TWI736006B - Robot cleaner - Google Patents

Abstract

A robot cleaner is disclosed. The robot cleaner includes a main body, a wheel unit including a wheel movably supporting the main body, a suspension unit in which the wheel unit is installed to be movable upward or downward, the suspension unit being configured to absorb impact when the wheel unit moves upward or downward, and a lifting unit in which the suspension unit is installed to be raised or lowered, the lifting unit being coupled to the main body. The lifting unit includes a lifting drive motor including a rotating shaft disposed in parallel with a direction in which the suspension unit is raised with respect to the lifting unit, and a transmission unit configured to transmit a rotation force of the lifting drive motor to the suspension unit.

Description

機器人吸塵器 Robot vacuum cleaner

本發明涉及一種機器人吸塵器，更具體地，涉及一種能夠在各種材料的地板上行進的機器人吸塵器。 The present invention relates to a robot vacuum cleaner, and more specifically, to a robot vacuum cleaner capable of traveling on floors of various materials.

一般來說，吸塵器包括：主體，具有抽吸裝置和集塵盒；以及清潔吸嘴，連接至主體以在接近待清潔表面的狀態下進行清潔。該吸塵器分為手動吸塵器和機器人吸塵器，手動吸塵器由使用者直接操作以清潔待清潔的表面，機器人吸塵器在主體行進的同時自動清潔待清潔的表面。 Generally, the vacuum cleaner includes a main body having a suction device and a dust collecting box; and a cleaning nozzle connected to the main body to perform cleaning in a state close to the surface to be cleaned. The vacuum cleaner is divided into a manual vacuum cleaner and a robot vacuum cleaner. The manual vacuum cleaner is directly operated by the user to clean the surface to be cleaned. The robot vacuum cleaner automatically cleans the surface to be cleaned while the main body is traveling.

在手動吸塵器中，如果使用者在將主體保持在抽吸裝置透過電動馬達的驅動力產生吸力的狀態下的同時，將清潔吸嘴放置在待清潔的表面上，清潔吸嘴在待清潔表面上抽吸包含灰塵的異物，並且被吸入的異物收集在集塵盒中，從而清潔了待清潔的表面。 In a manual vacuum cleaner, if the user keeps the main body in a state where the suction device generates suction through the driving force of the electric motor, while placing the cleaning nozzle on the surface to be cleaned, the cleaning nozzle is on the surface to be cleaned The foreign matter containing dust is sucked, and the sucked foreign matter is collected in the dust box, thereby cleaning the surface to be cleaned.

機器人吸塵器進一步包括在主體上的超音波感測器及/或照相機感測器，該主體設有抽吸裝置和集塵盒。在該主體自動地繞著待清潔的表面行進的同時，該清潔吸嘴透過由抽吸裝置產生的吸力將待清潔的表面上的異物抽吸，並且將吸入的異物收集在集塵盒中，從而清潔了待清潔的表面。 The robot cleaner further includes an ultrasonic sensor and/or a camera sensor on the main body, and the main body is provided with a suction device and a dust collecting box. While the main body automatically travels around the surface to be cleaned, the cleaning nozzle sucks foreign matter on the surface to be cleaned through the suction force generated by the suction device, and collects the sucked foreign matter in a dust box, Thereby, the surface to be cleaned is cleaned.

當將地毯鋪設在待清潔的房間的地板上時，地毯的線束透過清潔吸嘴的吸力被吸入到抽吸口中，從而在吸塵器行進時造成負荷。另外，由於地毯與放置地毯的地板具有高度差，因此具有吸塵器正爬上地毯、吸塵器正在地毯上行進、以及吸塵器正在離開地毯的多種行進環境。因此，需要一種可在各種地板的行進條件下穩定地行進的機器人吸塵器。 When the carpet is laid on the floor of the room to be cleaned, the wire harness of the carpet is sucked into the suction opening through the suction force of the cleaning suction nozzle, thereby causing a load when the vacuum cleaner travels. In addition, due to the height difference between the carpet and the floor where the carpet is placed, there are various traveling environments in which the vacuum cleaner is climbing on the carpet, the vacuum cleaner is traveling on the carpet, and the vacuum cleaner is leaving the carpet. Therefore, there is a need for a robot cleaner that can stably travel under various floor travel conditions.

本發明旨在提供一種即使在地板的行進環境改變時也能夠移動到期望位置的機器人吸塵器。本發明還提供了一種機器人吸塵器，能夠登上與地板具有高度差的區域。 The present invention aims to provide a robot cleaner that can move to a desired position even when the traveling environment of the floor changes. The present invention also provides a robot vacuum cleaner, which can be mounted on an area with a height difference from the floor.

本發明旨在提供一種機器人吸塵器，該機器人吸塵器具有主體相對於吸收輪單元衝擊的懸架單元而提升的配置，使得即使調節了主體的高度，懸架單元也保持吸收衝擊的功能。 The present invention aims to provide a robot cleaner having a configuration in which the main body is lifted relative to the suspension unit absorbing the impact of the wheel unit, so that the suspension unit maintains the function of absorbing the impact even if the height of the main body is adjusted.

本發明旨在提供一種機器人吸塵器，該機器人吸塵器用於當在主體的下表面上形成有充電端口的主體試圖與外部對接裝置對接以對主體內部的電池充電時升高主體，使得充電端口連接到對接裝置。 The present invention aims to provide a robot cleaner for raising the body when a main body with a charging port formed on the lower surface of the main body attempts to dock with an external docking device to charge the battery inside the main body so that the charging port is connected to Docking device.

本發明的其他優點、目的和特徵將在下面的描述中部分地闡述，並且對於所屬領域的普通技術人員而言，在研究以下內容之後將變得顯而易見，或者可以從本發明的實踐中獲悉。透過在書面說明書及其請求項和附圖中特別指出的結構，可以實現和獲得本發明的目的和其他優點。 Other advantages, objectives and features of the present invention will be partially explained in the following description, and for those of ordinary skill in the art, they will become obvious after studying the following content, or can be learned from the practice of the present invention. The objects and other advantages of the present invention can be realized and obtained through the structures specially pointed out in the written specification and its claims and the drawings.

