear bumper guider 124a and the right rear bumper guider 124b have a shape and an arrangement symmetrical with respect to the center line X-X '.
- the robot cleaner 10 includes an arrangement restoring unit for restoring the bumper 100, which has been moved by an external impact, to a reference position.
- the reference position of the bumper 100 means a position where the bumper 100 is held when an external force is not applied.
- the bumper 100 maintains the reference position by the elastic force of the elastic member 134 of the arrangement restoring portion when an external force is not applied.
- the bumper 100 according to the present embodiment is laterally symmetrical with respect to the center line X-X ', and protrudes forward.
- the arrangement restoring portion includes a first protruding member 30 protruding from the main body 20, a second protruding member 132 protruding from the bumper 100 in parallel with the first protruding member 30, And an elastic member 134 connecting the second protruding member 132 and the bumper 100 to restore the position of the bumper 100 to the reference position.
- a protrusion member hole (156) through which the first protrusion member (30) penetrates is formed.
- the first projecting member 30 is disposed farther from the center line X-X 'than the second projecting member 132 and forward.
- the arrangement restoring portion includes a left restoring portion provided on the left side of the bumper 100 and a right restoring portion provided on the right side of the bumper 100.
- Each of the left restoring portion and the right restoring portion includes a first protruding member 30, a second protruding member 132, and an elastic member 134.
- the left restoring portion applies an elastic force to the left front side of the main body 20 and the right restoring portion applies the elastic force to the front right side of the main body 20 to the bumper 100.
- the elastic forces generated in the elastic members 134 of the left restoring portion and the right restoring portion are the same, and only the directions are different.
- the bumper 100 protrudes toward the front center of the main body 20 due to the elastic force applied to the bumper 100 at the same time by the left restoring portion and the right restoring portion.
- FIG. 14 is a view for explaining a position change of the impact sensing part and the movement guide part according to the movement of the bumper according to the embodiment of the present invention.
- description will be given of the movement of the bumper guide and recognition of the impact detection unit according to each case in which an impact is applied to the bumper.
- the bumper 100 moves.
- the pressing portion 112 moving together with the bumper 100 presses the impact detection sensor 40.
- the bumper 100 maintains the reference position while the external force does not act on the bumper 100, and the pressing portion 112 does not press the impact detection sensor 40.
- each protruding guide is located on the front side of the guider hole formed by each bumper guider 120.
- the bumper 100 moves in a direction opposite to the side to which the impact is applied.
- the pressing portion 112 disposed on the left side presses the impact detection sensor 40.
- the end portion 116 of the pressing portion 112 disposed on the left side presses the impact detection sensor 40.
- the protruding guider 28 disposed inside the guider hole formed by the front bumper guider 122 by the movement of the bumper 100 is positioned on the left side of the guider hole.
- the robot cleaner 10 can detect the position where the obstacle is disposed by the operation of the impact detection sensor 110. [ As shown in FIG. 14B, when both the left shock sensor 40 and the right shock sensor 40 of the robot cleaner 10 operate, it can be seen that the obstacle is located ahead.
- the robot cleaner 10 can recognize that the obstacle is located in the left front direction or the left direction when the left impact sensing sensor 40 is operated. Similarly, when the right side impact sensor 40 is operated, the robot cleaner 10 can recognize that the obstacle is located in the right front direction or the right direction.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (15)
- 외형을 형성하는 메인바디;상기 메인바디를 이동시키는 이동수단;상기 메인바디의 외측 둘레에 돌출되게 배치된 범퍼;상기 범퍼의 이동을 감지하도록 상기 메인바디에 경사지게 배치된 충격감지센서; 및상기 범퍼가 이동할 때, 상기 충격감지센서를 가압하도록 단부가 곡면으로 형성된 가압부를 포함하는 로봇청소기.
- 제 1 항에 있어서,상기 가압부는 상기 범퍼의 후방으로 돌출 형성되며,상기 메인바디는 일측에서 상기 가압부가 삽입되는 가압부삽입홀이 형성되는 로봇청소기.
