WO2021015421A1 - 청소기의 제어 방법 - Google Patents
청소기의 제어 방법 Download PDFInfo
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- WO2021015421A1 WO2021015421A1 PCT/KR2020/007895 KR2020007895W WO2021015421A1 WO 2021015421 A1 WO2021015421 A1 WO 2021015421A1 KR 2020007895 W KR2020007895 W KR 2020007895W WO 2021015421 A1 WO2021015421 A1 WO 2021015421A1
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- Prior art keywords
- nozzle
- unit
- driving unit
- suction
- per minute
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0405—Driving means for the brushes or agitators
- A47L9/0411—Driving means for the brushes or agitators driven by electric motor
-
- 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
- A47L9/2842—Suction motors or blowers
-
- 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
- A47L5/225—Convertible suction cleaners, i.e. convertible between different types thereof, e.g. from upright suction cleaners to sledge-type suction cleaners
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L5/24—Hand-supported suction cleaners
-
- 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
- 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
- A47L5/36—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back
- A47L5/362—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back of the horizontal type, e.g. canister or sledge type
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- A47L9/06—Nozzles with fixed, e.g. adjustably fixed brushes or the like
- A47L9/0673—Nozzles with fixed, e.g. adjustably fixed brushes or the like with removable brushes, combs, lips or pads
-
- 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
- A47L9/24—Hoses or pipes; Hose or pipe couplings
- A47L9/242—Hose or pipe couplings
-
- 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
- A47L9/2831—Motor parameters, e.g. motor load or speed
-
- 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
- A47L9/2847—Surface treating elements
Definitions
- the present invention relates to a control method of a cleaner.
- nozzles can be used by connecting to a cleaner by selecting an appropriate nozzle according to the object to be cleaned.
- These nozzles are not simply different in the shape of the nozzle, but are rotatably coupled to the nozzle to drive the rotating cleaning unit and the rotating cleaning unit called an agitator to easily separate and inhale foreign substances from the surface to be cleaned or the surface to be cleaned.
- a nozzle motor is provided separately from the fan motor. The rotary cleaning unit pressurizes or scrapes the surface to be cleaned so that dust or foreign matter is separated from the surface to be cleaned and is sucked into the vacuum cleaner through the suction power of the fan motor.
- the nozzle including the rotating cleaning unit is a bedding nozzle for cleaning bedding, a carpet nozzle for cleaning carpet, a wet mop nozzle for cleaning with water, and a fluffy nozzle for general use, depending on the surface to be cleaned. It can be divided into etc. Accordingly, the user can select an appropriate nozzle and use it after mounting it on the cleaner.
- nozzles may be controlled by a control unit provided in the main body of the cleaner and an auxiliary control unit provided separately in the nozzle. For example, by detecting a change in voltage supplied to the fan motor and the nozzle motor according to the surface to be cleaned, it is possible to generate a control signal so that the output of the fan motor and the nozzle motor is constant. In order to generate a control signal to keep the output of the fan motor and nozzle motor constant, the voltage applied to the fan motor and nozzle motor according to the battery voltage fluctuations, or the voltage having the pulse width modulation duty (PWM Duty) is not fixed, but is variable. Will be ordered. Similar prior literature is US Patent Publication No. US009301665.
- each nozzle can be classified by using a different motor type, for example, a brushless DC (BLDC) motor or a DC motor.
- BLDC brushless DC
- DC motor DC motor
- a constant voltage can be applied without applying a voltage controlled by a pulse width modulation duty (PWM duty) method, and in the case of a DC motor.
- PWM duty pulse width modulation duty
- a voltage controlled by a pulse width modulation (PWM) method or a constant voltage in which the magnitude of the voltage is varied may be applied.
- An object of the present invention is to provide a control method capable of automatically detecting the type of nozzle when two or more different types of cleaner nozzles using the same type of motor are mounted on a cleaner body.
- the present invention has as a solution to provide a control method capable of distinguishing the nozzle type without having a separate detection means.
- the present invention is a problem to provide a method for reducing the deviation of the measured current value.
- the present invention provides a control method for detecting a nozzle according to the type of a nozzle motor included in a nozzle detachable to a cleaner. That is, in the case of applying a voltage controlled by the same fixed pulse width modulation (PWM) method to the nozzle motor or applying a constant voltage by changing the magnitude, the number of revolutions of the motor provided in the nozzle, the gear unit (or power transmission) Depending on the reduction ratio of D) and the presence or absence of the auxiliary control unit provided inside the nozzle, use the ones that show the characteristics of different starting current profiles. This is because the motor and resistance, inductor and capacitance values are all different for each nozzle. Therefore, it is to provide a control method for distinguishing nozzle types by analyzing the measured starting current profile.
- PWM pulse width modulation
- the switching period With the voltage controlled by the fixed pulse width modulation (PWM) method, one set of voltage on and off is called the switching period.
- this switching period is made constant, and on ( On) refers to a voltage in which a ratio of time, that is, a duty ratio or a duty cycle, is constantly controlled. Accordingly, in this case, the voltage signal has a shape such as a square wave and is repeated at a predetermined period.
- the suction unit A fan motor generating a suction force for sucking air along the suction part;
- a first nozzle comprising a first nozzle body connected to or separated from the suction unit, and a first nozzle driving unit accommodated in the first nozzle body to provide power to remove dust;
- a second nozzle including a second nozzle body connected to or separated from the suction unit, and a second nozzle driving unit accommodated in the second nozzle body to provide power to remove dust;
- a measuring unit for measuring a current value according to a control signal applied to the first nozzle or the second nozzle, wherein any one of the first nozzle or the second nozzle is interchangeably connected to the suction unit.
- a method for controlling a cleaner comprising: a fan motor starting step of operating the fan motor and starting to measure a current value at any one of the first nozzle or the second nozzle connected to the suction unit; A nozzle sensing step of detecting which one of the first nozzle and the second nozzle is connected to the suction unit; and operation of the fan motor or the connected nozzle according to the nozzle detected in the nozzle sensing step It is to provide a control method of a cleaner including a; nozzle operation selection step of selecting a method.
- the nozzle detection step is whether the number of revolutions per minute of the first nozzle driving unit and the number of revolutions per minute of the second nozzle driving unit are different, or whether any one of the first nozzle or the second nozzle includes an auxiliary control unit, or When the reduction ratio of the power transmission unit included in the first nozzle driving unit and the second nozzle driving unit is set differently, the first nozzle or the second nozzle may be sensed by using different current values.
- the nozzle sensing step is performed by any one of the first nozzles and the second nozzles mounted on the suction unit.
- a nozzle including a nozzle driving unit having a smaller rotational speed of the first nozzle and the second nozzle may be detected.
- the first reference value means that it is a preset first threshold value for a preset first detection time.
- the nozzle operation selection step may maintain the rotation of the fan motor as it is.
- the nozzle sensing step includes any one of the first nozzle and the second nozzle mounted on the suction unit.
- a nozzle including the auxiliary control unit may be detected.
- the second reference value means that the second threshold value is preset during the second detection time.
- the nozzle operation selection step may stop rotation of the fan motor.
- the nozzle sensing step may be performed on the suction unit of the first nozzle and the second nozzle.
- a nozzle including a power transmission unit having a small reduction ratio may be detected.
- the third reference value means that it is a preset third threshold value for a preset third detection time.
- a third nozzle body connected to or separated from the suction unit, and a third nozzle driving unit accommodated in the third nozzle body to provide power to remove dust.
- the measurement unit includes the third nozzle and the fourth nozzle to the control signal applied to any one of the first nozzle, the second nozzle, the third nozzle, or the fourth nozzle The current value is measured, and any one of the first nozzle, the second nozzle, the third nozzle, or the fourth nozzle including the third and fourth nozzles is exchanged and connected to the suction unit.
- the fan motor starting step includes the third nozzle and the fourth nozzle, and includes the first nozzle, the second nozzle, the third nozzle, or the fourth nozzle.
- the measurement of a current value is started from any one nozzle connected to the suction unit, and in the nozzle sensing step, any one nozzle connected to the suction unit including the third nozzle and the fourth nozzle is the first nozzle, Which nozzle is the second nozzle, the third nozzle, or the fourth nozzle may be detected.
- the nozzle has the lowest number of revolutions per minute, and the other one includes an auxiliary control unit, and the other two nozzles have the same rotational speed per minute of each nozzle driving unit, but vary the reduction ratio of the included power transmission unit.