本發明提供了一種機器人吸塵器，當機器人吸塵器在地毯上行進發生打滑時，該機器人吸塵器能夠使用由感應感測器或電刷馬達負載獲得的打滑訊息來升高主體以減少打滑。 The present invention provides a robot cleaner. When the robot cleaner slips on the carpet, the robot cleaner can use the slip information obtained by the induction sensor or the brush motor load to raise the main body to reduce the slip.

本發明提供了一種機器人吸塵器，其中，為了自動充電，主體在對接單元附近以升高狀態移動到對接裝置，然後在與對接裝置對接之後下降，以打開充電端口進行自動充電。 The present invention provides a robot cleaner, in which, for automatic charging, the main body moves to the docking device in an elevated state near the docking unit, and then descends after docking with the docking device to open the charging port for automatic charging.

本發明提供了一種吸塵器，用於根據地板環境自動調節設置高度。本發明提供一種操作結構，該操作結構能夠使用馬達和齒輪根據控制器的訊號來驅動馬達，並且能夠根據馬達的驅動來升高或降低懸架單元。 The invention provides a vacuum cleaner for automatically adjusting the installation height according to the floor environment. The present invention provides an operating structure that can use a motor and a gear to drive the motor according to a signal from a controller, and can raise or lower a suspension unit according to the drive of the motor.

本發明提供了一種機器人吸塵器，該機器人吸塵器通常能夠使用其中懸架單元引導輪單元升高或降低的結構的一部分及其中懸架單元相對於升降單元引導升高或降低軌跡的結構的一部分，來簡化吸塵器的內部結構。 The present invention provides a robot vacuum cleaner that can generally use a part of the structure in which the suspension unit guide wheel unit is raised or lowered and a part of the structure in which the suspension unit guides the raising or lowering trajectory of the suspension unit relative to the lifting unit to simplify the vacuum cleaner The internal structure.

具體地，懸架單元相對於升降單元移動的軌跡可以由引導桿引導。另外，輪單元相對於懸架單元移動的軌跡可以由引導桿引導。即，由於懸架單元、升降單元和輪單元的移動軌跡可以由相同的引導桿一起限制，所以簡單地實現了配置。 Specifically, the trajectory of the movement of the suspension unit relative to the lifting unit may be guided by the guide rod. In addition, the trajectory of the movement of the wheel unit relative to the suspension unit may be guided by the guide rod. That is, since the movement trajectories of the suspension unit, the lifting unit, and the wheel unit can be restricted together by the same guide rod, the configuration is simply realized.

本發明提供一種機器人吸塵器，包括一主體；一輪單元，包含可移動地支撐該主體的一滾輪；一懸架單元，該輪單元安裝在該懸架單元中以向上或向下移動，該懸架單元被配置以當該輪單元向上或向下移動時吸收衝擊；以及一升降單元，該懸掛單元安裝在該升降單元中以升高或降低，該升降單元耦接到該主體。 The present invention provides a robot cleaner including a main body; a wheel unit including a roller that movably supports the main body; a suspension unit installed in the suspension unit to move upward or downward, and the suspension unit is configured To absorb impact when the wheel unit moves up or down; and a lifting unit installed in the lifting unit to be raised or lowered, and the lifting unit is coupled to the main body.

在這種情況下，該升降單元包括一殼體；一升降驅動馬達，其固定到該殼體並包含與該懸架單元相對於該升降單元升高的方向平行地設置的一旋轉軸；以及一傳動單元，被配置以將該升降驅動馬達的旋轉力傳送到該懸架單元。 In this case, the elevating unit includes a housing; an elevating drive motor that is fixed to the housing and including a rotation shaft provided in parallel with the direction in which the suspension unit is raised relative to the elevating unit; and The transmission unit is configured to transmit the rotational force of the lift drive motor to the suspension unit.

應當理解的是，本發明的前述一般描述和以下詳細描述都是示例性和說明性的，並且旨在提供對所要求保護的本發明的進一步解釋。 It should be understood that the foregoing general description and the following detailed description of the present invention are both exemplary and illustrative, and are intended to provide further explanation of the claimed invention.

