KR101212408B1 - An auto cleaner - Google Patents

An auto cleaner Download PDF

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Publication number
KR101212408B1
KR101212408B1 KR1020100065088A KR20100065088A KR101212408B1 KR 101212408 B1 KR101212408 B1 KR 101212408B1 KR 1020100065088 A KR1020100065088 A KR 1020100065088A KR 20100065088 A KR20100065088 A KR 20100065088A KR 101212408 B1 KR101212408 B1 KR 101212408B1
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KR
South Korea
Prior art keywords
cleaning
moving part
moving
inlet
cleaning member
Prior art date
Application number
KR1020100065088A
Other languages
Korean (ko)
Other versions
KR20120004305A (en
Inventor
박대환
Original Assignee
엘지전자 주식회사
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
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Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Priority to KR1020100065088A priority Critical patent/KR101212408B1/en
Priority to PCT/KR2010/004668 priority patent/WO2012005400A1/en
Publication of KR20120004305A publication Critical patent/KR20120004305A/en
Application granted granted Critical
Publication of KR101212408B1 publication Critical patent/KR101212408B1/en

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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
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A47L1/03—Power-driven machines or devices cleaning both sides of a window simultaneously
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • 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

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

Abstract

The present invention relates to an automatic cleaner. According to an aspect, an automatic cleaner includes: a first moving unit and a second moving unit which can move together along a cleaning surface; Moving means for allowing the first moving part and the second moving part to move together; A cleaning member provided in at least one of the first moving part and the second moving part; And an inlet provided in the moving part provided with the cleaning member, and the foreign material of the cleaning surface flows in. The inlet includes a first inlet and a second inlet intersecting each other.

Description

An auto cleaner}

The present invention relates to an automatic cleaner.

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

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

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

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

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

Even when the cleaning company cleans the glass windows, the worker has to move while relying on a rope fixed to the roof of the building, so that the personnel and the equipment require a lot of problems.

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

An object of the present invention is to provide an automatic cleaner which is movably attached to an inclined cleaning surface to perform a cleaning operation.

According to an aspect, an automatic cleaner includes: a first moving unit and a second moving unit which can move together along a cleaning surface; Moving means for allowing the first moving part and the second moving part to move together; A cleaning member provided in at least one of the first moving part and the second moving part; An inlet provided in a moving part provided with the cleaning member, spaced apart from the cleaning member in a horizontal direction, and into which the foreign material on the cleaning surface flows; A suction motor generating a suction force for sucking a foreign object into the inlet; And attachment holding means for maintaining the first moving part and the second moving part attached to the cleaning surface, wherein the inlet includes an intersecting first inlet and a second inlet.

According to another aspect, an automatic cleaner includes: a first moving unit and a second moving unit which can move together along a cleaning surface; Moving means for allowing the first moving part and the second moving part to move together; A plurality of cleaning elements provided in at least one of the first moving part and the second moving part; A plurality of inlets provided in a moving part provided in the plurality of cleaning elements and spaced apart from the plurality of cleaning elements in a horizontal direction to introduce foreign substances on the cleaning surface; And a suction motor for generating a suction force for sucking the foreign matter into the plurality of inlets, wherein the plurality of cleaning elements include a first cleaning element and a second cleaning element that cross each other.

According to yet another aspect, an automatic cleaner includes: a first moving unit and a second moving unit which can move together along a cleaning surface; Moving means for allowing the first moving part and the second moving part to move together; A first cleaning member provided on at least one of the first moving part and the second moving part; A second cleaning member provided on a moving part provided with the first cleaning member; An inlet located between the first cleaning member and the second cleaning member, and the foreign material of the cleaning surface flows in; And a suction motor generating a suction force for suctioning foreign matter into the inlet, wherein the first cleaning member, the second cleaning member, and the inlet are spaced apart in a horizontal direction, and the first cleaning member and the second cleaning member are disposed in a horizontal direction. The cleaning member and the inlet are characterized in that each provided with a plurality.