- 제 1 항에 있어서,상기 메인바디는 제1면과, 상기 제1면에 수직한 제2면에서 상기 범퍼와 연결되는 로봇청소기.
- 제 3 항에 있어서,상기 제1면에는, 상기 범퍼의 후방으로 돌출되는 상기 가압부가 관통하는 가압부삽입홀이 형성되고,상기 제2면에는, 상기 범퍼의 움직임을 제한하는 돌출가이더가 돌출되는 로봇청소기.
- 제 1 항에 있어서,상기 충격감지센서는 상기 범퍼를 좌우로 구분하는 가상의 중심선을 기준으로 좌우 대칭되게 한 쌍이 배치되고,상기 각각의 충격감지센서는,상기 가압부의 이동으로 범퍼의 충격을 전달받는 스위치레버;상기 스위치레버의 이동으로 범퍼의 충격을 감지하는 센서바디; 및상기 스위치레버의 단부에 회전가능하게 장착되는 회전롤러를 포함하며,상기 스위치레버는 상기 가상의 중심선을 기준으로 후방으로 경사지게 배치되는 로봇청소기.
- 제 5 항에 있어서,상기 가압부의 단부는 상기 회전롤러의 일측을 감싸는 곡면형태로 형성된 로봇청소기.
- 제 1 항에 있어서,상기 범퍼의 이동범위를 제한하는 이동가이드부와,외부충격으로 변경된 상기 범퍼의 위치를 복원하는 배치복원부를 더 포함하는 로봇청소기.
- 제 7 항에 있어서,상기 이동가이드부는,상기 메인바디에서 돌출되어 범퍼의 움직임을 제한하는 돌출가이더와, 돌출가이더 주위에서 가이드홀을 형성하고 범퍼의 이동을 가이드하는 범퍼가이더를 포함하고,상기 범퍼가이더는,상기 범퍼의 전방부분에서 상기 범퍼를 좌우로 구분하는 가상의 중심선 상에 배치되는 전방 범퍼가이더와, 상기 전방 범퍼가이더 후방에 배치되고 중심선을 기준으로 좌우에 대칭되게 배치되는 한 쌍의 후방 범퍼가이더를 포함하는 로봇 청소기.
- 제 8 항에 있어서,상기 이동가이드부는,상기 범퍼의 전후 및 좌우 방향 이동을 제한하지 않는 범위에서 상기 돌출가이더와 체결되는 고정너트를 더 포함하는 로봇청소기.
- 제 7 항에 있어서,상기 배치복원부는,상기 메인바디에서 돌출되는 제1돌출부재;상기 범퍼에서 상기 제1돌출부재와 나란하게 돌출되는 제2돌출부재; 및상기 제1돌출부재와 상기 제2돌출부재를 탄성적으로 연결하는 탄성부재를 포함하는 로봇청소기.
- 제 1항에 있어서,상기 범퍼는 외형을 형성하는 하우징을 포함하고,상기 하우징의 상면에는 상기 범퍼의 이동을 제한하는 가이드홀이 형성되고,상기 하우징의 후면에는 가압부가 돌출형성되는 로봇청소기.
- 제 1 항에 있어서,상기 범퍼는 외형을 형성하는 하우징을 포함하고,상기 하우징은 하측으로 착탈되는 한 쌍의 먼지통과, 회전동작으로 피청소면에 존재하는 이물질을 상기 한 쌍의 먼지통으로 보내는 한 쌍의 에지테이터를 수용하는 로봇청소기.
- 제 1 항에 있어서,상기 범퍼의 하측면에 배치되어 상기 범퍼의 하측면을 바닥과 이격시키는 보조 바퀴를 더 포함하는 로봇청소기.
- 제 1 항에 있어서,이동구역 내 바닥에 낭떠러지의 존재 여부를 감지하도록 상기 범퍼에 배치된 클리프센서를 더 포함하는 로봇청소기.