1‧‧‧電池 1‧‧‧Battery

2‧‧‧充電端口 2‧‧‧Charging port

3‧‧‧對接裝置 3‧‧‧Docking device

4‧‧‧供電終端 4‧‧‧Power supply terminal

5‧‧‧控制器 5‧‧‧Controller

100‧‧‧吸塵器 100‧‧‧Vacuum cleaner

112‧‧‧集塵盒容納部分 112‧‧‧Dust box containing part

110‧‧‧主體 110‧‧‧Main body

113‧‧‧上蓋 113‧‧‧Upper cover

114‧‧‧手柄 114‧‧‧Handle

115‧‧‧擷取單元 115‧‧‧Capturing unit

116‧‧‧第一開口 116‧‧‧First opening

117‧‧‧第二開口 117‧‧‧Second opening

120‧‧‧清潔吸嘴 120‧‧‧Clean the nozzle

130‧‧‧感測單元 130‧‧‧Sensing unit

132d‧‧‧接合突起 132d‧‧‧Joint protrusion

140‧‧‧集塵盒 140‧‧‧Dust box

141‧‧‧接合槽 141‧‧‧Joint groove

142‧‧‧入口 142‧‧‧Entrance

143‧‧‧出口 143‧‧‧Exit

200‧‧‧輪單元 200‧‧‧wheel unit

221‧‧‧滾輪、驅動輪 221‧‧‧roller, drive wheel

222‧‧‧滾輪、從動輪 222‧‧‧roller, driven wheel

231、232‧‧‧桿安裝部 231, 232‧‧‧Pole mounting part

300‧‧‧懸架單元 300‧‧‧Suspension unit

310‧‧‧懸架框架 310‧‧‧Suspension frame

312‧‧‧耦接孔 312‧‧‧Coupling hole

320‧‧‧引導桿、前引導桿 320‧‧‧Guide rod, front guide rod

330‧‧‧引導桿、後引導桿 330‧‧‧Guide rod, rear guide rod

340‧‧‧彈性構件、前彈性構件 340‧‧‧Elastic member, front elastic member

350‧‧‧彈性構件、後彈性構件 350‧‧‧Elastic member, rear elastic member

400‧‧‧升降單元 400‧‧‧Lift unit

410‧‧‧升降驅動馬達 410‧‧‧Lift drive motor

422‧‧‧旋轉軸 422‧‧‧Rotation axis

424‧‧‧第一齒輪 424‧‧‧First Gear

440‧‧‧傳動部分 440‧‧‧Transmission part

442‧‧‧蓋 442‧‧‧cover

444‧‧‧第一蓋 444‧‧‧First cover

445‧‧‧通孔 445‧‧‧Through hole

446‧‧‧第二蓋 446‧‧‧Second cover

450‧‧‧殼體 450‧‧‧Shell

460‧‧‧第一旋轉桿 460‧‧‧First rotating rod

462‧‧‧第二齒輪 462‧‧‧Second Gear

464‧‧‧第三齒輪 464‧‧‧The third gear

470‧‧‧第二旋轉桿 470‧‧‧Second Rotating Rod

472‧‧‧第四齒輪 472‧‧‧Fourth gear

附圖被包括以提供對本發明的進一步理解，並且併入本申請並構成本申請的一部分，示出了本發明的實施例，並且與說明書一起用於解釋本發明的原理。在附圖中： The accompanying drawings are included to provide a further understanding of the present invention, and are incorporated into and constitute a part of the present application, show embodiments of the present invention, and together with the description are used to explain the principle of the present invention. In the attached picture:

圖1是顯示根據本發明一實施例之吸塵器的立體圖； Fig. 1 is a perspective view showing a vacuum cleaner according to an embodiment of the present invention;

圖2是顯示集塵盒與圖1之吸塵器分離狀態下的吸塵器的視圖； Figure 2 is a view showing the vacuum cleaner in a state where the dust collection box is separated from the vacuum cleaner of Figure 1;

圖3是顯示輪單元、懸架單元和升降單元的視圖； Figure 3 is a view showing a wheel unit, a suspension unit and a lifting unit;

圖4是顯示圖3中之傳動單元的內部的視圖； Figure 4 is a view showing the inside of the transmission unit in Figure 3;

圖5是圖4的斜視圖； Figure 5 is an oblique view of Figure 4;

圖6是本發明的主要部分的分解立體圖； Figure 6 is an exploded perspective view of the main part of the present invention;

圖7和圖8是顯示圖6之主要部分被耦接的狀態的視圖； 7 and 8 are views showing a state in which the main parts of FIG. 6 are coupled;

圖9是顯示懸架單元相對於升降單元下降的狀態的視圖； Figure 9 is a view showing a state where the suspension unit is lowered relative to the lifting unit;

圖10是顯示根據本發明一實施例之機器人吸塵器對接在外部對接裝置上的視圖；以及 Figure 10 is a view showing the robot cleaner docked on an external docking device according to an embodiment of the present invention; and

圖11是根據本發明一實施例之機器人吸塵器的控制方塊圖。 Fig. 11 is a control block diagram of a robot cleaner according to an embodiment of the present invention.

現在將詳細參考本發明的示例性實施例，其示例在附圖中示出。 Reference will now be made in detail to exemplary embodiments of the present invention, examples of which are shown in the accompanying drawings.

為了描述的簡單和方便，附圖中示出的元件的尺寸或形狀可能被放大。此外，考慮到本發明的配置和操作而特別定義的術語可以根據使用者或操作者的意圖或習慣而變化。因此，應基於本說明書中所揭露的全部內容來定義這些術語。 For simplicity and convenience of description, the size or shape of elements shown in the drawings may be enlarged. In addition, the terms specifically defined in consideration of the configuration and operation of the present invention may be changed according to the intention or custom of the user or operator. Therefore, these terms should be defined based on all the contents disclosed in this specification.

圖1是顯示根據本發明一實施例之吸塵器的立體圖；以及圖2是顯示集塵盒與圖1之吸塵器分離狀態下的吸塵器的視圖。 Fig. 1 is a perspective view showing a vacuum cleaner according to an embodiment of the present invention; and Fig. 2 is a view showing the vacuum cleaner in a state where the dust collection box is separated from the vacuum cleaner of Fig. 1.

參照圖1和圖2，吸塵器100包括主體110、清潔吸嘴120、感測單元130、以及集塵盒140。 1 and 2, the cleaner 100 includes a main body 110, a cleaning nozzle 120, a sensing unit 130, and a dust box 140.

包含控制器(圖未顯示)之用於控制吸塵器100的各種組件安裝或裝設在主體110中。主體110可以形成其中容納構成吸塵器100的各種組件的空間。 Various components including a controller (not shown in the figure) for controlling the vacuum cleaner 100 are installed or installed in the main body 110. The main body 110 may form a space in which various components constituting the cleaner 100 are accommodated.

主體110設置有用於使主體110行進的輪單元200。輪單元200可以包括馬達(圖未顯示)和透過馬達的驅動力旋轉的至少一個滾輪。馬達的旋轉方向可以由控制器(圖未顯示)控制。然後，輪單元200的滾輪可配置成可順時針方向或逆時針方向旋轉。 The main body 110 is provided with a wheel unit 200 for traveling the main body 110. The wheel unit 200 may include a motor (not shown in the figure) and at least one roller rotated by the driving force of the motor. The rotation direction of the motor can be controlled by a controller (not shown in the figure). Then, the roller of the wheel unit 200 may be configured to be rotatable in a clockwise direction or a counterclockwise direction.

輪單元200可以設置在主體110的左右兩側的每一個上。透過輪單元200可以使主體110向後、向前、向左或向右移動或旋轉。 The wheel unit 200 may be provided on each of the left and right sides of the main body 110. The main body 110 can be moved or rotated backward, forward, left or right through the wheel unit 200.