According to yet another aspect, an automatic cleaner includes: a first moving unit and a second moving unit which can move together along a cleaning surface; Moving means for allowing the first moving part and the second moving part to move together; An obstacle detecting unit provided in at least one of the first moving unit and the second moving unit; A plurality of cleaning elements provided in at least one of the first moving part and the second moving part; And a plurality of driving units capable of independently driving the plurality of cleaning elements, wherein the number of cleaning elements that can be operated by the driving unit is variable according to the information detected by the obstacle detecting unit, All of the plurality of cleaning elements operate in a state located within a predetermined distance, and some of the plurality of cleaning elements operate in a state spaced apart from the obstacle by a predetermined distance or more.

According to yet another aspect, an automatic cleaner includes: a first moving unit and a second moving unit which can move together along a cleaning surface; Moving means for allowing the first moving part and the second moving part to move together; An obstacle detecting unit provided in at least one of the first moving unit and the second moving unit; A plurality of cleaning elements provided in at least one of the first moving part and the second moving part; And a plurality of driving units capable of independently driving the plurality of cleaning elements. When an operation start command of the first moving unit and the second moving unit is input, all of the plurality of cleaning elements operate, and the operation start time is increased. After a predetermined time, some cleaning elements are stopped, and the cleaning elements that are stopped are cleaning elements parallel to the running direction of the respective moving parts.

According to the proposed invention, since the plurality of moving parts can be moved in the state attached to the cleaning surface by the magnetic force of the magnetic member, there is an advantage that can clean the inclined cleaning surface.

In addition, the plurality of moving parts are disposed with the cleaning object interposed therebetween, and a cleaning member is provided between the moving part and the cleaning surface, and thus, both surfaces of the cleaning object can be cleaned.

1 is a perspective view illustrating an automatic cleaner according to a first embodiment.
2 is a view showing a state in which the automatic cleaner according to the first embodiment is attached to the cleaning surface.
3 is a block diagram showing a configuration of a first moving unit of the first embodiment;
4 is a flowchart illustrating a control method of the automatic cleaner according to the first embodiment.
5 is a flowchart illustrating a control method of the automatic cleaner according to the second embodiment.
6 is a view illustrating a configuration of a moving unit of an automatic cleaner according to a third embodiment.
7 is a view illustrating a moving unit of the automatic cleaner according to the fourth embodiment.
8 is a perspective view of an automatic cleaner according to a fifth embodiment.
9 is a partial cross-sectional view showing a configuration of a second moving unit of the automatic cleaner of FIG. 8.
10 is a block diagram illustrating a configuration of an automatic cleaner according to a fifth embodiment.
11 is a perspective view of a second moving part of the automatic cleaner according to the sixth embodiment.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view illustrating an automatic cleaner according to a first embodiment, and FIG. 2 is a view illustrating a state in which the automatic cleaner according to the first embodiment is attached to a cleaning surface.

1 and 2, the automatic cleaner according to the present embodiment includes a first moving unit 10 and a second moving unit 20. When the second moving part 20 is in contact with the other surface of the cleaning object while the first moving part 10 is in contact with one surface of the cleaning object 5, the first moving part 10 and the second The moving unit 20 may be fixed in position by a manpower. At this time, the object to be cleaned (5) can be disposed inclined with respect to the ground (including vertical), the ground can be understood as a surface corresponding to the floor surface of the building or any place.

The first moving part 10 includes a main body 100 forming an external shape. The main body 100 may include a main wheel 110 for allowing the main body 100 to move, a first driving part 113 for rotating the main wheel 110, and the cleaning object 5. A first cleaning member and a second cleaning member for cleaning, an inlet port 130 through which foreign matters of the cleaning object 5 are introduced, an auxiliary wheel 152 for assisting the movement of the main body 100, and one or more agents 1 includes magnetic members 161 and 162.

Since the second moving unit 20 is basically the same structure as the first moving unit 10, the configuration of the first moving unit 10 may be applied to the second moving unit 20 as it is. . However, in the second moving unit 20, the drive motor for rotating the main wheel can be removed. Therefore, detailed description of the second moving unit 20 will be omitted.