- 제 14 항에 있어서,상기 클리프센서는 하나 이상의 발광 소자와 하나 이상의 수광 소자를 구비하는 로봇청소기.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2018316017A AU2018316017B2 (en) | 2017-08-07 | 2018-08-07 | Robot cleaner |
EP18844056.4A EP3666152B1 (en) | 2017-08-07 | 2018-08-07 | Robot cleaner |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020170099756A KR102014141B1 (ko) | 2017-08-07 | 2017-08-07 | 로봇청소기 |
KR10-2017-0099756 | 2017-08-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019031800A1 true WO2019031800A1 (ko) | 2019-02-14 |
Family
ID=65231968
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2018/008933 WO2019031800A1 (ko) | 2017-08-07 | 2018-08-07 | 로봇청소기 |
Country Status (6)
Country | Link |
---|---|
US (1) | US11096545B2 (ko) |
EP (1) | EP3666152B1 (ko) |
KR (1) | KR102014141B1 (ko) |
AU (1) | AU2018316017B2 (ko) |
TW (1) | TWI691298B (ko) |
WO (1) | WO2019031800A1 (ko) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4003669A4 (en) * | 2019-07-31 | 2023-08-09 | LG Electronics Inc. | MOBILE ROBOT |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20200139576A (ko) * | 2019-06-04 | 2020-12-14 | 삼성전자주식회사 | 로봇청소기 |
KR102139704B1 (ko) | 2019-06-11 | 2020-07-30 | 주식회사 에코이엔지 | 먼지제거장치 |
KR102281346B1 (ko) * | 2019-07-25 | 2021-07-23 | 엘지전자 주식회사 | 로봇 청소기 및 그 제어방법 |
WO2021020678A1 (ko) * | 2019-07-31 | 2021-02-04 | 엘지전자 주식회사 | 청소기 |
KR102314535B1 (ko) * | 2019-07-31 | 2021-10-18 | 엘지전자 주식회사 | 이동로봇 |
WO2021020680A1 (ko) * | 2019-07-31 | 2021-02-04 | 엘지전자 주식회사 | 청소기 |
US11969125B2 (en) | 2019-07-31 | 2024-04-30 | Lg Electronics Inc. | Mobile robot |
WO2021020675A1 (ko) * | 2019-07-31 | 2021-02-04 | 엘지전자 주식회사 | 이동 로봇 |
USD938677S1 (en) * | 2019-08-28 | 2021-12-14 | Lg Electronics Inc. | Robotic vacuum cleaner |
USD943227S1 (en) * | 2019-08-28 | 2022-02-08 | Lg Electronics Inc. | Robotic vacuum cleaner |
USD947474S1 (en) * | 2019-08-28 | 2022-03-29 | Lg Electronics Inc. | Robotic vacuum cleaner |
USD935711S1 (en) * | 2019-08-28 | 2021-11-09 | Lg Electronics Inc. | Robotic vacuum cleaner |
CN110623606B (zh) * | 2019-09-05 | 2024-05-10 | 北京石头创新科技有限公司 | 一种清洁机器人及其控制方法 |
US11717120B2 (en) * | 2019-12-09 | 2023-08-08 | Sharkninja Operating Llc | Robotic cleaner |
CN114901116B (zh) * | 2019-12-30 | 2023-10-31 | Lg电子株式会社 | 扫地机器人 |
CN113892878A (zh) * | 2021-09-30 | 2022-01-07 | 深圳市杉川机器人有限公司 | 清洁件、清洁组件和机器人 |
CN114652226B (zh) * | 2022-03-02 | 2024-01-23 | 深圳市杉川锐创科技有限公司 | 底壳 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10211132A (ja) * | 1997-01-29 | 1998-08-11 | Mitsubishi Electric Corp | 電気掃除機の床ノズル |