每個輪單元200可配置成被獨立地驅動。為此，每個輪單元200可以由不同的馬達驅動。 Each wheel unit 200 may be configured to be independently driven. To this end, each wheel unit 200 may be driven by a different motor.

控制器控制輪單元200的驅動，使得吸塵器100自動地在地板上行進。 The controller controls the driving of the wheel unit 200 so that the cleaner 100 automatically travels on the floor.

輪單元200設置在主體110的下部，以使主體110行進。輪單元200可以僅由圓形滾輪所構成，也可以藉由透過帶鏈連接圓形輥來構成，或者可以藉由將圓形滾輪與由帶鏈連接的圓形輥組合來構成。輪單元200的滾輪的上部可以設置在主體110內，而輪單元200的下部可以從主體110向下突出。 The wheel unit 200 is provided at the lower portion of the main body 110 to allow the main body 110 to travel. The wheel unit 200 may be composed of only a circular roller, or may be composed of connecting a circular roller through a belt chain, or may be composed of a combination of a circular roller and a circular roller connected by a belt chain. The upper part of the roller of the wheel unit 200 may be disposed in the main body 110, and the lower part of the wheel unit 200 may protrude downward from the main body 110.

輪單元200可以安裝在主體110的左側和右側中的每一個上。設置在主體110左側的輪單元200和設置在主體110右側的輪單元200可以彼此獨立地被驅動。即，設置在主體110左側的輪單元200可以通過至少一個齒輪彼此連接，並且可以透過用於使齒輪旋轉的第一行進馬達的驅動力來旋轉。另外， 設置在主體110右側的輪單元200可以通過至少一個齒輪彼此連接，並且可以透過用於使齒輪旋轉的第二行進馬達的驅動力來旋轉。 The wheel unit 200 may be installed on each of the left and right sides of the main body 110. The wheel unit 200 provided on the left side of the main body 110 and the wheel unit 200 provided on the right side of the main body 110 may be driven independently of each other. That is, the wheel unit 200 provided on the left side of the main body 110 may be connected to each other by at least one gear, and may be rotated by the driving force of the first traveling motor for rotating the gear. in addition, The wheel unit 200 provided on the right side of the main body 110 may be connected to each other by at least one gear, and may be rotated by the driving force of the second traveling motor for rotating the gear.

控制器可以藉由控制第一行進馬達和第二行進馬達的各個旋轉軸的轉速來確定主體110的行進方向。例如，當第一行進馬達和第二行進馬達的旋轉軸同時以相同速度旋轉時，主體110可以筆直行進。當第一行進馬達和第二行進馬達的旋轉軸同時以不同的速度旋轉時，主體110可以向左或向右轉向。為了使主體110向左或向右轉向，控制器可以驅動第一行進馬達和第二行進馬達中的一個並且停止第一行進馬達和第二行進馬達中的另一個。 The controller may determine the traveling direction of the main body 110 by controlling the rotation speeds of the respective rotating shafts of the first traveling motor and the second traveling motor. For example, when the rotating shafts of the first traveling motor and the second traveling motor rotate at the same speed at the same time, the main body 110 may travel straight. When the rotation shafts of the first traveling motor and the second traveling motor rotate at different speeds at the same time, the main body 110 may turn left or right. In order to turn the main body 110 left or right, the controller may drive one of the first traveling motor and the second traveling motor and stop the other of the first traveling motor and the second traveling motor.

懸架單元可以安裝在主體110內部。懸架單元可以包括螺旋彈簧。當主體110行進時，懸架單元可以利用螺旋彈簧的彈力吸收從輪單元200傳送來的衝擊和振動。 The suspension unit may be installed inside the main body 110. The suspension unit may include a coil spring. When the main body 110 travels, the suspension unit may absorb impact and vibration transmitted from the wheel unit 200 using the elastic force of the coil spring.

另外，懸架單元可以設置有升降單元，用於調節主體110的高度。該升降單元可以安裝在懸架單元中以能夠向上和向下移動並可以耦接到主體110。因此，當升降單元從懸架單元向上移動時，主體110也可以與升降單元一起向上移動，並且當升降單元從懸架單元向下移動時，主體110也可以與升降單元一起向下移動。由於主體110可以透過升降單元向上或向下移動，因此可以調節其高度。 In addition, the suspension unit may be provided with a lifting unit for adjusting the height of the main body 110. The lifting unit may be installed in the suspension unit to be able to move up and down and may be coupled to the main body 110. Therefore, when the lifting unit moves upward from the suspension unit, the main body 110 can also move upward together with the lifting unit, and when the lifting unit moves downward from the suspension unit, the main body 110 can also move downward together with the lifting unit. Since the main body 110 can be moved up or down through the lifting unit, its height can be adjusted.

當主體110在堅硬的地板表面上行進時，輪單元200的滾輪可以在清潔吸嘴120的底表面與地板表面緊密接觸的狀態下移動以清潔地板表面。然而，當地毯鋪設在待清潔的地板表面上時，在輪單元200的滾輪上可能發生打滑，使得主體110的行進性能可能劣化。此外，主體110的行進性能也可能由於抽吸地毯的清潔吸嘴120的吸力而劣化。 When the main body 110 travels on a hard floor surface, the roller of the wheel unit 200 may move in a state where the bottom surface of the cleaning nozzle 120 is in close contact with the floor surface to clean the floor surface. However, when the carpet is laid on the floor surface to be cleaned, slippage may occur on the rollers of the wheel unit 200, so that the traveling performance of the main body 110 may be deteriorated. In addition, the traveling performance of the main body 110 may also be deteriorated due to the suction force of the cleaning nozzle 120 that sucks the carpet.