The second moving part 20 includes one or more second magnetic members 261 and 262 interacting with the first magnetic members 161 and 162.

One of the first magnetic members 161 and 162 and the second magnetic members 261 and 262 may be a permanent magnet or an electromagnet, and the other may be a metal. Alternatively, each of the first magnetic members 161 and 162 and the second magnetic members 161 and 162 may be a permanent magnet or an electromagnet.

In this case, the magnetic members 161, 162, 261, and 262 may be located inside or outside of the moving parts 10 and 20. Alternatively, some of the magnetic members 161, 162, 261, and 262 may be exposed or protruded to the outside of the moving parts 10 and 20.

By the magnetic members 161, 162, 261, and 262, an attraction force (magnetic force) acts between the first moving part 10 and the second moving part 20 so that each of the moving parts 10 and 20 operates. The state attached to the inclined cleaning object 5 can be maintained. That is, the respective moving parts 10 and 20 can be prevented from falling down or sliding down in contact with the inclined cleaning object. Of course, the attraction force between the first magnetic members 161 and 162 and the second magnetic members 261 and 262 should have a size such that the respective moving parts 10 and 20 do not fall.

In the present specification, the magnetic members 161, 162, 261, and 262 may be referred to as attachment holding means for maintaining the state in which each of the moving parts is attached to the cleaning object.

The main wheel 110 includes a first main wheel 111 and a second main wheel 112 spaced apart from the first main wheel 111. The first driving unit 113 includes a first motor 114 for rotating the first main wheel 111 and a second motor 115 for rotating the second main wheel 112.

Each of the motors 114, 115 operates independently and is capable of forward and reverse rotation. Therefore, RPMs of the first main wheel 111 and the second main wheel 112 may be the same or different.

Therefore, the first moving unit 10 may rotate as well as move forward and backward in the object to be cleaned. That is, the direction change is possible when the first moving unit 10 moves. At this time, even if the second moving part 20 does not have a first driving part for rotating the main wheel, by the attraction force with the first moving part 10, the second moving part 20 is the first moving part. Go with 10.

In the present specification, the main wheel and the first driving unit may be referred to as a moving unit to enable the movement of the moving unit.

The first cleaning member may contact the cleaning object 5. The first cleaning member comprises a plurality of cleaning elements 121, 122, 123, 124. The plurality of cleaning elements 121, 122, 123, 124 include first to fourth cleaning elements. The first cleaning member may be provided at a lower portion (a portion facing the cleaning object) of each of the moving parts 10 and 20. In addition, the first cleaning member may be located adjacent to the lower end of each of the moving parts.

The first cleaning element 121 and the third cleaning element 123 are arranged in parallel, and the second cleaning element 122 and the fourth cleaning element 124 are arranged in parallel. The first cleaning element 121 and the third cleaning element 123 are orthogonal to the second cleaning element 122 and the fourth cleaning element 124.

Each cleaning element 121, 122, 123, 124 may be independently rotated by the second drive unit 118 which will be described later. In this case, the cleaning elements 121, 122, 123, and 124 may rotate vertically with respect to the cleaning surface of the cleaning object 5. That is, the axis of rotation of each of the cleaning elements 121, 122, 123, 124 is parallel to the cleaning surface.

Each of the cleaning elements 121, 122, 123, and 124 rotates so that the foreign material moves inward from the outside of the respective moving parts 10 and 20.

The inlet 130 is spaced apart from the first cleaning member and is located inward of the first cleaning member. That is, the distance from the center of the moving parts 10 and 20 to the inlet 130 is shorter than the distance from the center of the moving parts 10 and 20 to the first cleaning member.

The foreign material of the cleaning object may be introduced into the inlet 130. At this time, the moving unit (10, 20) may be provided with a suction motor (see 188 of Figure 3) for generating a suction force, and a dust container (not shown) in which the incoming dust is stored.

In addition, the second cleaning member is spaced apart from the inlet 130 and is located inside the inlet 130. That is, the first cleaning member, the inlet 130 and the second cleaning member are sequentially positioned from the outside of the moving parts (10, 20) inward.