KR100835968B1 (ko) * | 2007-02-28 | 2008-06-09 | 엘지전자 주식회사 | 로봇청소기 및 그에 따른 제어방법 |
KR101026003B1 (ko) * | 2003-05-07 | 2011-03-30 | 엘지전자 주식회사 | 로봇 진공청소기의 완충 및 감지장치 |
JP2014137694A (ja) * | 2013-01-16 | 2014-07-28 | Sharp Corp | 自走式電子機器 |
KR101487778B1 (ko) * | 2010-05-11 | 2015-01-29 | 삼성전자 주식회사 | 센싱 시스템 및 이를 갖춘 이동 로봇 |
KR101543490B1 (ko) * | 2008-04-24 | 2015-08-10 | 아이로보트 코퍼레이션 | 로봇 가능화 모바일 제품을 위한 위치 측정 시스템, 위치 결정 시스템 및 운전 시스템의 적용 |
Family Cites Families (101)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2988762A (en) | 1960-02-08 | 1961-06-20 | Hugh H Babcock | Self-steering submarine suction cleaner |
JPS4513591Y1 (ko) | 1967-02-10 | 1970-06-10 | ||
JPS4965061A (ko) | 1972-10-27 | 1974-06-24 | ||
JPS5737431A (en) | 1980-08-18 | 1982-03-01 | Tsutomu Wada | Electric dustcloth |
JPS63168142A (ja) | 1986-12-28 | 1988-07-12 | 松下電器産業株式会社 | 電気掃除機の床ノズル |
JPS63200731A (ja) | 1987-02-16 | 1988-08-19 | 株式会社東芝 | 床面除染装置 |
JP2903952B2 (ja) | 1993-06-25 | 1999-06-14 | 日本鋼管株式会社 | 熱延鋼板のクロップ切断方法 |
US5421053A (en) | 1994-04-28 | 1995-06-06 | Aar Corp. | Removable brush coupling |
JP2842308B2 (ja) | 1995-06-30 | 1999-01-06 | 日本電気株式会社 | 電子機器のバッテリケース実装構造 |
JPH09324875A (ja) | 1996-06-03 | 1997-12-16 | Minolta Co Ltd | タンク |
JP2972626B2 (ja) | 1997-02-28 | 1999-11-08 | 埼玉日本電気株式会社 | バッテリ着脱機構 |
US5998953A (en) | 1997-08-22 | 1999-12-07 | Minolta Co., Ltd. | Control apparatus of mobile that applies fluid on floor |
KR100241620B1 (ko) | 1998-03-16 | 2000-04-01 | 구자홍 | 진공청소기의 걸레판 착탈장치 |
US6792648B2 (en) | 2000-03-28 | 2004-09-21 | Samsung Kwangju Electronics Co., Ltd. | Floor cloth for use in vacuum cleaner and apparatus of vacuum cleaner for rotatably driving the floor cloth |
JP4166425B2 (ja) | 2000-08-31 | 2008-10-15 | アマノ株式会社 | 床面処理機用ブラシ又はパッドの取付装置 |
JP2001249734A (ja) | 2001-01-16 | 2001-09-14 | Fujitsu Ltd | 携帯型コンピュータ及び拡張ステーション |
SE518483C2 (sv) | 2001-02-28 | 2002-10-15 | Electrolux Ab | Hjulupphängning för en självgående städapparat |
JP3641618B2 (ja) | 2002-05-02 | 2005-04-27 | 山崎産業株式会社 | 清掃器具 |
JP2004166968A (ja) | 2002-11-20 | 2004-06-17 | Zojirushi Corp | 自走式掃除ロボット |
JP2004275468A (ja) | 2003-03-17 | 2004-10-07 | Hitachi Home & Life Solutions Inc | 自走式掃除機およびその運転方法 |
KR20050012047A (ko) | 2003-07-24 | 2005-01-31 | 삼성광주전자 주식회사 | 회전 물걸레 청소유닛을 구비한 로봇청소기 |
WO2005011461A1 (en) | 2003-07-30 | 2005-02-10 | Gyung-Hee Hahn | Steam cleaner having vacuum cleaning function |