然而，由於升降單元根據輪單元200的滾輪的滑動率來調節主體110的高度，所以清潔吸嘴120的底表面與待清潔的地板表面之間的接觸程度可以被調節，使得無論待清潔地板表面的材料如何，都可以保持吸塵器主體110的行進性能。 However, since the lifting unit adjusts the height of the main body 110 according to the sliding rate of the roller of the wheel unit 200, the degree of contact between the bottom surface of the cleaning nozzle 120 and the floor surface to be cleaned can be adjusted so that whatever the floor surface is to be cleaned Regardless of the material, the travel performance of the vacuum cleaner body 110 can be maintained.

主體110配備有用於向吸塵器100的電子組件供電的電池(圖未顯示)。電池被配置為可充電的並可被配置為可從主體110拆卸。 The main body 110 is equipped with a battery (not shown in the figure) for supplying power to the electronic components of the vacuum cleaner 100. The battery is configured to be rechargeable and can be configured to be detachable from the main body 110.

主體110設置有集塵盒容納部分112。用於分離灰塵和空氣以在吸入的空氣中收集灰塵的集塵盒140可拆卸地耦接到集塵盒容納部分112。集塵 盒容納部分112可以具有在主體110的向前和向上方向上敞開的形狀，並且可以形成為從主體110的前側朝後側凹入。主體110的前部可以具有敞開的前部、敞開的頂部和敞開的底部。根據吸塵器的類型，集塵盒容納部分112可以形成在另一位置(例如，主體110的後側)。 The main body 110 is provided with a dust box accommodating part 112. A dust box 140 for separating dust and air to collect dust in the sucked air is detachably coupled to the dust box accommodating part 112. Dust collection The box accommodating part 112 may have a shape that is open in the forward and upward directions of the main body 110 and may be formed to be recessed from the front side of the main body 110 toward the rear side. The front of the main body 110 may have an open front, an open top, and an open bottom. According to the type of the cleaner, the dust box accommodating part 112 may be formed at another position (for example, the rear side of the main body 110).

集塵盒140可拆卸地耦接到集塵盒容納部分112。集塵盒140的一部分容納在集塵盒容納部分112中，而集塵盒140的另一部分可以形成為朝主體110的前部突出。 The dust box 140 is detachably coupled to the dust box receiving part 112. A part of the dust box 140 is accommodated in the dust box accommodating part 112, and another part of the dust box 140 may be formed to protrude toward the front of the main body 110.

集塵盒140具有入口142，含有灰塵的空氣通過該入口142引入；以及出口143，與灰塵分離的空氣通過該出口143排出。當將集塵盒140安裝在集塵盒容納部分112中時，入口142和出口143分別被配置以與形成在集塵盒容納部分112內壁上的第一開口116和第二開口117連通。 The dust box 140 has an inlet 142 through which air containing dust is introduced; and an outlet 143 through which air separated from the dust is discharged. When the dust box 140 is installed in the dust box accommodating portion 112, the inlet 142 and the outlet 143 are respectively configured to communicate with the first opening 116 and the second opening 117 formed on the inner wall of the dust box accommodating portion 112.

形成在主體110內部的空氣吸入通道對應於從清潔吸嘴120到第一開口116的通道，以及空氣排出通道對應於從第二開口117到排氣口的通道。 The air suction passage formed inside the main body 110 corresponds to the passage from the cleaning suction nozzle 120 to the first opening 116, and the air discharge passage corresponds to the passage from the second opening 117 to the exhaust port.

通過清潔吸嘴120引入之含灰塵的空氣經由主體110內部的空氣吸入通道被引入集塵盒140中，並且在通過集塵盒140中的至少一個過濾器部分(例如，旋風分離器或過濾器)時與灰塵分離。灰塵收集在集塵盒140中，並且空氣從集塵盒140排出。然後，空氣通過主體110內部的空氣排出通道，並最終通過排氣口排放到外部。 The dust-containing air introduced through the cleaning nozzle 120 is introduced into the dust box 140 through the air suction channel inside the main body 110, and passes through at least one filter part (for example, a cyclone separator or a filter) in the dust box 140. ) Is separated from dust. Dust is collected in the dust box 140 and air is discharged from the dust box 140. Then, the air passes through the air discharge passage inside the main body 110, and is finally discharged to the outside through the exhaust port.

在主體110中設置有上蓋113，該上蓋113覆蓋容納在集塵盒容納部112中的集塵盒140。上蓋113可以鉸接到主體110的一側以可旋轉。上蓋113覆蓋集塵盒容納部112之敞開的上側以覆蓋集塵盒140的上側。上蓋113可以與主體110可拆卸地分離。 An upper cover 113 is provided in the main body 110, and the upper cover 113 covers the dust box 140 accommodated in the dust box accommodating portion 112. The upper cover 113 may be hinged to one side of the main body 110 to be rotatable. The upper cover 113 covers the open upper side of the dust box accommodating portion 112 to cover the upper side of the dust box 140. The upper cover 113 may be detachably separated from the main body 110.

在設置上蓋以覆蓋集塵盒140的狀態下，可以限制集塵盒140與集塵盒容納部112的分離。 In a state where the upper cover is provided to cover the dust box 140, the separation of the dust box 140 from the dust box accommodating portion 112 can be restricted.

手柄114設置在上蓋113的上側。擷取單元115可以設置在手柄114上。擷取單元115可以被設置為相對於主體110的底表面傾斜，以便一起擷取前方向和上方向。 The handle 114 is provided on the upper side of the upper cover 113. The capturing unit 115 may be provided on the handle 114. The capturing unit 115 may be arranged to be inclined with respect to the bottom surface of the main body 110 so as to capture the front direction and the upper direction together.

擷取單元115可以設置在主體110中，以擷取用於吸塵器的同步定位與地圖構建(SLAM)的影像。由擷取單元115擷取的影像用於產生行進區域的地圖或感測行進區域中的當前位置。 The capturing unit 115 may be disposed in the main body 110 to capture images for synchronous positioning and mapping (SLAM) of the vacuum cleaner. The image captured by the capturing unit 115 is used to generate a map of the travel area or to sense the current position in the travel area.