- the nozzle detection step detects a nozzle including a nozzle driving unit with the lowest rotational speed per minute when the current value measured by any one nozzle mounted on the suction unit is less than a preset first reference value, and the suction unit If the current value measured by any one of the nozzles mounted on is less than or equal to a preset second reference value, it is sensed by the nozzle including the auxiliary control unit, and the current value measured by any one nozzle mounted on the suction unit is a preset second reference value.
- a nozzle including a power transmission unit having a small reduction ratio among the remaining two nozzles may be detected, and when less than the third reference value, a nozzle including a power transmission unit having a large reduction ratio among the remaining two nozzles may be detected.
- control signal is a voltage controlled by a pulse width modulation (PWM) method having a preset voltage, a preset duty ratio, and a preset switching frequency, and the nozzle detection step
- PWM pulse width modulation
- the current value measured at may have a value converted by analog to digital conversion (ADC) by sampling at a preset sampling period.
- ADC analog to digital conversion
- a time for applying the voltage controlled by the pulse width modulation (PWM) method according to the duty ratio and a time for sampling the current value may be synchronized.
- PWM pulse width modulation
- the suction unit A fan motor generating a suction force for sucking air along the suction part;
- a first nozzle comprising a first nozzle body connected to or separated from the suction unit, and a first nozzle driving unit accommodated in the first nozzle body to provide power to remove dust;
- a second nozzle including a second nozzle body connected to or separated from the suction unit, and a second nozzle driving unit accommodated in the second nozzle body to provide power to remove dust;
- a measuring unit that measures a current value according to a control signal applied to the first nozzle and the second nozzle, wherein any one of the first nozzle and the second nozzle is interchangeably connected to the suction unit.
- control method of a cleaner characterized in that, when the power is turned off and the power is turned on after a preset instantaneous power supply time is exceeded, power is supplied to the nozzle mounted for a preset first delay time.
- a method for controlling a cleaner including a nozzle operation selection step of selecting an operation method of the fan motor or the connected nozzle according to the nozzle detected in the nozzle detection step may be provided.
- the power is turned on less than the instantaneous power supply time after the power is turned off, it operates in the same manner as the nozzle installed before the power is turned off without the first delay time. It can be set to do.
- the nozzle sensing step includes a difference between the number of revolutions per minute of the first nozzle driving unit and the second nozzle driving unit, whether the first nozzle or the second nozzle includes an auxiliary control unit, or the first nozzle driving unit and the first nozzle.
- the reduction ratio of the power transmission unit included in the two-nozzle driving unit is set differently, the first nozzle and the second nozzle may be distinguished by using different current values.
- the nozzle sensing step may be performed by any one of the first nozzle and the second nozzle mounted on the suction unit.
- a nozzle including a nozzle driving unit having a smaller rotational speed of the first nozzle and the second nozzle may be detected.
- the rotation of the fan motor may be maintained as it is.
- the nozzle sensing step is performed by any one of the first nozzle and the second nozzle mounted on the suction unit.
- a nozzle including the auxiliary control unit may be detected.
- the nozzle sensing step may be performed on the suction unit of the first nozzle and the second nozzle.
- a nozzle including a power transmission unit having a small reduction ratio may be detected.
- Fig. 1(a) shows an embodiment of a handy type or stick type vacuum cleaner.
- 1(b) shows an embodiment of a canister-type cleaner.
- FIG. 2 is an exploded view of a handy vacuum cleaner.
- Fig. 3(a) shows an embodiment of a nozzle.
- 3(b) is an exploded view of an embodiment of a nozzle.
- 3(c) is an exploded view of an embodiment of a nozzle driving unit.
- Fig. 4(a) shows another embodiment of a nozzle.
- Fig. 4(b) shows another embodiment of a nozzle.
- FIG. 5 shows a starting current profile from a measured current value according to the application of a voltage controlled by the same pulse width modulation (PWM) method as an ADC value by ADC conversion.
- PWM pulse width modulation
- FIG. 6 is a flow chart for nozzle detection using a starting current profile.
- expressions indicating that things are in the same state such as ⁇ same'', ⁇ is the same'', and ⁇ homogeneous'', not only indicate exactly the same state, but also a tolerance or a difference in the degree to which the same function is obtained. It also shows the state.
- an expression indicating a shape such as a square shape or a cylindrical shape not only indicates a shape such as a square shape or a cylindrical shape in a geometrical strict sense, but also includes an uneven portion or a chamfer within the range in which the same effect is obtained. It is assumed that the shape is also shown.
- the expression “to prepare”, “have”, “have”, “include”, or “have” one component is not an exclusive expression excluding the presence of another component.
- FIG. 1 is a perspective view of various types of vacuum cleaners 1000 and 2000 to which an embodiment of the present invention is applied.
- Fig. 1(a) is an embodiment of a handy type or stick type vacuum cleaner 1000
- Fig. 1(b) is an embodiment of a canister type cleaner 2000.
- vacuum cleaners 1000 and 2000 according to an embodiment of the present invention include cleaner bodies 10a and 10b including fan motors (not shown) for generating suction power, and air containing dust. It may include a nozzle (100a, 100b) for sucking. Both vacuum cleaners can be powered by wire or wirelessly using batteries.
- a control method according to an embodiment of the present invention may be applied.
- it can be applied to an upright type vacuum cleaner in which the nozzle is rotatably connected to the main body.
- an extension pipe 15a connecting the cleaner body 10a and the nozzle 100a may be included.
- the extension pipe (15a) is provided in the cleaner body (10a) and is connected to the suction unit (101a) that sucks dust using the suction force generated by the fan motor (630 (see Fig. 2)).
- the nozzle 100a may be directly connected to the cleaner body 10a without the extension pipe 15a.
- dust may be understood as a concept encompassing all foreign matters attached to the surface to be cleaned, such as hair, lint, fine powder, plastic pieces, and carcasses of small insects. Therefore, it can include everything from fine dust that is not visible to the visible and has some weight. Therefore, if the surface to be cleaned is pressed by rotation of the rotary cleaning unit, which will be described later, it may refer to all substances that can be removed from the surface to be cleaned and carried by the suction force of the fan motor.
- the cleaner body 10a may be provided with a handle 540a for gripping by the user. The user may perform cleaning while holding the handle 540a.
- a battery (not shown) may be provided in the cleaner body 10a, and a battery accommodating portion 500a in which the battery (not shown) is accommodated may be provided in the cleaner body 10a.
- the battery accommodating part 500a may be provided under the handle 540a.
- the battery (not shown) may be connected to the nozzle 100a to supply power to the nozzle 100a.
- An operation part 570a is positioned above the handle 540a so that a user can manipulate the operation of the cleaner while in use or turn on or off the power.
- it is not a gun type switch that requires continuous pressing of the switch to operate the vacuum cleaner, but a locking type that turns on the power when pressed once and turns off the power when pressed again. type) switch may be provided.
- a control unit for controlling the fan motor 630 (see Fig. 2) and controlling the nozzle driving unit 140 (see Fig. 3(c)) included in the nozzle 100a.
- the control unit may apply a control signal for controlling the nozzle motor 143 included in the nozzle driving unit 140, and include a measurement unit (not shown) for measuring a current flowing through the nozzle accordingly.
- the control signal may be a voltage that is controlled in a pulse width modulation (PWM) method to control the nozzle motor 143 and has a fixed switching frequency, a PWM duty ratio, and a constant average voltage.
- PWM pulse width modulation
- the measuring unit (not shown) may be a value converted by analog to digital conversion (ADC) rather than measuring the current flowing through the nozzle in an analog method. This will be described later in FIG. 5.
- ADC analog to digital conversion
- the canister-type cleaner 2000 shown in FIG. 1(b) may further include a corrugated pipe 300 connecting the extension pipe 15b and the cleaner body 10b.
- the extension pipe 15b may connect the nozzle 200b and the corrugated pipe 300, and may be connected to a suction unit 101b that sucks dust using suction power generated by a fan motor (not shown).
- a handle 540b for gripping the extension pipe 15b may be provided in a direction of the extension pipe 15b meeting the corrugated pipe 300. The user may perform cleaning while holding the handle 540b.
- a battery (not shown) may be provided in the cleaner body 10b, and, unlike this, power may be supplied by wire from an external power source through a power cord. The supplied power may also be connected to the nozzle 100b to supply power.
- a manipulation unit 570b is positioned above the handle 540b so that a user can manipulate the operation of the vacuum cleaner during use or turn on or off the power.
- it is not a gun type switch that requires continuous pressing of the switch to operate the vacuum cleaner, but a locking type that turns on the power when pressed once and turns off the power when pressed again. type) switch may be provided.
