EP2260750A2 - Robot de nettoyage et méthode de contrôle de course - Google Patents

Robot de nettoyage et méthode de contrôle de course Download PDF

Info

Publication number
EP2260750A2
EP2260750A2 EP10164200A EP10164200A EP2260750A2 EP 2260750 A2 EP2260750 A2 EP 2260750A2 EP 10164200 A EP10164200 A EP 10164200A EP 10164200 A EP10164200 A EP 10164200A EP 2260750 A2 EP2260750 A2 EP 2260750A2
Authority
EP
European Patent Office
Prior art keywords
driving wheels
brush unit
robot cleaner
rotating direction
brush
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP10164200A
Other languages
German (de)
English (en)
Other versions
EP2260750A3 (fr
Inventor
Jun Hwa Lee
Jae Man Joo
Sam Jong Jeung
Jeong Gon Song
Dong Won Kim
Jun Pyo Hong
Jang Youn Ko
Woo Ram Chung
Kyung Hwan Yoo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Electronics Co Ltd
Original Assignee
Samsung Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020090079131A external-priority patent/KR101397103B1/ko
Application filed by Samsung Electronics Co Ltd filed Critical Samsung Electronics Co Ltd
Publication of EP2260750A2 publication Critical patent/EP2260750A2/fr
Publication of EP2260750A3 publication Critical patent/EP2260750A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
    • A47L7/02—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids with driven tools for special purposes
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • 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 driving wheels change a rotating direction thereof into the forward or backward direction, but the brush unit is uniformly rotated in the forward moving direction. Therefore, in order to perform backward movement, the robot cleaner requires the higher force, and if resistance is too great, the robot cleaner may not move backward.
  • the robot cleaner may further include a brush motor to rotate the brush unit in a regular or reverse direction, and driving motors to rotate the driving wheels in the regular or reverse direction, and the control unit may control the driving wheels and the brush unit to be rotated in the same direction.
  • the rotating direction of the brush unit may be changed into a direction to allow the robot cleaner to smoothly travel forward when the driving wheels are rotated in a forward traveling direction of the robot cleaner.
  • the method may further include controlling the brush unit such that the brush unit is rotated at a relatively high speed in an initial stage when the rotating direction of the brush unit starts to be changed, and the rotating speed of the brush motor is relatively reduced when the rotating direction of the brush unit has been changed.
  • the driving device 20 includes a pair of driving wheels 21 and 22 installed at both sides of the central portion of the main body 10 to adjust movement of the robot cleaner 1, and a caster wheel 23 installed at the front portion of the main body 10 such that the rotating angle of the caster wheel 23 is changed according to the state of the floor, on which the robot cleaner 1 moves.
  • the caster wheel 23 is used to stabilize the posture of the robot cleaner 1 or to prevent the robot cleaner 1 from falling, and thus supports the robot cleaner 1.
  • the caster wheel 23 is a wheel in the shape of a roller or a caster.
  • the brush devices 30 and 40 include a main brush device 30 provided adjacent to a suction hole 14 formed through the bottom surface of the main body 10 and used to sweep and disperse dust on the floor to improve dust suction efficiency, and side brush devices 40 installed at both sides of the front portion of the bottom surface of the main body 10 to sweep the dust on the floor, on which the robot cleaner 1 travels, toward the suction hole 14.
  • the robot cleaner 1 in accordance with this embodiment further includes a dust collector to inhale foreign substances, such as dust, using suction force, and to store the inhaled foreign substances.
  • a dust collector to inhale foreign substances, such as dust, using suction force, and to store the inhaled foreign substances.
  • the floor surface sensor 104 senses whether or not the floor, on which the robot cleaner 1 travels, is a hard floor, such as a wooden floor or an oilpaper floor, or a cushiony floor having a high traveling resistance, such as a floor provided with a carpet, and transmits the sensed data to the control unit 110.
  • a hard floor such as a wooden floor or an oilpaper floor
  • a cushiony floor having a high traveling resistance such as a floor provided with a carpet
  • the load sensor 106 senses loads (a torque or a current value) applied to the driving motors 120, and transmits the sensed loads to the control unit 110.
  • FIG. 6 is a flow chart illustrating the method of controlling traveling of the robot cleaner in accordance with the embodiment
  • FIG. 7 is a schematic view illustrating rotating directions of the driving wheels and the brush unit when the robot cleaner in accordance with the embodiment travels forward
  • FIG. 8 is a schematic view illustrating rotating directions of the driving wheels and the brush unit when the robot cleaner in accordance with the embodiment travels backward.
  • the control unit 110 rotates the brush unit 31 to perform a cleaning operation.
  • the driving sensors 102 detect a rotating direction of the driving wheels 21 and 22, and transmit the detected rotating direction of the driving wheels 21 and 22 to the control unit 110 (operation 204).
  • the brush unit 31 when the rotating direction of the driving wheels 21 and 22 is changed into the regular or reverse direction to carry out the forward or backward movement of the robot cleaner 1, the brush unit 31 also receives the driving instructions from the control unit 110 and changes its rotating direction into the regular or reverse direction substantially simultaneously with the change of the rotating direction of the driving wheels 21 and 22, thereby causing the robot cleaner 1 to smoothly carry out the forward or backward movement.
  • the traveling performance of the robot cleaner 1 on a floor having a high resistance, such as a carpet may be improved.
  • control unit 110 stops driving of the driving motors 120 and the brush motor 32, and thus stops the cleaning operation (operation 212).
  • the driving sensors 102 sense movement of the driving wheels 21 and 22, and when the driving sensors 102 do sense no movement, the driving sensors 102 transmit the sensed result to the control unit 110. Then, the control unit 110 transmits driving instructions to the brush motor 32, and thus controls the brush unit 31 to be rotated in the same direction as the rotation of the driving motors 120.
  • a case using the load sensor 106 will be described.
  • the load sensor 106 senses that the load is greater than the designated reference value, and transmits the sensed result to the control unit 110.
  • the control unit 110 transmits driving instructions to the brush motor 32, and thus controls the brush unit 31 to be rotated in the same direction as the rotation of the driving motors 120.
  • control unit 110 transmits a relatively large torque to the brush motor 32 in an initial stage, when the rotating direction of the brush unit 31 starts to be changed, and transmits a relatively small torque to the brush motor 32, when change of the rotating direction of the brush unit 31 has been carried out.
  • the rotating speed of the brush motor 32 is increased in the initial stage so as to withstand traveling resistance, and then is reduced when the backward traveling of the robot cleaner 1 starts to be carried out, thus exhibiting energy saving and noise reducing effects.
  • a robot cleaner in accordance with one embodiment allows driving wheels, which move the robot cleaner, and a brush unit, which sweeps dust on a floor, to be rotated in the same direction, and thus smoothly travels forward and backward even on a floor having a high traveling resistance, such as a carpet, thereby having an improved traveling performance.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP10164200.7A 2009-06-12 2010-05-28 Robot de nettoyage et méthode de contrôle de course Withdrawn EP2260750A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US18652909P 2009-06-12 2009-06-12
KR1020090079131A KR101397103B1 (ko) 2009-06-12 2009-08-26 로봇청소기 및 그 주행 제어 방법