擷取單元115可以產生與主體110的周圍有關的3維(3D)座標訊息。即，擷取單元115可以是計算吸塵器100與要擷取的對象之間的距離的3D深度照相機。因此，可以產生關於3D座標訊息的現場資料。 The capturing unit 115 can generate 3-dimensional (3D) coordinate information related to the surroundings of the main body 110. That is, the capturing unit 115 may be a 3D depth camera that calculates the distance between the cleaner 100 and the object to be captured. Therefore, on-site data about 3D coordinate information can be generated.

具體地，擷取單元115可以擷取與主體110的周圍有關的二維(2D)影像，並且產生與所擷取的2D影像相對應的複數個3D座標訊息。 Specifically, the capturing unit 115 may capture two-dimensional (2D) images related to the surroundings of the main body 110, and generate a plurality of 3D coordinate information corresponding to the captured 2D images.

在一實施例中，擷取單元115包含用於獲取常規2D影像的兩個或更多個照相機，並且組合由兩個或更多個照相機所獲取的兩個或更多個影像以產生一立體視覺類型的3D座標訊息。 In one embodiment, the capturing unit 115 includes two or more cameras for capturing conventional 2D images, and combines the two or more images captured by the two or more cameras to generate a stereo Visual type of 3D coordinate information.

擷取單元115包含：第一圖案發射器，用於朝主體的前方向下照射第一圖案的光；第二圖案發射器，用於朝主體的前方向上照射第二圖案的光；以及影像獲取器，用於獲取主體正面的影像。然後，影像獲取器可以獲取入射有第一圖案的光和第二圖案的光的區域的影像。 The capturing unit 115 includes: a first pattern emitter for irradiating the light of the first pattern downward toward the front of the main body; a second pattern emitter for irradiating the light of the second pattern upward toward the front of the main body; and image acquisition Finder, used to obtain the image of the front of the subject. Then, the image acquirer may acquire an image of the area where the light of the first pattern and the light of the second pattern are incident.

另外，擷取單元115可以包含用於與單個照相機一起發射紅外線圖案的紅外線圖案發射器，並且擷取透過將紅外線圖案發射器發射的紅外線圖案投影到擷取的對象上而形成的形狀，從而測量擷取單元115與被擷取的對象之間的距離。擷取單元115可以是紅外線(IR)擷取單元115。 In addition, the capturing unit 115 may include an infrared pattern emitter for emitting infrared patterns together with a single camera, and capture the shape formed by projecting the infrared pattern emitted by the infrared pattern emitter onto the captured object, thereby measuring The distance between the capturing unit 115 and the captured object. The capturing unit 115 may be an infrared (IR) capturing unit 115.

擷取單元115可以包含用於與單個照相機一起發光的光發射器。擷取單元115可以接收在由光發射器發射的雷射光中從擷取的對象反射的一部分雷射光，並分析所接收到的雷射光，從而測量擷取單元115與擷取的對象之間的距離。擷取單元115可以是飛行時間(TOF)擷取單元115。 The capturing unit 115 may include a light emitter for emitting light together with a single camera. The capturing unit 115 can receive a part of the laser light reflected from the captured object in the laser light emitted by the light emitter, and analyze the received laser light, thereby measuring the distance between the capturing unit 115 and the captured object. distance. The capturing unit 115 may be a time-of-flight (TOF) capturing unit 115.

擷取單元115被配置以照射在至少一個方向上延伸的一種類型的雷射光。在示例中，擷取單元115可以包含第一雷射光和第二雷射光。第一雷射光可以照射彼此交叉的直線雷射光，而第二雷射光可以照射單一直線型的雷射光。然後，底部雷射光用於感測在主體底部的障礙物，而頂部雷射光用於感測在主體頂部的障礙物。在底部雷射光與頂部雷射光之間的中間雷射光用於感測主體中部的障礙物。 The capturing unit 115 is configured to irradiate one type of laser light extending in at least one direction. In an example, the capturing unit 115 may include the first laser light and the second laser light. The first laser light can irradiate linear laser lights that cross each other, and the second laser light can irradiate a single linear laser light. Then, the bottom laser light is used to sense obstacles on the bottom of the main body, and the top laser light is used to sense obstacles on the top of the main body. The middle laser light between the bottom laser light and the top laser light is used to sense obstacles in the middle of the main body.

感測單元130可以設置在上蓋113的下部，並且可以可拆卸地耦接到集塵盒140。 The sensing unit 130 may be provided at a lower portion of the upper cover 113 and may be detachably coupled to the dust box 140.

感測單元130設置在主體110中，並且感測與主體110所處的環境有關的訊息。感測單元130感測與環境有關的訊息以產生現場資料。 The sensing unit 130 is disposed in the main body 110 and senses information related to the environment in which the main body 110 is located. The sensing unit 130 senses information related to the environment to generate field data.

感測單元130感測周圍特徵(包含障礙物)，使得吸塵器100不與障礙物碰撞。感測單元130可以感測關於吸塵器100的外部的訊息。感測單元130可以感測吸塵器100周圍的使用者。感測單元130可以感測吸塵器100周圍的物體。 The sensing unit 130 senses surrounding features (including obstacles) so that the cleaner 100 does not collide with the obstacles. The sensing unit 130 may sense information about the outside of the vacuum cleaner 100. The sensing unit 130 may sense users around the vacuum cleaner 100. The sensing unit 130 may sense objects around the cleaner 100.

另外，感測單元130可以被配置為被平移(向左和向右移動)和傾斜(設置為向上和向下傾斜)，以便改善機器人吸塵器的感測和行進功能。 In addition, the sensing unit 130 may be configured to be translated (moved to the left and right) and tilted (set to be tilted upward and downward) in order to improve the sensing and traveling functions of the robot cleaner.