- a switch for supplying power to the cleaner may be located on the cleaner body 10b.
- the cleaner bodies 10a and 10b may include dust bins 400a and 400b in which dust separated from air is stored. Accordingly, dust introduced through the nozzles 10a and 10b may be stored in the dust bins 400a and 400b through the extension tubes 15a and 15b.
- FIG. 2 is an exploded view of a fan motor 630 and a filter unit 700 according to an embodiment of the cleaner body 10a in the handy type or stick type cleaner 1000.
- Other types of vacuum cleaners can be regarded as having the same basic configuration, only the external appearance of the cleaner body 10b is different.
- the cleaner body 10a may further include a fan motor 630 generating a suction force for inhaling air and a filter unit 700 for filtering air.
- the filter unit 700 passes through the suction unit 101a and passes through a pre filter 722 that filters air before being sucked into the fan motor 630, and the fan motor 630 passes through the prefilter 722. It may include a HEPA filter 726 for filtering the air passing through and a filter cover 724 for covering the HEPA filter 726.
- the HEPA filter 726 may be provided in an accommodation space (not shown) formed between partition walls provided below the discharge cover 650.
- the filter cover 724 may cover the receiving space.
- the receiving space is covered by the filter cover 724.
- One or more openings through which air may pass may be provided in the filter cover 244.
- the filter cover 724 may be detachably coupled to the discharge cover 650. Accordingly, the air that has passed through the pre-filter 722 may pass through the fan motor 630 and finally be discharged to the outside through the discharge cover 650 after passing through the HEPA filter 726.
- the cleaner body 10a includes a fan motor 630, a suction part 101a for inhaling air by rotational force of the fan motor, a motor housing 600a including the fan motor 630 and a filter part 700, It may include a dust bin (400a), a handle (540a) and a battery receiving portion (500a).
- the nozzle 100a connected to the suction unit 101a will be described with reference to FIGS. 3 and 4.
- the nozzle 100a may be directly connected to the suction unit 101a, or may be connected to the suction unit 101a through an extension tube 15a (see Fig. 1). .
- the shape of the portion where the extension pipe 15a and the suction portion 101a are coupled is the shape of the portion where the nozzle 100a and the extension pipe 15a are coupled, or the portion where the nozzle 100a and the suction portion 101a are coupled. They can all be the same.
- the nozzle 100a may be directly connected to the suction unit 101a or may be indirectly connected to the suction unit 101a through the extension pipe 15a.
- the nozzle 101a forms the outer shape of the nozzle 101a, and the nozzle body 110 connected to the suction unit 101a, and the nozzle body 110 It may include a rotation cleaning unit 130 that is accommodated and sucks air by rotation and sends it to the suction unit, and a nozzle driving unit 140 for rotating the rotation cleaning unit.
- the nozzle body 110 may include a main body 111 and a connection pipe 120 accommodating a rotation cleaning unit 130 and a nozzle driving unit 140 therein.
- a front opening 111a for inhaling air containing pollutants may be formed in the main body 111.
- air may be introduced through the front opening 111a by the suction force generated by the fan motor 630 of the cleaner body 10a.
- the incoming air may move to the connection pipe 120 through the rotary cleaning unit 130.
- the front opening 111a is formed to extend in the left and right direction of the nozzle body 110 and may be formed to extend to a front portion of the nozzle body 110 as well as a bottom portion of the nozzle body 110. Accordingly, since the suction area can be sufficiently secured, cleaning is possible even if the surface to be cleaned is adjacent to the floor surface or the wall surface.
- the nozzle body 110 may further include a nozzle driving unit 140 that provides power to rotate the rotation cleaning unit 130.
- the nozzle driving unit 140 may be inserted into one side of the rotation cleaning unit 130 to transmit power to the rotation cleaning unit 130.
- this is only an embodiment of transmitting power, and the nozzle driving unit 140 is not inserted into one side of the rotation cleaning unit 130 and is located in a separate space in the direction of the connection pipe 120 so that the rotation cleaning unit 130 It can also be placed alongside.
- the body part 111 may cover at least a part of the upper side of the rotation cleaning part 130.
- the inner circumferential surface of the main body 111 may be formed in a curved shape to correspond to the outer circumferential shape of the rotary cleaning unit 130. Accordingly, the main body 111 may perform a function of preventing the rise of foreign matters collected from the cleaning target surface by rotating the rotary cleaning unit 130.
- the nozzle body 110 may further include side covers 115 and 116 covering both sides of the main body 111. Side covers 115 and 116 may be provided on both sides of the rotary cleaning unit 130.
- the side covers 115 and 116 include a first side cover 115 provided on one side of the rotation cleaning part 130 and a second side cover 116 provided on the other side of the rotation cleaning part 130.
- a nozzle driving part 140 may be fixed to the first side cover 115.
- the nozzle 100a further includes a rotation support unit 150 provided on the second side cover 116 to rotatably support the rotation cleaning unit 130.
- the rotation support unit 150 may be inserted into the other side of the rotation cleaning unit 130 to rotatably support the rotation cleaning unit 130.
- the connection pipe 120 included in the nozzle body 110 may be provided with a detachable button 122 for manipulating the mechanical coupling with the extension pipe 15a (see FIG. 1) or the suction unit 101a.
- a detachable button 122 By operating the detachable button 122, the user can couple or separate the nozzle 100a and the extension tube 15a (see FIG. 1) or between the nozzle 100a and the suction unit 101a.
- the nozzle 100a may further include an auxiliary hose 123 connecting the connection pipe 120 and the main body 111. Accordingly, the air sucked into the body part 111 may move to the cleaner body 10a through the auxiliary hose 123, the connection pipe 120, and the extension pipe 15a (see FIG. 1).
- the auxiliary hose 123 may be made of a flexible material so that the connection pipe 120 can be rotated.
- a hinge hole 114 may be provided at a portion of the main body 111 to which the connection pipe 120 is connected, and a hinge shaft 124 inserted into the hinge hole 114 may be provided in the connection pipe 120. Through this, the connection pipe 120 may be rotatably connected to the main body 111.
- FIG. 3(c) shows an embodiment of the nozzle driving unit 140. Connection between the rotary cleaning unit 130 and the nozzle driving unit 140 is possible in various forms, but Fig. 3(c) shows an embodiment in which a part of the nozzle driving unit 140 is inserted into one side of the rotary cleaning unit 130. . In this case, there is an advantage that a separate space for installing the nozzle driving unit 140 is not required.
- the nozzle driving unit 140 includes a nozzle motor 143 and a nozzle motor supporter 141 for generating a driving force.
- the nozzle motor 143 may be a BLDC motor or a DC motor.
- One side of the nozzle motor 143 may be provided with a PCB installation unit (not shown) on which a printed circuit board (PCB) for controlling the nozzle motor 143 is installed.
- a PCB may be embedded or attached to the PCB installation part. Therefore, when receiving a voltage signal controlled by a PWM method applied from a control unit (not shown) installed in the main body, it starts according to the nozzle motor 143 and the resistance included in the PCB, an inductor, and a capacitor.
- the starting current profile which shows the pattern of the starting current, may be different. That is, this is because the time constant values vary according to resistance, inductance, and capacitance.
- the nozzle motor 143 may be coupled to the nozzle motor supporter 141 by a fastening member such as a bolt.
- a fastening hole for fastening bolts to the nozzle motor supporter 141 may be formed in the nozzle motor 143.
- the nozzle driving unit 140 may further include a power transmission unit 145 for transmitting the power of the nozzle motor 143.
- a power transmission unit 145 for transmitting the power of the nozzle motor 143.
- 4(c) shows that the power transmission unit 145 is provided as a gear as an embodiment of the power transmission unit 145, but unlike this, any structure capable of transmitting power may be used.
- the nozzle driving unit 140 may not be inserted into one side of the rotation cleaning unit 130 and may be provided in a separate space in the direction of the connection pipe 120 in parallel with the rotation cleaning unit.
- the power transmission unit 145 may be provided with a pulley and a belt connecting it, unlike FIG. 4(c).
- the nozzle motor 143 is coupled to the power transmission unit 145.
- a hollow into which the motor 143 is inserted may be formed in the power transmission unit 145.
- the power transmission unit 145 may be bolted to the nozzle motor supporter 141, and for this purpose, a fastening hole may be formed at one side of the power transmission unit 145.