In addition, the second cleaning member may also contact the cleaning object 5. The second cleaning member comprises a plurality of cleaning elements 141, 142, 143, 144. The plurality of cleaning elements 141, 142, 143, 144 comprise first to fourth cleaning elements.

The first cleaning element 141 and the third cleaning element 143 are arranged in parallel, and the second cleaning element 142 and the fourth cleaning element 144 are arranged in parallel. The first cleaning element 141 and the third cleaning element 143 are orthogonal to the second cleaning element 142 and the fourth cleaning element 144.

Each of the cleaning elements 141, 142, 143, and 144 may be formed of, for example, a rubber material. When each of the moving parts 10 and 20 moves, the cleaning elements 141, 142, 143, and 144 slide with the cleaning object in contact with the cleaning object to clean the cleaning object.

On the other hand, the lower side of the moving unit (10, 20) is provided with at least one caster 150 that can rotate based on the axis of rotation perpendicular to the bottom of the moving unit (10, 20). In addition, the auxiliary wheel 152 is installed on the caster 150.

In addition, any one of the first moving part 10 and the second moving part 20 may be located indoors, and the other may be located indoors. Therefore, since the moving parts located indoors can be varied, each of the moving parts 10 and 20 may be provided with an input part for inputting an operation command (start command, operation pattern, etc.). Each mobile unit may be provided with a communication unit, and a signal input from one mobile unit may be transmitted to the other mobile unit through the communication unit.

3 is a block diagram showing a configuration of the first moving unit in the first embodiment.

Referring to FIG. 3, the first moving unit 10 includes a controller 180, an obstacle detecting unit 182 for detecting an obstacle, a battery 186 for supplying power, and the main wheel 110. Communication with the first driving unit 113 for driving, the second driving unit 118 for driving the first cleaning member, the suction motor 188 for generating the suction force, and the second moving unit 20. It includes a communication unit 189 for.

Although not shown, the second moving unit 20 includes at least a communication unit, a controller, a battery, a second driving unit, and a suction motor.

In detail, the second driver 118 includes a plurality of motors. The number of the plurality of motors may be provided in the same number as the number of the plurality of cleaning elements 121, 122, 123, 124 constituting the first cleaning member. Thus, all or part of the plurality of cleaning elements 121, 122, 123, 124 may operate, and the number of rotations of each cleaning element 121, 122, 123, 124 may vary.

Alternatively, the second drive unit 118 may include a single motor, and power of the single motor may be transmitted to the plurality of cleaning elements 121, 122, 123, and 124 by the power transmission unit. In this case, operation information (control information) of the second driver 118 of the first moving unit 10 may be transmitted to the second moving unit 20. Then, the second driving unit of the second moving unit 20 operates in the same pattern as the second driving unit 118 of the first moving unit 10.

The obstacle detecting unit 182 may be provided in plural in the first moving unit 10. As the obstacle detecting unit 182, various sensors such as an infrared sensor and an ultrasonic sensor may be used. In the present embodiment, it is apparent that the type of the obstacle detecting unit 182 is not limited.

4 is a flowchart illustrating a control method of the automatic cleaner according to the first embodiment.

Referring to FIG. 4, a cleaning start command is input by the automatic cleaner in a state in which the first moving unit 10 and the second moving unit 20 are attached to a cleaning object (S1). Then, the second driving unit 118 is operated such that all the cleaning elements constituting the first cleaning member are rotated while the first moving unit 10 and the second moving unit 20 are stopped. The reason is to perform the cleaning of the current position more effectively before each moving unit moves.

Then, it is determined whether a predetermined time has elapsed since the start of cleaning (S3). If it is determined that the cleaning start time has elapsed for a predetermined time, some cleaning elements of all the cleaning elements constituting the first cleaning member are stopped (S4). For example, the cleaning element crossing the traveling direction of each moving unit 10 maintains operation, and the cleaning element parallel to the traveling direction stops. At this time, the cleaning element crossing the running direction means a cleaning element parallel to the axis of rotation of the main wheel.