Publications (2)

Publication Number Publication Date
EP2260750A2 true EP2260750A2 (fr) 2010-12-15
EP2260750A3 EP2260750A3 (fr) 2014-04-23

Family

ID=42646316

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10164200.7A Withdrawn EP2260750A3 (fr) 2009-06-12 2010-05-28 Robot de nettoyage et méthode de contrôle de course

Country Status (3)

Country Link
US (1) US20100313910A1 (fr)
EP (1) EP2260750A3 (fr)
CN (1) CN101923350B (fr)

Cited By (3)

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KR20130025309A (ko) * 2011-09-01 2013-03-11 삼성전자주식회사 로봇 청소기와 그 제어 방법
EP3932279A1 (fr) * 2015-09-17 2022-01-05 Samsung Electronics Co., Ltd. Robot de nettoyage et procédé pour le commander
WO2022262987A1 (fr) * 2021-06-17 2022-12-22 Alfred Kärcher SE & Co. KG Dispositif de nettoyage des sols automoteur et autodirecteur

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US9939529B2 (en) 2012-08-27 2018-04-10 Aktiebolaget Electrolux Robot positioning system
US9326654B2 (en) * 2013-03-15 2016-05-03 Irobot Corporation Roller brush for surface cleaning robots
KR102118769B1 (ko) 2013-04-15 2020-06-03 에이비 엘렉트로룩스 로봇 진공 청소기
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CN104224054B (zh) * 2013-06-13 2018-03-30 科沃斯机器人股份有限公司 清扫机器人
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CN106998980B (zh) 2014-12-10 2021-12-17 伊莱克斯公司 使用激光传感器检测地板类型
EP3229983B1 (fr) 2014-12-12 2019-02-20 Aktiebolaget Electrolux Brosse latérale et appareil de nettoyage robotique
CN106998984B (zh) 2014-12-16 2021-07-27 伊莱克斯公司 用于机器人清洁设备的清洁方法
EP3234714B1 (fr) 2014-12-16 2021-05-12 Aktiebolaget Electrolux Feuille de route basée sur l'expérience pour un dispositif de nettoyage robotisé
CN105877605A (zh) * 2015-01-26 2016-08-24 江苏美的清洁电器股份有限公司 卧式吸尘器
KR101659037B1 (ko) * 2015-02-16 2016-09-23 엘지전자 주식회사 로봇 청소기, 이를 포함하는 원격 제어 시스템 및 이의 제어 방법
KR102343513B1 (ko) 2015-04-17 2021-12-28 에이비 엘렉트로룩스 로봇 청소 장치 및 로봇 청소 장치의 제어 방법
EP3344104B1 (fr) 2015-09-03 2020-12-30 Aktiebolaget Electrolux Système de dispositifs de nettoyage robotisés
JP6486255B2 (ja) * 2015-09-30 2019-03-20 シャープ株式会社 自走式掃除機
JP6685740B2 (ja) * 2016-01-29 2020-04-22 東芝ライフスタイル株式会社 電気掃除機
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US10602899B1 (en) 2016-10-05 2020-03-31 AI Incorporated Brush with pressure sensor
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KR101880089B1 (ko) 2011-09-01 2018-07-23 삼성전자주식회사 로봇 청소기와 그 제어 방법
EP3932279A1 (fr) * 2015-09-17 2022-01-05 Samsung Electronics Co., Ltd. Robot de nettoyage et procédé pour le commander
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WO2022262987A1 (fr) * 2021-06-17 2022-12-22 Alfred Kärcher SE & Co. KG Dispositif de nettoyage des sols automoteur et autodirecteur

Also Published As

Publication number Publication date
CN101923350B (zh) 2015-09-16
EP2260750A3 (fr) 2014-04-23
US20100313910A1 (en) 2010-12-16
CN101923350A (zh) 2010-12-22

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