感測單元130設置在主體110的前側，並設置在集塵盒140與上蓋113之間。接合突起132d形成為從感測單元130的下側突出。接合槽141形成在集塵盒140的上側，接合突起132d***該接合槽141中使得接合突起132d與接合槽141接合。當藉由揭開上蓋113來打開集塵盒容納部分112的上側時，接合突起132d***到接合槽141中，使得集塵盒140耦接到感測單元130並變得與主體110不可分離。相反，當上蓋113露出集塵盒容納部分112的上側時，接合突起132d從接合槽141中退出，使得集塵盒140與感測單元130分開且變得可與主體110分離。 The sensing unit 130 is provided on the front side of the main body 110 and is provided between the dust box 140 and the upper cover 113. The engaging protrusion 132d is formed to protrude from the lower side of the sensing unit 130. An engaging groove 141 is formed on the upper side of the dust box 140, and the engaging protrusion 132d is inserted into the engaging groove 141 so that the engaging protrusion 132d is engaged with the engaging groove 141. When the upper side of the dust box accommodating portion 112 is opened by uncovering the upper cover 113, the engaging protrusion 132d is inserted into the engaging groove 141, so that the dust box 140 is coupled to the sensing unit 130 and becomes inseparable from the main body 110. In contrast, when the upper cover 113 exposes the upper side of the dust box accommodating portion 112, the engaging protrusion 132d is withdrawn from the engaging groove 141, so that the dust box 140 is separated from the sensing unit 130 and becomes separable from the main body 110.

感測單元130可以包含外部訊號感測器、障礙物感測器、懸崖感測器、下部照相機感測器、上部照相機感測器、電流感測器、編碼器、衝擊感測器或麥克風的至少其中之一。 The sensing unit 130 may include an external signal sensor, an obstacle sensor, a cliff sensor, a lower camera sensor, an upper camera sensor, a current sensor, an encoder, an impact sensor, or a microphone. At least one of them.

外部訊號感測器可以感測吸塵器100的外部訊號。外部訊號感測器可以是例如IR感測器、超音波感測器、射頻(RF)感測器等。因此，可以產生關於外部訊號的現場資料。 The external signal sensor can sense the external signal of the vacuum cleaner 100. The external signal sensor can be, for example, an IR sensor, an ultrasonic sensor, a radio frequency (RF) sensor, etc. Therefore, on-site data about external signals can be generated.

吸塵器100可以藉由使用外部訊號感測器接收從充電站產生的引導訊號來感測關於充電站的位置和方向的訊息。在此，充電站可以產生指示方向和距離的引導訊號，使得吸塵器100可以返回到充電站那裡。即，吸塵器100可以藉由接收從充電站產生的訊號來確定當前位置，並且可以藉由設定移動方向來返回到充電站。 The vacuum cleaner 100 can sense information about the location and direction of the charging station by using an external signal sensor to receive the guidance signal generated from the charging station. Here, the charging station can generate a guide signal indicating the direction and distance, so that the vacuum cleaner 100 can return to the charging station. That is, the vacuum cleaner 100 can determine the current position by receiving the signal generated from the charging station, and can return to the charging station by setting the moving direction.

障礙物感測器可以感測位於吸塵器前面的障礙物。因此，產生關於障礙物的現場資料。障礙感測器可以感測在吸塵器100的移動方向上存在的物體，並且將產生的現場資料發送到控制器。即，障礙感測器可以感測在吸塵器100的移動路徑中存在的突起物、陳設、傢俱、牆面、牆角等，並將現場資料發送到控制器。障礙物檢測感測可以是例如IR感測器、超音波感測器、RF 感測器、地磁感測器等。吸塵器100可以使用一種類型的感測器作為障礙感測器，或者在必要時一起使用兩種或更多種類型的感測器。 The obstacle sensor can sense obstacles located in front of the vacuum cleaner. Therefore, on-site data about obstacles is generated. The obstacle sensor may sense objects existing in the moving direction of the vacuum cleaner 100 and send the generated field data to the controller. That is, the obstacle sensor can sense protrusions, furnishings, furniture, walls, corners, etc. existing in the moving path of the vacuum cleaner 100, and send field data to the controller. Obstacle detection sensing can be, for example, IR sensor, ultrasonic sensor, RF Sensors, geomagnetic sensors, etc. The cleaner 100 may use one type of sensor as an obstacle sensor, or use two or more types of sensors together when necessary.

懸崖感測器可以主要使用各種形狀的光學感測器來感測支撐主體110的地板上的障礙物。因此，產生關於地板上的障礙物的現場資料。懸崖檢測感測器可以是IR感測器、RF感測器、位置敏感檢測器(PSD)感測器等，它們中的每一個都包含與障礙物感測器中一樣的光發射器和光接收器。 The cliff sensor may mainly use various shapes of optical sensors to sense obstacles on the floor supporting the main body 110. Therefore, on-site data about obstacles on the floor is generated. The cliff detection sensor can be an IR sensor, an RF sensor, a position sensitive detector (PSD) sensor, etc., each of them contains the same light emitter and light receiver as the obstacle sensor Device.

例如，懸崖感測器可以是PSD感測器或複數種不同類型的感測器。PSD感測器可以包含用於向障礙物發射IR射線的光發射器和用於接收從障礙物反射之後返回的IR射線的光接收器。一般來說，PSD感測器可以形成為模組。如果使用PSD感測器感測到障礙物，則無論障礙物的反射率或顏色如何，都可以獲得穩定的測量值。 For example, the cliff sensor may be a PSD sensor or a plurality of different types of sensors. The PSD sensor may include a light transmitter for emitting IR rays to an obstacle and a light receiver for receiving IR rays returned after being reflected from the obstacle. Generally speaking, the PSD sensor can be formed as a module. If an obstacle is sensed using a PSD sensor, a stable measurement value can be obtained regardless of the reflectance or color of the obstacle.

控制器可以藉由測量在由懸崖感測器朝地面輻射的IR射線的發光訊號與從障礙物反射後所接收的反射訊號之間的IR角度來感測懸崖，並獲取關於懸崖深度的現場資料。 The controller can sense the cliff by measuring the IR angle between the luminous signal of IR rays radiated by the cliff sensor toward the ground and the reflected signal received from the obstacle, and obtain field data about the cliff's depth .