Then, the first moving unit 10 and the second moving unit 20 moves while cleaning (S5).

At this time, when the automatic cleaner changes direction (except in the opposite direction), the stopped cleaning element can be temporarily operated (stops when the direction change is completed after the operation). The determination of the change of direction of the automatic cleaner may be performed using the rotation speed of each of the motors 114 and 115. That is, when the number of rotations of the motors 114 and 115 are the same or the difference in the number of revolutions is equal to or less than a predetermined value, it is determined to go straight. do.

Then, it is determined whether the cleaning is completed during the cleaning (S6), when the cleaning is completed, the moving unit is stopped (S7).

5 is a flowchart illustrating a control method of an automatic cleaner according to a second embodiment.

Referring to FIG. 5, a cleaning start command is input by the automatic cleaner in a state in which the first moving unit 10 and the second moving unit 20 are attached to a cleaning object (S11). Then, the moving parts 10 and 20 start moving.

Then, it is determined whether the moving part is spaced apart from the obstacle (for example, the window frame) by a predetermined distance (S12).

If it is determined that the moving parts 10 and 20 are spaced apart from the obstacle by a predetermined distance, some of the cleaning elements constituting the first cleaning member operate (S13). In one example, a cleaning element intersects with the running direction of the moving part.

On the other hand, when it is determined that the moving parts 10 and 20 are not separated from the obstacle by a certain distance, all the cleaning elements constituting the first cleaning member operate (S14). The reason is to ensure that the cleaning surface adjacent to the window frame is cleaned well.

Then, it is determined whether cleaning is completed during the cleaning operation (S15), and if the cleaning is not completed, the process returns to step 12. On the other hand, if it is determined that the cleaning is completed, the cleaner is stopped (S16).

6 is a view illustrating a configuration of a moving unit of the automatic cleaner according to the third embodiment.

This embodiment is the same as the moving part of the first embodiment in other parts, but differs in the structure of the cleaning member and the inlet. Therefore, hereinafter, only characteristic parts of the embodiment will be described.

Referring to FIG. 6, the moving part 30 of the present embodiment includes a main wheel 310 for movement, a first cleaning member that rotates, an inlet through which foreign materials on a cleaning surface flow, and a second fixed position. It includes a cleaning member.

The first cleaning member is based on the first cleaning element 320 located on one side with respect to the rotation center line C of the main wheel 310 and the rotation center line C of the main wheel 310. And a second cleaning element 321 located on the other side. The center of rotation of each of the cleaning elements 320, 321 extends in a direction perpendicular to the cleaning surface. Thus, each of the cleaning elements 320, 321 can rotate horizontally. For example, the first cleaning member may be formed of a fiber material.

The inlet comprises a first inlet 330 positioned adjacent to the first cleaning element 320 and a second inlet 331 positioned adjacent to the second cleaning element 321.

Each inlet 330, 331 is spaced apart from each cleaning element 320, 321 and is located inward of the cleaning element 320, 321. That is, the distance from the center of the moving part 30 to the inlets 330 and 331 is shorter than the distance from the center of the moving part 30 to the respective cleaning elements 320 and 321.

The second cleaning member includes a third cleaning element 332 positioned adjacent to the first inlet 330 and a fourth cleaning element 333 positioned adjacent to the second inlet 331. For example, the second cleaning member may be formed of a rubber material.

The function of the second cleaning member is the same as that of the second cleaning member of the first embodiment.

In addition, the second cleaning member is located inward of the inlets 330 and 331. Accordingly, the first cleaning member, the inlet port, and the second cleaning member are sequentially disposed toward the center from the outside of the moving part 30.

7 is a view illustrating a moving unit of the automatic cleaner according to the fourth embodiment.

Referring to FIG. 7, the moving part 40 of the present embodiment may be formed in a flat cylindrical shape.

The moving part 40 includes a main wheel 410 for movement, a first cleaning member that rotates, an inlet through which foreign matter on the cleaning surface is introduced, a second cleaning member having a fixed position, and a corner cleaning member. do.