JP2005211368A (ja) | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | 自走式掃除機 |
JP4133853B2 (ja) | 2004-01-30 | 2008-08-13 | シャープ株式会社 | 自走式掃除機 |
JP2005312702A (ja) | 2004-04-28 | 2005-11-10 | Toshiba Tec Corp | 吸込口体および電気掃除機 |
JP4278591B2 (ja) | 2004-08-31 | 2009-06-17 | 三洋電機株式会社 | 自走装置 |
KR100661339B1 (ko) | 2005-02-24 | 2006-12-27 | 삼성광주전자 주식회사 | 로봇 청소기 |
KR200395016Y1 (ko) | 2005-05-10 | 2005-09-07 | 박연훈 | 회전식 스팀 청소기 |
NZ567040A (en) | 2005-09-02 | 2011-05-27 | Neato Robotics Inc | Mapping an operating environment to locate a robot, including traversing optical data and updating that data |
KR100674564B1 (ko) | 2005-09-08 | 2007-01-29 | 삼성광주전자 주식회사 | 액체공급 스테이션을 구비한 이동로봇 시스템 및액체공급방법 |
KR101253639B1 (ko) | 2006-04-10 | 2013-04-10 | 엘지전자 주식회사 | 로봇 청소기 |
KR100814507B1 (ko) | 2006-08-31 | 2008-03-18 | 에스이씨주식회사 | 회전 물 걸레 겸용 전방위 진공 스팀 청소기 |
KR200437646Y1 (ko) | 2007-01-09 | 2007-12-18 | 황동산 | 탈착가능한 물통을 갖는 스팀청소기 |
KR20080081626A (ko) | 2007-03-06 | 2008-09-10 | 주식회사 대우일렉트로닉스 | 걸레 착탈 장치 및 이를 구비하는 청소기 |
KR100871114B1 (ko) | 2007-04-03 | 2008-11-28 | 엘지전자 주식회사 | 이동로봇 및 그 동작방법 |
KR100848568B1 (ko) | 2007-04-30 | 2008-07-30 | (주)경민메카트로닉스 | 물걸레가 구비된 로봇청소기 |
EP2781178B1 (en) | 2007-05-09 | 2021-04-21 | iRobot Corporation | Autonomous coverage robot |
KR101369220B1 (ko) | 2007-05-15 | 2014-03-06 | 삼성전자주식회사 | 스팀겸용 진공청소기의 흡입브러시 |
US20090064447A1 (en) | 2007-09-07 | 2009-03-12 | Samsung Gwangju Electronics Co., Ltd. | Steam vacuum cleaner |
CN101909502A (zh) | 2007-11-23 | 2010-12-08 | 卡尔·弗罗伊登伯格公司 | 地板清洁装置 |
JP5047825B2 (ja) | 2008-01-31 | 2012-10-10 | アマノ株式会社 | 床面洗浄機 |
US8961695B2 (en) | 2008-04-24 | 2015-02-24 | Irobot Corporation | Mobile robot for cleaning |
KR101164291B1 (ko) | 2008-07-16 | 2012-07-09 | 엘지전자 주식회사 | 청소기의 노즐 |
KR101052118B1 (ko) | 2008-12-26 | 2011-07-26 | 엘지전자 주식회사 | 청소기의 노즐 |
EP2327347B1 (en) | 2008-07-21 | 2015-04-01 | LG Electronics Inc. | Cleaner nozzle |
JP5365470B2 (ja) | 2008-11-26 | 2013-12-11 | 株式会社リコー | カメラボディ、撮像ユニット、撮像システム、その撮像ユニットのカメラボディに対する着脱方法、その撮像ユニットのカメラボディに対する装着方法、その撮像ユニットのカメラボディに対する抜き取り方法 |
CN102666032B (zh) | 2009-10-30 | 2015-01-07 | 悠进机器人股份公司 | 用于移动机器人的滑动检测装置和方法 |
US8892251B1 (en) | 2010-01-06 | 2014-11-18 | Irobot Corporation | System and method for autonomous mopping of a floor surface |
KR20120035519A (ko) | 2010-10-05 | 2012-04-16 | 삼성전자주식회사 | 먼지 유입 감지 유닛 및 이를 구비하는 로봇 청소기 |
KR101338143B1 (ko) | 2010-11-30 | 2013-12-06 | 주식회사 유진로봇 | 이동 로봇의 슬립 감지 장치 및 방법 |