- the power transmission unit 145 transmits the rotational power generated by the nozzle motor 143 to the rotation cleaning unit 130 by appropriately decelerating the number of revolutions per minute of the nozzle motor using a gear ratio or a difference in radius of a pulley. That is, the reduction ratio of the nozzle motor 143 is determined according to the ratio of the gears provided in the power transmission unit 140, and accordingly, the number of revolutions per minute of the rotation cleaning unit 130 is determined. This is to deliver different optimized revolutions per minute and rotation torque depending on the surface to be cleaned.
- the number of revolutions per minute of the nozzle driving unit 140 means the number of revolutions per minute of the nozzle motor 130 before passing through the power transmission unit 145, and after passing through the power transmission unit 145 It does not mean the number of revolutions per minute decelerated according to the reduction ratio.
- the reduction ratio of the nozzle motor 143 means a reduction ratio by a gear or pulley provided in the power transmission unit 145. In this specification, it is expressed as the reduction ratio of the power transmission unit or the reduction ratio of the nozzle motor, but has the same meaning.
- the nozzle driving unit 140 may further include a cover member 147 surrounding the power transmission unit 145.
- the cover member 147 has a function of protecting the power transmission unit 145.
- the nozzle driving unit 140 further includes a shaft (not shown) connected to the power transmission unit 145, and the shaft 148 may be connected to the rotation cleaning unit 130.
- the rotary cleaning unit 130 rotates by a driving force transmitted through the nozzle driving unit 140 and rubs against the surface to be cleaned to remove contaminants.
- the outer circumferential surface of the rotary cleaning unit 130 may be made of a fabric or felt material such as jung ( ⁇ ). Accordingly, foreign substances such as dust accumulated on the surface to be cleaned when the rotary cleaning unit 130 is rotated can be effectively removed by being caught in the outer peripheral surface of the rotary cleaning unit 130.
- Fig. 3 has described the nozzle 100a in the case where the reduction ratio of the power transmission unit 145 is different.
- a power transmission unit 145 for transmitting a driving force between the nozzle motor 143 and the rotary cleaning unit 130 of the nozzle driving unit 140 is provided.
- the power transmission unit 145 has a structure such as a pair of gears interlocked, so that the number of revolutions per minute of the nozzle motor 143 can be reduced by a reduction ratio and transmitted to the rotation cleaning unit 130.
- Fig. 4 relates to nozzles 100c and 100d having different shapes or functions.
- Fig. 4(a) is shown in a shape that is turned upside down so that the direction in contact with the surface to be cleaned is directed to the front in order to show the characteristics of the rotary cleaning unit 130c.
- Fig. 4(b) also shows a form in which the upper surface of the main body 111d is removed to show the rotation cleaning unit 130d, the nozzle driving unit 140d, and the ming auxiliary control unit 135.
- nozzle bodies (110c, 110d) having main body parts (111c, 111d) and connection pipes (120c, 120d), rotating cleaning parts (130c, 130d) and rotating cleaning parts (130c, 130d) It includes a nozzle driving unit (140c, 140d) for transmitting the rotational driving force to.
- the nozzle 100c of FIG. 4A may include a spike-shaped protrusion 131 protruding along the outer circumferential surface of the rotary cleaning unit 130c.
- the nozzle driving unit 140c is inserted into the rotary cleaning unit 130c.
- the number of revolutions per minute of the nozzle driving unit 140c may be the same as or similar to the number of revolutions per minute of the rotation cleaning unit 130c because there is no reduction ratio or small.
- the surface to be cleaned through the protrusion 131 can be tapped to remove dust, so the reaction force received by the rotary cleaning unit 130 through the pressing of the surface to be cleaned is small, and the number of revolutions per minute of the nozzle driving unit 140c is not required. . Accordingly, since the current required for driving is relatively small to other nozzles, the initial current value of the current start profile is very small. Through this, it is possible to distinguish the nozzle 100c with a small number of revolutions per minute. Meanwhile, since the protrusion 131 has a tapping effect, the nozzle 100c having a small number of revolutions per minute may be used for cleaning bedding.
- the nozzle 100d of FIG. 4(b) includes a plurality of rotary cleaning units 130d and a plurality of nozzle driving units 140d respectively rotating them.
- the nozzle 100d may further include a water supply unit (not shown) for supplying water to a rotation pad (not shown) attached to a lower portion of the plurality of rotation cleaning units 130d for water cleaning. Therefore, the nozzle 100d can be used as a mop nozzle.
- the nozzle 100d may include an auxiliary control unit 135 to control the water supply unit and control the plurality of nozzle driving units 140d.
- the auxiliary control unit 135 may control the water supply unit and the plurality of nozzle driving units 140d no matter where it is located inside the nozzle body 110d.
- the auxiliary control unit 135 may include a control component such as a Micom (Micro-process based controller or Micro-computer), which requires a large-capacity capacitor to activate the Micom. I can. Therefore, a time for charging such a large-capacity capacitor is required during the initial operation. As a result, since the starting current profile shows a characteristic pattern in which the current value approaches almost zero at a specific time, the nozzle 100d can be distinguished from other nozzles through this.
- a control component such as a Micom (Micro-process based controller or Micro-computer)
- nozzle (100c) that can be used for bedding
- nozzle (100c) that can be used for bedding
- nozzle (100d) that can be used as a mop because the number of revolutions per minute is small and the reaction force received through the surface to be cleaned is small.
- a nozzle (100a) including a power transmission unit 145 to have an appropriate reduction ratio to the nozzle motor 143 having the revolutions per minute has been described.
- the nozzles 100a, 100c, and 100d have different characteristics and can be used for different purposes.
- the nozzle 100a including the power transmission unit 145 to have an appropriate reduction ratio for the nozzle motor 143 having a high speed of revolutions per minute has a relatively low reduction ratio, such as 3.3:1, Can be used as a nozzle.
- a relatively high reduction ratio for example, 13.5:1, it can be used as a general purpose fluffy nozzle.
- a nozzle 100c having a small rotational speed of the nozzle motor and a small reaction force received through the surface to be cleaned may be used as a bedding nozzle.
- the nozzle 100d including the auxiliary control unit and the water supply unit may be used as a wet mop nozzle.
- each nozzle drive unit The different revolutions per minute of each nozzle drive unit, the presence or absence of the auxiliary control unit, and the difference in the reduction ratio of each power transmission unit enable different types of nozzles to be distinguished. For example, in the case of DC motors of all types of nozzle motors, it is difficult to distinguish them, but each nozzle can be distinguished through a starting current profile.
- the starting current profile is a time versus current that shows the fluctuation of the current value at the start of driving according to the nozzle motor, PCB, and auxiliary control unit provided in the nozzle for the voltage controlled by the pulse width modulation method applied to the nozzle or the constant voltage whose size is varied. It means a graph of values (or values converted by ADC). That is, when the voltage controlled by pulse width modulation is applied to the nozzle through the control unit by turning on the power, the change of the current within the preset nozzle detection time is shown over time.
- the starting current profile shows different aspects depending on the difference in revolutions per minute of the nozzle motor, the difference in the reduction ratio of the nozzle motor or the power transmission unit, and the presence or absence of the auxiliary control unit. Using this, even if the same type of nozzle motor is used, nozzles for different purposes are distinguished. can do.
- the control signal applied to the nozzle may be a voltage controlled by a pulse width modulation (PWM) method or a constant voltage obtained by varying the magnitude of the voltage.
- PWM pulse width modulation
- One set of voltage on and off is called the switching period, and in the pulse width modulation (PWM) method, the switching period is made constant, and the ratio of the on time, that is, duty
- the voltage can be controlled by adjusting the ratio (duty ratio) or duty cycle (duty cycle).
- the duty ratio and the switching frequency are made constant, and the magnitude of the voltage is kept constant.
- PWM pulse width modulation
- a voltage controlled by a fixed pulse width modulation (PWM) method or a PWM voltage By applying such a PWM voltage, a starting current profile can be obtained accordingly.
- a current transducer such as an oscilloscope may be required in order to measure the starting current profile of the nozzle according to the application of the PWM voltage.
- the voltage at both ends of a shunt resistor connected in series to the nozzle can be measured and converted into a current value according to Ohm's law without adding such a costly component. Consequently, it is possible to measure the current value that appears when the nozzle starts to drive.
- the current value is measured in the measuring unit.
- the measuring unit may be included in the control unit or may be provided separately.
- the measurement of the current value may be performed through analog to digital conversion (ADC) for converting an analog signal into a digital signal.