The first cleaning member is based on the first cleaning element 421 located on one side with respect to the rotation center line C of the main wheel 410 and the rotation center line C of the main wheel 410. A second cleaning element 422 located on the other side. The center of rotation of each of the cleaning elements 421, 422 is parallel to the cleaning surface. Thus, each cleaning element 421, 422 can be rotated horizontally. The driving method of the first cleaning member is the same as in the first embodiment.

The inlet comprises a first inlet 423 located adjacent to the first cleaning element 421 and a second inlet 424 located adjacent to the second cleaning element 422.

Each inlet 423, 424 is spaced apart from the first and second cleaning elements 421, 422 and is located inward of the first and second cleaning elements 421, 422. That is, the distance from the center of the moving part 40 to the inlets 423, 424 is shorter than the distance from the center of the moving part 30 to the first and second cleaning elements 421, 422.

The second cleaning member includes a third cleaning element 425 positioned adjacent to the first inlet 423 and a fourth cleaning element 426 positioned adjacent to the second inlet 424. For example, the second cleaning member may be formed of a rubber material, and the function of the second cleaning member is the same as that of the second cleaning member of the first embodiment.

The second cleaning member is located inward of the inlets 423 and 424. Accordingly, the first cleaning member, the inlet port, and the second cleaning member are sequentially disposed toward the center from the outside of the moving part 40.

The corner cleaning member 430 is provided with a plurality, it is located outside the first cleaning member with respect to the center of the moving part 40. That is, the distance from the rotation center line C of the main wheel 410 to the corner cleaning member 430 is the rotation center line C of the main wheel 410 of the first and second cleaning elements 421 and 422. Longer than the distance to

The corner cleaning member 430 includes a body 431 that can rotate based on a rotation center extending in a direction perpendicular to the ground, and a plurality of brush hairs 432 coupled to the body 431. .

The corner cleaning member 430 may clean a corner that cannot be cleaned by each cleaning member. At this time, whether the plurality of corner cleaning member is operated according to the position of the obstacle can be determined. For example, when there is an obstacle (for example, a window frame) on the left side based on the driving direction of the moving unit, only two corner cleaning members 430 positioned adjacent to the obstacle may operate.

8 is a perspective view of an automatic cleaner according to a fifth embodiment, FIG. 9 is a partial cross-sectional view illustrating a configuration of a second moving unit of the automatic cleaner of FIG. 8, and FIG. 10 is a configuration of the automatic cleaner according to a fifth embodiment. It is a block diagram.

8 to 10, the automatic cleaner 50 of the present embodiment performs cleaning in a state in which it is attached to one surface of a cleaning object.

The cleaner 50 includes a first moving part 510 and a second moving part 520 coupled to the first moving part 510 so as to be capable of relative movement.

The first moving part 510 includes a first cleaning member 511, a second cleaning member 512, and a fixed adsorption part 514. Since the structure, the position of the first cleaning member 511 and the second cleaning member 512, and the configuration for rotating the first cleaning member 511 (second drive unit) are the same as those of the first embodiment, It will be omitted. In addition, in this embodiment, the inlet of the first embodiment may be omitted.

The fixed adsorption unit 514 may be provided in plurality. The fixed suction unit 514 communicates with the first suction motor 551.

When the first suction motor 551 is operated, a negative pressure acts on each of the fixed adsorption units 514, so that each of the fixed adsorption units 514 may be adsorbed onto the cleaning object.

The second moving unit 520 includes a driving unit 530 (or may also be referred to as a moving unit) for allowing the cleaner 50 to move along the cleaning object. The driving unit 530 allows the cleaner to be attached to a cleaning object and to move at the same time.

In detail, the driving unit 530 includes a first driving unit and a second driving unit. The first traveling part includes a first adsorption part 531 and a second adsorption part 532. The first adsorption part 531 and the second adsorption part 532 communicate with the second suction motor 552.