KR101198522B1 (ko) | 2010-12-21 | 2012-11-06 | 엘지전자 주식회사 | 진공청소기 |
AU2011265435B2 (en) | 2010-12-29 | 2014-04-24 | Bissell Inc. | Cleaning implement with mist generating system |
CN105769062A (zh) | 2010-12-30 | 2016-07-20 | 美国iRobot公司 | 碎屑监视 |
GB201103604D0 (en) | 2011-03-01 | 2011-04-13 | Stanley Black & Decker Inc | Steam cleaning apparatus |
KR200458863Y1 (ko) | 2011-03-22 | 2012-03-15 | 어수곤 | 물걸레 로봇청소기 |
KR20120129185A (ko) | 2011-05-19 | 2012-11-28 | 어수곤 | 물걸레 로봇청소기 |
US8898844B1 (en) | 2011-07-08 | 2014-12-02 | Irobot Corporation | Mopping assembly for a mobile robot |
KR101495866B1 (ko) | 2011-11-15 | 2015-02-26 | 주식회사 한울로보틱스 | 로봇 청소기의 추락, 문턱 및 바닥재질 감지장치 및 이를 이용한 감지방법 |
JP2014014455A (ja) | 2012-07-06 | 2014-01-30 | Nikon Corp | 清掃装置 |
KR101822942B1 (ko) | 2012-07-18 | 2018-01-29 | 엘지전자 주식회사 | 로봇 청소기 및 이의 제어 방법 |
KR102123247B1 (ko) | 2012-11-09 | 2020-06-17 | 삼성전자주식회사 | 로봇 청소기 |
CN103899160A (zh) | 2012-12-25 | 2014-07-02 | 博世电动工具(中国)有限公司 | 可释放式自锁装置及包括其的设备 |
AU2014100004A4 (en) | 2013-01-11 | 2014-01-30 | Bissell Inc. | Vacuum cleaner |
KR102015319B1 (ko) | 2013-01-16 | 2019-08-29 | 삼성전자주식회사 | 로봇 청소기 |
US10159393B2 (en) | 2013-03-15 | 2018-12-25 | Omachron Intellectual Property Inc. | Surface cleaning apparatus |
KR101520043B1 (ko) | 2013-07-24 | 2015-05-14 | 에브리봇 주식회사 | 물걸레 로봇청소기 및 청소제어방법 |
KR102278899B1 (ko) | 2013-11-20 | 2021-07-20 | 삼성전자주식회사 | 청소 로봇 및 그 제어 방법 |
KR102083193B1 (ko) | 2013-11-25 | 2020-03-02 | 삼성전자주식회사 | 로봇 청소기 |
KR20150073726A (ko) | 2013-12-23 | 2015-07-01 | 서울바이오시스 주식회사 | 자외선 발광 다이오드가 구비된 로봇 물걸레 청소기 |
KR102117263B1 (ko) | 2013-12-30 | 2020-06-01 | 삼성전자주식회사 | 로봇 청소기 |
KR101544667B1 (ko) | 2014-02-04 | 2015-08-21 | 박인태 | 청소기 |
KR102137524B1 (ko) | 2014-02-13 | 2020-07-24 | 삼성전자주식회사 | 로봇청소기 |
JP6537774B2 (ja) | 2014-02-28 | 2019-07-03 | 住友重機械工業株式会社 | 自走式清掃装置 |
KR101578879B1 (ko) | 2014-03-11 | 2015-12-18 | 에브리봇 주식회사 | 로봇 청소기 및 그의 제어 방법 |
KR101622740B1 (ko) | 2014-03-14 | 2016-05-19 | 에브리봇 주식회사 | 로봇 청소기 및 그의 제어 방법 |
KR20150107398A (ko) | 2014-03-14 | 2015-09-23 | 에브리봇 주식회사 | 로봇 청소기 및 그의 제어 방법 |
JP6345973B2 (ja) * | 2014-04-22 | 2018-06-20 | 東芝ライフスタイル株式会社 | 自律走行体 |
KR101578872B1 (ko) | 2014-05-02 | 2015-12-18 | 에브리봇 주식회사 | 로봇 청소기 및 그 제어 방법 |
KR101689133B1 (ko) | 2014-06-02 | 2016-12-26 | 에브리봇 주식회사 | 로봇 청소기 및 그의 제어 방법 |
KR102138724B1 (ko) | 2014-07-01 | 2020-07-28 | 삼성전자주식회사 | 청소 로봇 및 그 제어 방법 |
EP3177974A1 (de) | 2014-08-06 | 2017-06-14 | Alfred Kärcher GmbH & Co. KG | Verfahren zum bearbeiten einer bodenfläche und bodenbearbeitungsgerät |