- ADC analog to digital conversion
- This can be accomplished using an ADC converter included in the control unit. Therefore, it is possible to measure the starting current profile that appears initially at the start of the nozzle at a certain sampling time interval (or sampling period), for example, a time interval or period of 10 ms, and convert it by the ADC. This is called ADC sampling (or ADC measurement). Accordingly, the corresponding current value can be converted to have one value from 0 bit or more and 255 bit or less.
- the current does not flow, that is, if the current is 0 amperes, it can be converted to 0 bits and if the current is dimmed to the maximum allowable value (unit: amperes), it can be converted to 255 bits.
- FIG. 5 is an embodiment of a starting current profile showing a value (unit: bit) obtained by converting a current value (unit: bit) to an ADC compared to a sampled time (unit: ms) from driving after mounting a nozzle of a cleaner using the above method.
- the time point at which the PWM voltage is applied and the point at which the ADC is measured must be synchronized.
- it is difficult to distinguish it from the starting current profile of other nozzles because the deviation as much as the ADC sampling interval is added.
- the detection power to detect the nozzle decreases, so synchronization is required to prevent this.
- synchronization refers to performing ADC sampling at a certain point in time and period after applying the PWM voltage by a preset duty cycle. For example, if the current value is obtained through synchronized ADC sampling after applying the PWM voltage according to the duty cycle of the PWM, ADC sampling is performed at a certain time and period, such as 1 ms, 11 ms, 21 ms,... Means that.
- a pulse width modulation duty ratio of 760 may be applied at 23V, which is the minimum voltage that can be operated by the vacuum cleaner battery system.
- 23V the minimum voltage that can be operated by the vacuum cleaner battery system.
- this is only an example, and may vary depending on the standard and situation of the nozzle motor used.
- FIG. 5 schematically illustrates a starting current profile that varies depending on the number of revolutions per minute of the nozzle motor 143 or the nozzle driving unit 140, the difference in reduction ratio of the power transmission unit 145, and the presence or absence of the auxiliary control unit 135.
- a printed circuit board (PCB) for control may be installed on one side of the nozzle motor 143 provided in the nozzle driving unit 140. Therefore, when receiving a PWM-controlled voltage signal applied from a control unit (not shown) installed in the main body, the starting current is applied according to the resistance included in the nozzle motor and PCB, inductor and capacitor.
- a starting current profile indicating the aspect may be different. That is, this is because the time constant values vary according to resistance, inductance, and capacitance. Therefore, this means a different starting current profile depending on the difference in revolutions per minute of the nozzle motor, the difference in reduction ratio of the power transmission unit 147, and whether the auxiliary control unit of the nozzle is installed.
- the controller drives the fan motor 630 and applies a controlled voltage to the nozzle to have a fixed PWM. Accordingly, the current value at the nozzle is measured at a constant sampling interval through ADC sampling. Preferably, it can be measured at 10 ms intervals.
- the reaction force received when the rotary cleaning unit 130c rotates during the rotational movement of the rotary cleaning unit 130c may be small, so that the number of revolutions per minute may be small.
- the driving current value accordingly is small.
- the current profile may be measured to be less than or equal to a preset first reference value.
- the term less than the preset first reference value refers to a case where the current value (or the value converted by the ADC) measured during the preset first detection time is less than or equal to the preset first threshold value CP1.
- the first threshold value has a bit unit converted by the ADC of the measured current value, it means a value having the same unit corresponding thereto. This also applies to the second threshold value CP2 and the third threshold value CP3 below. In other words, in the case of comparing the measured current value, the comparison is performed using the same unit value unless otherwise stated.
- the preset first detection time refers to a time interval between the 1-1st detection time td1-1 and the 1-2nd detection time td-2 at the beginning of driving of the nozzle driving unit 140c. Looking at the starting current profile of the bedding nozzle, it is possible to detect during the first detection time in the first detection area, which is a range below the first threshold. Accordingly, the control method of the present invention can use this to distinguish whether the nozzle currently mounted on the suction unit 101a is a bedding nozzle.
- the number of revolutions per minute of the nozzle driving unit may be relatively large. Accordingly, since a large amount of initial current is required, a current value exceeding the first threshold value during the first sensing time is obtained. In the end, it is possible to distinguish between a bedding nozzle and a non-bedding nozzle.
- the carpet nozzle and the wet mop nozzle having a nozzle driving unit rotating at a high speed require a relatively large amount of current during the first sensing time.
- an auxiliary control unit 135 is required to control a pump (not shown) for supplying water and a plurality of nozzle driving units 130.
- the auxiliary control unit generally includes a control component called a Micom (Micro-process based controller or Micro-computer).
- a Micom Micro-process based controller or Micro-computer.
- a large-capacity capacitor may be required. Therefore, a time to charge such a large-capacity capacitor is required during initial driving. This results in a characteristic pattern in which the current value approaches zero at a specific time in the starting current profile. By using this, the wet mop nozzle 100d can be distinguished from other nozzles.
- the measured current value when the measured current value is measured to be less than or equal to a preset second reference value, it may be determined as a wet mop nozzle, which is a nozzle including an auxiliary control unit.
- the term below the preset second reference value refers to a case where the current value (or the value converted by the ADC) measured during the preset second detection time is less than or equal to the preset second threshold value CP2.
- the preset second detection time refers to a time interval between the 2-1 detection time td2-1 and the 2-2 detection time td-2 at the beginning of driving of the nozzle driving unit 140d. At this time, while the large-capacity capacitor is being charged to activate the auxiliary control unit, the current value approaches zero. Accordingly, when the second detection region is set to be equal to or less than the second threshold during the second detection time, the wet mop nozzle including the auxiliary control unit can be distinguished. The remaining nozzles may have a current value exceeding the second threshold value during the second sensing time.
- the auxiliary control unit 135 When the charging of the large-capacity capacitor is completed, the auxiliary control unit 135 is activated and the required current increases again, so that the current profile rises excessively again. After reaching the steady state, it converges downward to a constant current value according to the supplied voltage.
- the term above the preset third reference value refers to a case where the current value (or the value converted by the ADC) measured during the preset third detection time is greater than or equal to the preset third threshold value CP3. In the opposite case, that is, when the current value measured during the third sensing time is less than the third threshold value CP3, it can be determined as a fluffy nozzle having a large reduction ratio.
- the flipper nozzle and the carpet nozzle can be distinguished.
- bedding nozzle, wet mop nozzle, carpet nozzle, and fluffy nozzle are only classified based on their use, and thus are not limited to nozzles used for this purpose. That is, bedding nozzles and other nozzles may be distinguished based on the relatively smallest rotational speed of the nozzle driving unit, and wet mop nozzles and other nozzles may be distinguished by whether or not the auxiliary control unit 135 is included. In addition, carpet nozzles and fluffy nozzles can be distinguished on the basis of having different reduction ratios.
- Figure 5 distinguishes four types of nozzles using a starting current profile that varies depending on the number of revolutions per minute of the nozzle driving unit 140, the difference in reduction ratio of the nozzle motor or the power transmission unit 145, and the presence or absence of the auxiliary control unit 135. can do. Therefore, it is not necessarily limited to bedding nozzles, wet mop nozzles, carpet nozzles and fluffy nozzles named according to the cleaning target surface, which is the difference in the number of revolutions per minute of the nozzle driving unit 140, the reduction ratio of the nozzle motor or the power transmission unit 145 , It is only one embodiment that varies depending on the presence or absence of the auxiliary control unit 135.
- each nozzle is the number of revolutions per minute of the nozzle driving unit 140, the difference in reduction ratio of the nozzle motor or the power transmission unit 145, auxiliary It can be regarded as being classified according to the presence or absence of the control unit 135.
- the distinction between four types of different nozzles means that even when only two nozzles of the four types are used, they can be distinguished.
- the first nozzle has the lowest number of revolutions per minute of the nozzle driving unit 140 and consumes the least current
- the second nozzle includes an auxiliary control unit
- the third and fourth nozzles have the same number of revolutions per minute.
- the reduction ratio of the three nozzles is smaller than the reduction ratio of the fourth nozzle, the number of combinations of any two of the four can be distinguished in six cases, and any three combinations of the four can be distinguished.
- a total of 6 nozzles can be distinguished.
- the first nozzle and the second nozzle can be distinguished by using ones that are less than or equal to the first reference value or less than or equal to the second reference value.
- the first nozzle and the third nozzle can be distinguished by using ones less than the first reference value or less than the third reference value.
- the first nozzle and the fourth nozzle can be distinguished by using ones that are less than or equal to the first reference value or more than the third reference value.