The second traveling part includes a third adsorption part 533 and a fourth adsorption part 534. The third adsorption unit 533 and the fourth adsorption unit 534 communicate with the third suction motor 553. Therefore, a sound pressure may be applied to each of the first travel part and the second travel part independently.

Each of the adsorption parts 531, 532, 533, and 534 and the second moving part 520 may be relatively moved by the slots 521 formed in the second moving part 520.

The first adsorption part 531 and the second adsorption part 532 are connected by a connection part 535. In addition, a rack gear 536 is formed at the connecting portion 535. The pinion gear 538 coupled to the second drive motor 555 is engaged with the rack gear 536.

The third adsorption part 533 and the fourth adsorption part 534 may likewise be connected by a connection part, and are connected to the third driving motor 556 by a rack gear and a pinion gear.

Therefore, when the second driving motor 555 operates while the first adsorption part 531 and the second adsorption part 532 are adsorbed to a cleaning object, the first adsorption part 531 and the second adsorption part 531 are operated. The first moving part 510 and the second moving part 520 except for the adsorption part 532 move. That is, when the second driving motor 555 operates while the first adsorption part 631 and the second adsorption part 632 are in the position shown in FIG. 8, the first moving part 510 is operated. And the second moving unit 520 moves upward based on FIG. 8.

In order to continuously move the cleaner 50 upward, the third adsorption part 533 and the fourth adsorption part with the first adsorption part 531 and the second adsorption part 532 adsorbed to a cleaning object. 534 should be moved upward by the third drive motor 556. Of course, the third suction motor 553 should not operate in order for the third adsorption part 533 and the fourth adsorption part 534 to move upward.

Therefore, according to the driving unit 530, the cleaner can move linearly.

Meanwhile, the direction change of the cleaner may be performed as the first driving motor 554 operates while the fixed adsorption unit 514 is adsorbed to the cleaning object.

The first driving motor 554 is connected to the second moving part 520. Therefore, when the first driving motor 554 is operated, the second moving unit 520 with respect to the first moving unit 510 while the first moving unit 510 is fixed to the cleaning object. Can be rotated. When the direction change of the cleaner is completed, the negative pressure applied to the fixed suction unit 514 is removed.

Each of the suction motors and the driving motors may be controlled by the controller 550.

11 is a perspective view of a second moving unit of the automatic cleaner according to the sixth embodiment.

This embodiment is the same as the cleaner of the first embodiment in other parts, but there is a difference in the configuration of the second moving part. Therefore, only the characteristic parts of the embodiment will be described below.

Referring to FIG. 11, the second moving part 60 of the present embodiment includes a first cleaning member 611, a second cleaning member 612, a magnetic member 620, and a wheel 630. .

The first cleaning member 611 may be provided in plural, and since the position of the first cleaning member is the same as described in the first embodiment, detailed description thereof will be omitted. However, in the present embodiment, unlike the first embodiment, the first cleaning member 611 is formed in a thin plate shape and is not rotated. The first cleaning member 611 is formed of a fiber material, and wipes one cleaning surface of the cleaning object when the second moving part moves.

The material and the position of the second cleaning member 612 are the same as described in the first embodiment. The wheel 630 facilitates movement of the second moving part.

According to this embodiment, since the structure for rotating the first cleaning member is unnecessary, there is an advantage that the structure and weight of the second moving part are lighter.

10: first moving part 20: second moving part

Claims (16)