KR101578887B1 (ko) | 2014-09-05 | 2015-12-21 | 에브리봇 주식회사 | 습식 청소 장치, 로봇 청소기 및 그의 제어 방법 |
EP3190939B1 (en) | 2014-09-08 | 2021-07-21 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
KR102266928B1 (ko) | 2014-12-02 | 2021-06-18 | 엘지전자 주식회사 | 걸레 모듈 및 이를 구비하는 로봇 청소기 |
CN204581160U (zh) | 2014-12-30 | 2015-08-26 | 唐山市意昌达科技发展有限公司 | 双转盘自动电子拖地机 |
KR102321278B1 (ko) | 2015-01-22 | 2021-11-03 | 에브리봇 주식회사 | 로봇 청소기 및 로봇 청소기 제어 방법 |
KR20160090567A (ko) | 2015-01-22 | 2016-08-01 | 주식회사 파인로보틱스 | 로봇 청소기 및 로봇 청소기 제어 방법 |
KR102324204B1 (ko) * | 2015-01-23 | 2021-11-10 | 삼성전자주식회사 | 로봇 청소기 및 그 제어방법 |
KR20160097085A (ko) | 2015-02-06 | 2016-08-17 | 에브리봇 주식회사 | 로봇 청소기 및 그의 제어 방법 |
KR101602790B1 (ko) | 2015-02-26 | 2016-03-11 | 에브리봇 주식회사 | 로봇 청소기 및 그의 제어 방법 |
US9980556B2 (en) | 2015-05-14 | 2018-05-29 | Rps Corporation | Floor cleaning implement with improved driving interface for use with a floor maintenance machine |
KR101678443B1 (ko) | 2015-09-23 | 2016-12-06 | 엘지전자 주식회사 | 로봇 청소기 |
KR102386214B1 (ko) | 2015-11-19 | 2022-04-14 | 삼성전자주식회사 | 진공청소기 |
CN111973085B (zh) | 2016-04-14 | 2022-09-30 | 北京小米移动软件有限公司 | 自主清洁设备 |
KR20170124216A (ko) | 2016-05-02 | 2017-11-10 | 삼성전자주식회사 | 청소로봇 및 그 제어 방법 |
KR101654014B1 (ko) | 2016-06-21 | 2016-09-06 | 주식회사 파인로보틱스 | 걸레 로봇 청소기 |
KR101979760B1 (ko) | 2016-07-14 | 2019-05-17 | 엘지전자 주식회사 | 이동로봇 |
KR102016918B1 (ko) | 2016-08-31 | 2019-10-22 | 주식회사 파인로보틱스 | 물펌프 기능을 가지는 로봇청소기용 걸레판 |
CN114468875A (zh) | 2016-12-16 | 2022-05-13 | 云鲸智能科技(东莞)有限公司 | 清洁机器人和清洁机器人系统 |
CN106725135B (zh) | 2016-12-16 | 2019-01-15 | 云鲸智能科技(东莞)有限公司 | 基站和清洁机器人系统 |
US11219347B2 (en) | 2017-12-22 | 2022-01-11 | Bissell Inc. | Robotic cleaner |
-
2017
- 2017-08-07 KR KR1020170099756A patent/KR102014141B1/ko active IP Right Grant
-
2018
- 2018-08-06 TW TW107127315A patent/TWI691298B/zh active
- 2018-08-07 AU AU2018316017A patent/AU2018316017B2/en active Active
- 2018-08-07 EP EP18844056.4A patent/EP3666152B1/en active Active
- 2018-08-07 WO PCT/KR2018/008933 patent/WO2019031800A1/ko unknown
- 2018-08-07 US US16/057,448 patent/US11096545B2/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10211132A (ja) * | 1997-01-29 | 1998-08-11 | Mitsubishi Electric Corp | 電気掃除機の床ノズル |
KR101026003B1 (ko) * | 2003-05-07 | 2011-03-30 | 엘지전자 주식회사 | 로봇 진공청소기의 완충 및 감지장치 |
KR100835968B1 (ko) * | 2007-02-28 | 2008-06-09 | 엘지전자 주식회사 | 로봇청소기 및 그에 따른 제어방법 |