- the second nozzle and the third nozzle can be distinguished by using ones that are less than the second reference value or less than the third reference value.
- the second nozzle and the fourth nozzle can be distinguished by using ones that are less than or equal to the second reference value or greater than or equal to the third reference value.
- the third nozzle and the fourth nozzle can be distinguished using the third reference value.
- a bedding nozzle, a wet mop nozzle, a carpet nozzle, or a fluffy nozzle is used to describe the description, but this is only one embodiment. Therefore, it is not necessarily limited to bedding nozzles, wet mop nozzles, carpet nozzles and fluffy nozzles named according to the cleaning target surface, which is the difference in the number of revolutions per minute of the nozzle driving unit 140, the reduction ratio of the nozzle motor or the power transmission unit 145 , It is only one embodiment using the change depending on the presence or absence of the auxiliary control unit 135.
- each nozzle is the number of revolutions per minute of the nozzle driving unit 140, the difference in the reduction ratio of the nozzle motor or the power transmission unit 145, the auxiliary control unit ( 135) can also be described as distinct.
- FIG. 6 a control method for detecting the type of nozzle within a preset nozzle detection time using the characteristics of the starting current profile appearing at the beginning of driving of each nozzle by turning on the power after the nozzle is connected to the suction unit 101a. I would like to explain.
- the vacuum cleaner includes a suction unit, a fan motor that generates a suction force that sucks air along the suction unit, and any one of a first nozzle, a second nozzle, a third nozzle, or a fourth nozzle, which is four types of nozzles interchangeable and attachable to the suction unit. It may include a measuring unit that measures a current value of a nozzle according to a voltage signal controlled by a pulse width modulation (PWM) method applied to one nozzle at a predetermined sampling interval using ADC conversion.
- PWM pulse width modulation
- the first nozzle may be a bedding nozzle having a relatively small number of revolutions per minute of the nozzle driving unit and a relatively small driving current.
- the second nozzle may be a wet mop nozzle including an auxiliary control unit, and the third and fourth nozzles have the same number of revolutions per minute, but the power transmission unit 135 has different reduction ratios, respectively, carpet nozzles (small reduction ratio) and fluffy. It may be a nozzle (a large reduction ratio). However, the user may not be able to recognize which nozzles the first to fourth nozzles are.
- the control method of the present invention operates the fan motor, and a PWM voltage is applied to any one nozzle connected to the suction part among the first to fourth nozzles. Approved. Accordingly, the measuring unit proceeds to a fan motor starting step (S100) of starting to sample the ADC of the current value from the nozzle.
- the control method of the present invention measures a current value (a value converted by ADC) according to a PWM voltage applied within a preset nozzle detection time, for example, 100 ms, and detects which nozzle is connected to the suction unit.
- a preset nozzle detection time for example, 100 ms
- the current value measured according to the first reference value, the second reference value, and the third reference value described with reference to FIG. 5 may be compared to detect what the currently installed nozzle is. If the first reference value or less (less than the first threshold value during the first detection time) is satisfied (S210), the control method of the present invention uses the currently installed nozzle as the lowest number of revolutions per minute of the nozzle driving unit 140, and the current used is The smallest first nozzle (or bedding nozzle) can be detected (S211).
- the control method of the present invention includes the auxiliary control unit 350 of the nozzle driving unit 140. It can be detected (S231) with 2 nozzles (or a wet mop nozzle).
- the control method of the present invention is that the currently installed nozzle has a relatively high rotational speed per minute compared to other nozzles, but the reduction ratio is It can be sensed (S231) with a small third nozzle (or carpet nozzle).
- the control method of the present invention is a fourth nozzle (or a fluffy nozzle) having a large reduction ratio unlike the carpet nozzle. It can be detected (S253).
- the third nozzle may be determined by first determining less than the third reference value, first detecting the fourth nozzle, and then determining a case equal to or greater than the third reference value. Also, after obtaining the starting current profile within the nozzle detection time, the type of nozzle can be identified.
- the nozzle type can be distinguished in a different manner. That is, the above-described nozzle type detection or nozzle classification method uses three reference values in each of three detection areas as threshold values so far. Alternatively, nozzles may be classified in a statistically probabilistic manner through current data acquired every ADC sampling period, for example, 10 ms. For example, if the number of carpet nozzles is detected 5 times during the nozzle detection time and the number of fluffy nozzles detected is 2 through data acquired every sampling cycle, it is determined that the carpet nozzle is detected because it may be a carpet nozzle at a probability. I can.
- the process proceeds to the nozzle operation selection step S300 of selecting an appropriate operation accordingly.
- the control method of the present invention can maintain the current operation without stopping the fan motor 630 (S310). This is because the first nozzle does not have a large rated current, and the fan motor may not be changed through floor detection.
- the control method of the present invention may stop the operation of the fan motor 630 (S330). This is to prevent water used for cleaning from being sucked in by the suction power of the fan motor 630. However, whether or not the fan motor 630 is operated may select On/Off of the fan motor 630 according to a user's selection.
- the control method of the present invention may adjust the number of revolutions per minute of the fan motor 630 through the detection (S350) of the surface to be cleaned. Adjusting the number of revolutions per minute of the fan motor 630 means that the suction power of the fan motor 630 can be adjusted. For example, different suction power may be required depending on the difference between carpet and floor. However, this may vary depending on the usage mode of the cleaner. If the use mode of the vacuum cleaner is selected as the manual mode, the floor may not be detected automatically.
- the control method of the present invention may adjust the number of revolutions per minute of the fan motor 630 through the detection (S370) of the surface to be cleaned. Adjusting the number of revolutions per minute of the fan motor 630 means that the suction power of the fan motor 630 can be adjusted. This is because different suction power may be required depending on the difference between carpet and floor. However, this may vary depending on the usage mode of the cleaner. If the use mode of the vacuum cleaner is selected as the manual mode, the floor may not be detected automatically.
- the nozzle is directly connected to the suction unit 101a or indirectly through the extension pipe 15a, so that the power of the vacuum cleaner in use or in operation is turned off and on. It is also applicable in case.
- the control method of the present invention may continuously check whether the power is turned off while the user is using the cleaner or while the cleaner is operating (S710). In addition, the control method of the present invention is whether the power is turned off and then turned on again within a preset instantaneous power supply time or whether the power is turned on again after exceeding the instantaneous power supply time. May be determined (S730).
- the instantaneous power supply time may be set to 1 second. This is because it is physically impossible to install the nozzle after replacing it within 1 second.
- the control method of the present invention does not immediately operate the cleaner, but the cleaner for a preset first delay time.
- the operation of may be delayed (S740).
- the first delay time may be set to 1 second.
- the reason for stopping the operation of the cleaner during the first delay time is that a time is required until the driving current of the nozzle becomes almost zero after the power is turned off. That is, since the nozzle has an inductor and a capacitor, even when the power is turned off, the nozzle does not immediately drop to zero and gradually decreases. Therefore, when the fan motor 630 is operated again without the first delay time and the nozzle 100a is operated, the current that has not yet been reduced and the newly supplied current are combined to exceed the current limit value for safely driving the cleaner. Because it can. In order to prevent this, in the control method of the present invention, when the power is turned on after the instantaneous power supply time has elapsed, the vacuum cleaner may not be operated immediately, and the operation of the cleaner may be delayed during the first delay time.
- the control method of the present invention operates the fan motor 630, applies the PWM voltage to the nozzle connected to the suction unit 101a, and then starts the ADC sampling. Proceed to (S760).
- the control method of the present invention again uses a nozzle connected to the suction unit 101a.
- the nozzle classification step (S780) of detecting whether the nozzle is a nozzle and selecting an appropriate operation is performed. This is the same as the above-described nozzle detection step (S200) and nozzle operation selection step (S300).
- control method of the present invention is the same as the operation method of the nozzle installed before the power is turned off. It can be made to operate (S750).
- Figure 8 shows the nozzle classification step (S780) in detail. This is the same as the above-described nozzle detection step (S200) and nozzle operation selection step (S300).
- the control method of the present invention is a current value (a value converted by ADC) according to the applied PWM voltage within a preset nozzle detection time, for example, 100 ms. ) Is measured, and a nozzle sensing step (S781) of detecting or discriminating which nozzle is connected to the suction unit 101a is performed.