A first moving part and a second moving part which can move together along the cleaning surface;
Moving means for allowing the first moving part and the second moving part to move together;
A cleaning member provided in at least one of the first moving part and the second moving part;
An inlet provided in a moving part provided with the cleaning member, spaced apart from the cleaning member in a horizontal direction, and into which the foreign material on the cleaning surface flows;
A suction motor generating a suction force for sucking a foreign object into the inlet; And
Attachment holding means for maintaining the first moving portion and the second moving portion attached to the cleaning surface,
The inlet, the automatic cleaner comprises a first inlet and a second inlet crossing. delete The method of claim 1,
The moving means includes at least one suction unit for maintaining the first moving unit and the second moving unit attached to the cleaning surface. The method of claim 1,
The cleaning member comprises a plurality of cleaning elements,
Two of the plurality of cleaning elements are automatic cleaners cross each other. The method of claim 1,
Automatic cleaner further comprises a dust container for storing the foreign matter introduced through the inlet. The method of claim 1,
The cleaning member is located on the outside of the inlet, based on the center of the moving unit is provided with the cleaning member. The method of claim 1,
Based on the center of the moving part is provided with the cleaning member, the cleaning member is located inside the inlet than the automatic cleaner. A first moving part and a second moving part which can move together along the cleaning surface;
Moving means for allowing the first moving part and the second moving part to move together;
A plurality of cleaning elements provided in at least one of the first moving part and the second moving part;
A plurality of inlets provided in a moving part provided in the plurality of cleaning elements, the plurality of inlets being spaced apart from the plurality of cleaning elements in a horizontal direction to introduce foreign substances on the cleaning surface; And
Including a suction motor for generating a suction force for sucking the foreign matter into the plurality of inlets,
And the plurality of cleaning elements comprises a first cleaning element and a second cleaning element which cross each other. The method of claim 8,
The plurality of inlets comprises a first inlet parallel to the first cleaning element,
And a second inlet parallel to said second cleaning element. The method of claim 8,
When the first moving part and the second moving part moves, a cleaning element that operates the cleaning element that crosses the moving direction of the first moving part and the second moving part. A first moving part and a second moving part which can move together along the cleaning surface;
Moving means for allowing the first moving part and the second moving part to move together;
A first cleaning member provided on at least one of the first moving part and the second moving part;
A second cleaning member provided on a moving part provided with the first cleaning member;
An inlet located between the first cleaning member and the second cleaning member, and the foreign material of the cleaning surface flows in; And
Including a suction motor for generating a suction force for sucking the foreign matter into the inlet,
The first cleaning member, the second cleaning member and the inlet are spaced apart in the horizontal direction,
The first cleaning member, the second cleaning member and the inlet is provided with a plurality of automatic cleaners, respectively. delete The method of claim 11,
Each cleaning member and the inlet is an automatic cleaner spaced apart from the center provided with the first cleaning member. A first moving part and a second moving part which can move together along the cleaning surface;
Moving means for allowing the first moving part and the second moving part to move together;
An obstacle detecting unit provided in at least one of the first moving unit and the second moving unit;
A plurality of cleaning elements provided in at least one of the first moving part and the second moving part; And
A plurality of drives capable of independently driving the plurality of cleaning elements,
According to the information detected by the obstacle detecting unit, the number of cleaning elements that can be operated by the drive unit is variable,
In a state located within a certain distance from the obstacle, all of the plurality of cleaning elements are operated,
The automatic cleaner, wherein some of the plurality of cleaning elements operate when the obstacle is separated from the obstacle by a predetermined distance or more. delete A first moving part and a second moving part which can move together along the cleaning surface;
Moving means for allowing the first moving part and the second moving part to move together;
An obstacle detecting unit provided in at least one of the first moving unit and the second moving unit;
A plurality of cleaning elements provided in at least one of the first moving part and the second moving part; And
A plurality of drives are included that can independently drive the plurality of cleaning elements,
When an operation start command of the first moving unit and the second moving unit is input, all of the plurality of cleaning elements are operated,
After the start time of operation, some cleaning elements stop,
The cleaning element which is stopped is a cleaning element which is a cleaning element parallel to the running direction of each said moving part.
KR1020100065088A 2010-07-06 2010-07-06 An auto cleaner KR101212408B1 (en)

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KR1020100065088A KR101212408B1 (en) 2010-07-06 2010-07-06 An auto cleaner
PCT/KR2010/004668 WO2012005400A1 (en) 2010-07-06 2010-07-16 Automatic cleaner

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KR1020100065088A KR101212408B1 (en) 2010-07-06 2010-07-06 An auto cleaner

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CN110101331A (en) * 2019-04-29 2019-08-09 安徽华芯光科信息科技有限公司 The window wiping robot of all-directional sweeping

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