KR101543490B1 (ko) * | 2008-04-24 | 2015-08-10 | 아이로보트 코퍼레이션 | 로봇 가능화 모바일 제품을 위한 위치 측정 시스템, 위치 결정 시스템 및 운전 시스템의 적용 |
KR101487778B1 (ko) * | 2010-05-11 | 2015-01-29 | 삼성전자 주식회사 | 센싱 시스템 및 이를 갖춘 이동 로봇 |
JP2014137694A (ja) * | 2013-01-16 | 2014-07-28 | Sharp Corp | 自走式電子機器 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4003669A4 (en) * | 2019-07-31 | 2023-08-09 | LG Electronics Inc. | MOBILE ROBOT |
US11986137B2 (en) | 2019-07-31 | 2024-05-21 | Lg Electronics Inc. | Mobile robot |
Also Published As
Publication number | Publication date |
---|---|
AU2018316017B2 (en) | 2021-10-28 |
EP3666152B1 (en) | 2023-10-18 |
TWI691298B (zh) | 2020-04-21 |
KR102014141B1 (ko) | 2019-10-21 |
KR20190015933A (ko) | 2019-02-15 |
TW201909826A (zh) | 2019-03-16 |
AU2018316017A1 (en) | 2020-03-26 |
EP3666152A4 (en) | 2021-09-15 |
US11096545B2 (en) | 2021-08-24 |
EP3666152A1 (en) | 2020-06-17 |
US20190038107A1 (en) | 2019-02-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2019031800A1 (ko) | 로봇청소기 | |
WO2014035152A1 (en) | Side brush assembly, robot cleaner and control method of robot cleaner | |
WO2018169180A1 (ko) | 로봇 청소기 | |
WO2016137252A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2016129912A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2016137251A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2020262863A1 (en) | Robot cleaner, station, and cleaning system | |
WO2017150829A1 (ko) | 진공 청소기 | |
AU2017389339B2 (en) | Cleaner | |
WO2013006005A2 (ko) | 이동 로봇의 범퍼 조립체 | |
EP2753224B1 (en) | Autonomous cleaning appliance | |
WO2016137250A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2011004916A1 (ko) | 로봇 청소기 | |
WO2013051843A1 (en) | Robot cleaner | |
WO2019054675A1 (ko) | 로봇청소기 및 그 제어방법 | |
WO2016126145A1 (ko) | 로봇 청소기 | |
WO2016021808A1 (ko) | 로봇 청소기 | |
WO2015137764A1 (ko) | 구동유닛 및 이를 포함하는 청소 로봇 | |
WO2019194464A1 (ko) | 로봇 청소기 및 그 제어 방법 | |
WO2021015411A1 (en) | Robot cleaner and method for controlling the same | |
AU2017389340B2 (en) | Cleaner | |
WO2020197123A1 (ko) | 로봇 청소기 | |
WO2022065765A1 (ko) | 흡입 노즐, 흡입 노즐을 포함하는 청소기, 및 청소기의 제어 방법 | |
WO2016159616A1 (ko) | 로봇 청소기 및 그의 제어 방법 | |
WO2021132888A1 (ko) | 이동 로봇 장치 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 18844056 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2018844056 Country of ref document: EP Effective date: 20200309 |
|
ENP | Entry into the national phase |
Ref document number: 2018316017 Country of ref document: AU Date of ref document: 20180807 Kind code of ref document: A |