- the current value measured according to the first reference value, the second reference value, and the third reference value described with reference to FIG. 5 may be compared to detect what the currently installed nozzle is. If the first reference value or less (less than the first threshold value during the first detection time) is satisfied (S7811), the control method of the present invention uses the currently installed nozzle as the lowest number of revolutions per minute of the nozzle driving unit 140, and the current used is It can be detected with the smallest first nozzle (or bedding nozzle) (S7831).
- the control method of the present invention includes the auxiliary control unit 350 of the nozzle driving unit 140. It can be detected (S7833) with 2 nozzles (or a wet mop nozzle).
- the control method of the present invention is that the currently installed nozzle has a relatively high speed per minute compared to other nozzles, but the reduction ratio is It can be detected with a small third nozzle (or carpet nozzle) (S7835).
- the control method of the present invention is a fourth nozzle (or a fluffy nozzle) having a large reduction ratio unlike the carpet nozzle. It can be detected as (S7837).
- the third nozzle may be determined by first determining less than the third reference value, first detecting the fourth nozzle, and then determining a case equal to or greater than the third reference value. Also, after obtaining the starting current profile within the nozzle detection time, the type of nozzle can be identified.
- the process proceeds to the nozzle operation selection step S790 of selecting an appropriate operation accordingly.
- the control method of the present invention can maintain the current operation without stopping the fan motor 630 (S791). This is because the first nozzle does not have a large rated current, and the fan motor may not be changed through floor detection.
- the control method of the present invention may stop the operation of the fan motor 630 (S793). This is to prevent the water used for cleaning from being sucked in by the suction force of the fan motor 630. However, whether or not the fan motor 630 is operated may select On/Off of the fan motor 630 according to a user's selection.
- the control method of the present invention may adjust the number of revolutions per minute of the fan motor 630 through the detection (S795) of the surface to be cleaned. Adjusting the number of revolutions per minute of the fan motor 630 means that the suction power of the fan motor 630 can be adjusted. For example, different suction power may be required depending on the difference between carpet and floor. However, this may vary depending on the usage mode of the cleaner. If the use mode of the vacuum cleaner is selected as the manual mode, the floor may not be detected automatically.
- the control method of the present invention may adjust the number of revolutions per minute of the fan motor 630 through the detection of the surface to be cleaned (S797). Adjusting the number of revolutions per minute of the fan motor 630 means that the suction power of the fan motor 630 can be adjusted. For example, different suction power may be required depending on the difference between carpet and floor. However, this may vary depending on the usage mode of the cleaner. If the use mode of the vacuum cleaner is selected as the manual mode, the floor may not be detected automatically.
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Abstract
Description
Claims (20)
- 흡입부; 상기 흡입부를 따라 공기를 흡입시키는 흡입력을 발생시키는 팬모터; 상기 흡입부와 연결되거나 분리되는 제1노즐바디, 상기 제1노즐바디에 수용되어 먼지를 제거하는 동력을 제공하는 제1노즐구동부를 포함하는 제1노즐; 상기 흡입부와 연결되거나 분리되는 제2노즐바디, 상기 제2노즐바디에 수용되어 먼지를 제거하는 동력을 제공하는 제2노즐구동부를 포함하는 제2노즐; 상기 제1노즐 또는 상기 제2노즐에 인가되는 제어신호에 따른 전류값을 측정하는 측정부;를 포함하고, 상기 제1노즐 또는 상기 제2노즐중 어느 하나의 노즐이 상기 흡입부에 교환연결되는 것을 특징으로 하는 청소기의 제어방법에 있어서,상기 팬모터를 동작시키고, 상기 제1노즐 또는 상기 제2노즐중 상기 흡입부에 연결된 어느 하나의 노즐에서 전류값의 측정을 시작하는 팬모터개시단계;상기 흡입부에 연결된 어느 하나의 노즐이 상기 제1노즐과 상기 제2노즐중 어떤 노즐인지를 감지하는 노즐감지단계;상기 노즐감지단계에서 감지한 노즐에 따라 상기 팬모터 또는 상기 연결된 노즐의 동작방식을 선택하는 노즐동작선택단계;를 포함하는 청소기의 제어방법.
- 제1항에 있어서,상기 노즐감지단계는상기 제1노즐구동부의 분당회전수와 상기 제2노즐구동부의 분당회전수가 다르거나, 상기 제1노즐 또는 상기 제2노즐중 어느 하나의 노즐이 보조제어부를 포함하는지 여부, 또는 상기 제1노즐구동부와 상기 제2노즐구동부에 포함된 동력전달부의 감속비가 달리 설정된 경우에 서로 다른 전류값을 갖는 것을 이용하여 상기 제1노즐 또는 상기 제2노즐을 감지하는 것을 특징으로 하는 청소기의 제어방법.
- 제2항에 있어서,상기 제1노즐구동부의 분당회전수와 상기 제2노즐구동부의 분당회전수가 달리 설정된 경우,상기 노즐감지단계는상기 제1노즐과 상기 제2노즐 중 상기 흡입부에 장착된 어느 하나의 노즐에서 측정된 전류값이 기설정된 제1기준값 이하이면, 상기 제1노즐과 상기 제2노즐 중 작은 분당회전수를 갖는 노즐구동부를 포함하는 노즐을 감지하는 것을 특징으로 하는 청소기의 제어방법.
- 제3항에 있어서,상기 제1기준값은 기설정된 제1감지시간동안 기설정된 제1임계값인 것을 특징으로 하는 청소기의 제어방법.
- 제4항에 있어서,상기 노즐동작선택단계에서는상기 노즐감지단계에서 감지된 노즐이 작은 분당회전수를 갖는 노즐구동부를 포함하는 노즐인 경우, 상기 팬모터의 회전을 그대로 유지시키는 것을 특징으로 하는 청소기의 제어방법.
- 제2항에 있어서,상기 제1노즐과 상기 제2노즐중 어느 하나의 노즐에 보조제어부를 더 포함하는 경우,상기 노즐감지단계는상기 제1노즐과 상기 제2노즐중 상기 흡입부에 장착된 어느 하나의 노즐에서 측정된 전류값이 기설정된 제2기준값 이하이면, 상기 보조제어부를 포함하는 노즐을 감지하는 것을 특징으로 하는 청소기의 제어방법.
- 제6항에 있어서,상기 제2기준값은 기설정된 제2감지시간동안 기설정된 제2임계값인 것을 특징으로 하는 청소기의 제어방법.
- 제7항에 있어서,상기 노즐동작선택단계에서는상기 노즐감지단계에서 감지된 노즐이 보조제어부를 포함하는 노즐인 경우, 상기 팬모터의 회전을 중지시키는 것을 특징으로 하는 청소기의 제어방법.
- 제2항에 있어서,상기 제1노즐구동부와 상기 제2노즐구동부가 분당회전수는 같으나 각각 포함된 동력전달부의 감속비를 달리하는 경우,상기 노즐감지단계는상기 제1노즐과 상기 제2노즐중 상기 흡입부에 장착된 어느 하나의 노즐에서 측정된 전류값이 기설정된 제3기준값 이상이면, 감속비가 작은 동력전달부를 포함하는 노즐을 감지하는 것을 특징으로 하는 청소기의 제어방법.
- 제9항에 있어서,상기 제3기준값은 기설정된 제3감지시간동안 기설정된 제3임계값인 것을 특징으로 하는 청소기의 제어방법.
- 제1항에 있어서,상기 흡입부와 연결되거나 분리되는 제3노즐바디, 상기 제3노즐바디에 수용되어 먼지를 제거하는 동력을 제공하는 제3노즐구동부를 포함하는 제3노즐; 상기 흡입부와 연결되거나 분리되는 제4노즐바디, 상기 제4노즐바디에 수용되어 먼지를 제거하는 동력을 제공하는 제4노즐구동부를 포함하는 제4노즐; 을 더 포함하고, 상기 측정부는 상기 제3노즐 및 상기 제4노즐을 포함하여 상기 제1노즐, 상기 제2노즐, 상기 제3노즐 또는 상기 제4노즐 중 어느 하나의 노즐에 인가되는 제어신호에 따른 전류값을 측정하고, 상기 제3노즐 및 상기 제4노즐을 포함하여 상기 제1노즐, 상기 제2노즐, 상기 제3노즐 또는 상기 제4노즐 중 어느 하나의 노즐이 상기 흡입부에 교환연결되는 것을 특징으로 하는 청소기의 제어방법에 있어서,상기 팬모터개시단계는 상기 제3노즐 및 상기 제4노즐을 포함하여 상기 제1노즐, 상기 제2노즐, 상기 제3노즐 또는 상기 제4노즐 중 상기 흡입부에 연결된 어느 하나의 노즐에서 전류값의 측정을 시작하고,상기 노즐감지단계는 상기 제3노즐 및 상기 제4노즐을 포함하여 상기 흡입부에 연결된 어느 하나의 노즐이 상기 제1노즐, 상기 제2노즐, 상기 제3노즐 또는 상기 제4노즐 중 어떤 노즐인지를 감지하는 것을 특징으로 하는 청소기의 제어방법.
- 제11항에 있어서,상기 제1노즐, 상기 제2노즐, 상기 제3노즐 및 상기 제4노즐중 어느 하나의 노즐 은 상기 제1노즐구동부, 상기 제2노즐구동부, 상기 제3노즐구동부 및 상기 제4노즐구동부 중 분당회전수가 가장 낮은 노즐구동부를 포함하는 노즐이고, 다른 어느 하나는 노즐은 보조제어부를 포함하고, 나머지 2개의 노즐은 각 노즐구동부의 분당회전수는 같으나 각각 포함된 동력전달부의 감속비를 달리하는 노즐인 경우,상기 노즐감지단계는상기 흡입부에 장착된 어느 하나의 노즐에서 측정된 전류값이 기설정된 제1기준값 이하이면 분당회전수가 가장 낮은 노즐구동부를 포함하는 노즐로 감지하고,상기 흡입부에 장착된 어느 하나의 노즐에서 측정된 전류값이 기설정된 제2기준값 이하이면 상기 보조제어부를 포함하는 노즐로 감지하고,상기 흡입부에 장착된 어느 하나의 노즐에서 측정된 전류값이 기설정된 제3기준값 이상이면 상기 나머지 2개의 노즐 중 감속비가 작은 동력전달부를 포함하는 노즐로 감지하고, 상기 제3기준값 미만이면 나머지 2개의 노즐 중 감속비가 큰 동력전달부를 포함하는 노즐로 감지하는 것을 특징으로 하는 청소기의 제어방법.
- 제1항에 있어서,상기 제어신호는 기설정된 전압, 기설정된 듀티비(Duty ratio), 기설정된 스위칭 주파수 (Switching frequency)를 갖는 펄스폭변조(Pulse width modulation, PWM)방식으로 제어된 전압이고,상기 노즐감지단계에서 측정하는 상기 전류값은 기설정된 샘플링주기로 샘플링하여 아날로그-디지털 변환(Analog to Digital Conversion, ADC)에 의해 변환된 값을 갖는 것을 특징으로 하는 청소기의 제어방법.
- 제13항에 있어서,상기 펄스폭변조(Pulse width modulation, PWM)방식으로 제어된 전압을 상기 듀티비에 따라 인가하는 시간과 상기 전류값을 샘플링하는 시간이 동기화된 것을 특징으로 하는 청소기의 제어방법.
- 흡입부; 상기 흡입부를 따라 공기를 흡입시키는 흡입력을 발생시키는 팬모터; 상기 흡입부와 연결되거나 분리되는 제1노즐바디, 상기 제1노즐바디에 수용되어 먼지를 제거하는 동력을 제공하는 제1노즐구동부를 포함하는 제1노즐; 상기 흡입부와 연결되거나 분리되는 제2노즐바디, 상기 제2노즐바디에 수용되어 먼지를 제거하는 동력을 제공하는 제2노즐구동부를 포함하는 제2노즐; 상기 제1노즐과 상기 제2노즐에 인가되는 제어신호에 따른 전류값을 측정하는 측정부;를 포함하고, 상기 제1노즐과 상기 제2노즐 중 어느 하나의 노즐이 상기 흡입부에 교환연결되는 것을 특징으로 하는 청소기의 제어방법에 있어서,전원이 오프(Off)된 후 기설정된 순간전원공급시간을 초과한 후 전원이 온(On)되는 경우 기설정된 제1지연시간동안 장착된 노즐에 전원공급을 보류하는 제1지연단계;상기 제1지연시간 경과 후, 상기 팬모터를 동작시키고, 상기 제1노즐 또는 상기 제2노즐중 상기 흡입부에 연결된 어느 하나의 노즐에서 전류값의 측정을 시작하는 팬모터재개시단계;상기 흡입부에 연결된 어느 하나의 노즐이 상기 제1노즐과 상기 제2노즐중 어떤 노즐인지를 감지하는 노즐감지단계;상기 노즐감지단계에서 감지한 노즐에 따라 상기 팬모터 또는 상기 연결된 노즐의 동작방식을 선택하는 노즐동작선택단계;를 포함하는 청소기의 제어방법.
- 제15항에 있어서,전원이 오프(Off)된 후 상기 순간전원공급시간 이하에 전원이 온(On)되는 경우 상기 제1지연시간없이 전원이 오프(Off)되기 전 장착되었던 노즐의 동작방식과 동일하게 동작하는 것을 특징으로 하는 청소기의 제어방법.
- 제16항에 있어서,상기 노즐감지단계는상기 제1노즐구동부와 상기 제2노즐구동부의 분당회전수의 차이, 상기 제1노즐 또는 상기 제2노즐이 보조제어부를 포함하는지 여부 또는 상기 제1노즐구동부와 상기 제2노즐구동부에 각각 포함된 동력전달부의 감속비를 달리하는 경우 서로 다른 전류값을 갖는 것을 이용하여 상기 제1노즐과 상기 제2노즐을 구별하는 것을 특징으로 하는 청소기의 제어방법.
- 제17항에 있어서,상기 제1노즐구동부의 분당회전수와 상기 제2노즐구동부의 분당회전수가 달리 설정된 경우,상기 노즐감지단계는상기 제1노즐과 상기 제2노즐중 상기 흡입부에 장착된 어느 하나의 노즐에서 측정된 전류값이 기설정된 제1기준값 이하이면, 상기 제1노즐과 상기 제2노즐중 작은 분당회전수를 갖는 노즐구동부를 포함하는 노즐을 감지하는 것을 특징으로 하는 청소기의 제어방법.
- 제17항에 있어서,상기 제1노즐과 상기 제2노즐중 어느 하나의 노즐에 보조제어부를 더 포함하는 경우,상기 노즐감지단계는상기 제1노즐과 상기 제2노즐중 상기 흡입부에 장착된 어느 하나의 노즐에서 측정된 전류값이 기설정된 제2기준값 이하이면, 상기 보조제어부를 포함하는 노즐을 감지하는 것을 특징으로 하는 청소기의 제어방법.
- 제17항에 있어서,상기 제1노즐구동부와 상기 제2노즐구동부가 분당회전수는 같으나 각각 포함된 동력전달부의 감속비를 달리하는 경우,상기 노즐감지단계는상기 제1노즐과 상기 제2노즐중 상기 흡입부에 장착된 어느 하나의 노즐에서 측정된 전류값이 기설정된 제3기준값 이상이면, 감속비가 작은 동력전달부를 포함하는 노즐을 감지하는 것을 특징으로 하는 청소기의 제어방법.
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AU2020318643A AU2020318643B2 (en) | 2019-07-19 | 2020-06-18 | Method for controlling cleaner |
EP20845086.6A EP4000490A4 (en) | 2019-07-19 | 2020-06-18 | METHOD OF CONTROLLING A CLEANING DEVICE |
US17/627,968 US20220273150A1 (en) | 2019-07-19 | 2020-06-18 | Method for controlling cleaner |
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KR1020190087604A KR102306753B1 (ko) | 2019-07-19 | 2019-07-19 | 청소기의 제어 방법 |
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EP (1) | EP4000490A4 (ko) |
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USD984770S1 (en) * | 2020-05-27 | 2023-04-25 | Lg Electronics Inc. | Nozzle for vacuum cleaner |
USD1029431S1 (en) * | 2020-08-28 | 2024-05-28 | Lg Electronics Inc. | Body of the vacuum cleaner |
JP1748158S (ja) * | 2020-08-28 | 2023-07-06 | 掃除機本体 | |
WO2023200174A1 (ko) * | 2022-04-15 | 2023-10-19 | 삼성전자 주식회사 | 청소기 본체 및 브러시 장치 간에 통신 가능한 무선 청소기 |
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KR102306753B1 (ko) | 2021-09-30 |
EP4000490A4 (en) | 2023-08-09 |
AU2020318643A1 (en) | 2022-02-24 |
AU2020318643B2 (en) | 2023-09-28 |
KR20210010125A (ko) | 2021-01-27 |
US20220273150A1 (en) | 2022-09-01 |
EP4000490A1 (en) | 2022-05-25 |
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