懸崖感測器可以感測地板的材料。懸崖感測器可以感測從地板反射的光的反射率，並根據反射率確定地板的材料。例如，如果地板的材料是具有良好反射率的大理石，則懸崖感測器感測到的光的反射率會呈現很高。如果地板的材料是木材、紙質地板(papered floor)或具有反射率相對於大理石差的地毯，則由懸崖感測器感測到的光的反射率會呈現相對較低。因此，控制器可以使用由懸崖感測器感測的地板的反射率來確定地板的材料，並且當地板的反射率是預設的反射率時，確定地板是地毯。 The cliff sensor can sense the material of the floor. The cliff sensor can sense the reflectivity of light reflected from the floor and determine the material of the floor based on the reflectivity. For example, if the material of the floor is marble with good reflectivity, the reflectivity of the light sensed by the cliff sensor will be very high. If the floor material is wood, papered floor, or carpet with a difference in reflectivity compared to marble, the reflectivity of the light sensed by the cliff sensor will be relatively low. Therefore, the controller can use the reflectivity of the floor sensed by the cliff sensor to determine the material of the floor, and when the reflectivity of the floor slab is a preset reflectivity, determine that the floor is a carpet.

另外，懸崖感測器感測到地板的距離，並且控制器可以根據到地板的距離確定地板的材料。例如，如果吸塵器位於鋪設在地板上的地毯上，則懸崖感測器可以感測到地板的距離比到未鋪設地毯的地板的距離更近。因此，控制器可以使用由懸崖感測器感測之到地板的距離來確定地板的材料，並且當到地板的距離等於或大於預設距離時，確定地板的材料是地毯。 In addition, the cliff sensor senses the distance to the floor, and the controller can determine the material of the floor according to the distance to the floor. For example, if the vacuum cleaner is located on a carpet laid on the floor, the cliff sensor can sense that the distance to the floor is closer than the distance to the floor without carpet. Therefore, the controller can determine the material of the floor using the distance to the floor sensed by the cliff sensor, and determine that the material of the floor is carpet when the distance to the floor is equal to or greater than the preset distance.

下部照相機感測器在移動過程中獲取待清潔表面上的影像訊息(現場資料)。下部照相機感測器也稱為光流量感測器。下部照相機感測器可以轉換從設置在下部照相機感測器中的影像感測器輸入的下側影像，以產生預定格式的影像資料(現場資料)。可以產生使用下部照相機感測器所識別之影 像上的現場資料。不管機器人吸塵器的滑動如何，控制器都可以使用下部照相機感測器檢測機器人吸塵器的位置。控制器可以隨時比較並分析在由下部照相機感測器所擷取的影像上的資料，以計算行進距離和行進方向。控制器根據計算出的距離和方向計算機器人吸塵器的位置。 The lower camera sensor acquires image information (field data) on the surface to be cleaned during the movement. The lower camera sensor is also called an optical flow sensor. The lower camera sensor can convert the lower image input from the image sensor provided in the lower camera sensor to generate image data (field data) in a predetermined format. Can produce the image recognized by the lower camera sensor Like the on-site information. Regardless of the sliding of the robot cleaner, the controller can use the lower camera sensor to detect the position of the robot cleaner. The controller can compare and analyze the data on the image captured by the lower camera sensor at any time to calculate the travel distance and travel direction. The controller calculates the position of the robot cleaner based on the calculated distance and direction.

下部照相機感測器可以擷取地板的影像，並且控制器可以藉由分析由下部照相機感測器所擷取的影像來確定地板的材料。控制單元可以配置與地板的材料相對應的影像。如果由下部照相機感測器所擷取的影像包含所配置的影像，則控制器可以確定地板的材料是與配置的影像相對應的材料。當擷取的影像包含與地毯的影像相對應的該所配置的影像時，控制器可以確定地板的材料是地毯。 The lower camera sensor can capture an image of the floor, and the controller can determine the material of the floor by analyzing the image captured by the lower camera sensor. The control unit can be configured with an image corresponding to the material of the floor. If the image captured by the lower camera sensor includes the configured image, the controller can determine that the material of the floor is the material corresponding to the configured image. When the captured image includes the configured image corresponding to the image of the carpet, the controller can determine that the material of the floor is a carpet.

上部照相機感測器可以被安裝成面向吸塵器100的上側或前側，以擷取吸塵器100周圍的影像。如果吸塵器100設置有複數個上部照相機感測器，則上部照相機感測器可以在機器人清潔器的上部或側面上以預定的距離或預定的角度設置在其間。可以產生在由上部照相機感測器所識別的影像上的現場資料。 The upper camera sensor may be installed to face the upper side or the front side of the vacuum cleaner 100 to capture images around the vacuum cleaner 100. If the cleaner 100 is provided with a plurality of upper camera sensors, the upper camera sensors may be disposed at a predetermined distance or a predetermined angle in between on the upper or side of the robot cleaner. Can generate live data on the image recognized by the upper camera sensor.

電流感測器感測滾輪驅動馬達的電阻值，並且控制器可以根據由電流感測器感測的電阻值來確定地板的材料。例如，當清潔吸嘴120位於地板上面的地毯上時，地毯的線束通過清潔吸嘴120的抽吸口被抽吸，從而阻礙了吸塵器的行進。在這種情況下，由於滾輪驅動馬達的轉子與定子之間的負載將產生電阻。電流感測器可以感測由滾輪驅動馬達所產生的電阻值，並且控制器可以根據電阻值確定地板的材料。如果電阻值等於或大於預設值，則控制器可以確定地板的材料是地毯。 The current sensor senses the resistance value of the roller drive motor, and the controller can determine the material of the floor based on the resistance value sensed by the current sensor. For example, when the cleaning nozzle 120 is located on a carpet above the floor, the wire harness of the carpet is sucked through the suction port of the cleaning nozzle 120, thereby hindering the travel of the vacuum cleaner. In this case, resistance will be generated due to the load between the rotor and stator of the roller drive motor. The current sensor can sense the resistance value generated by the roller drive motor, and the controller can determine the material of the floor according to the resistance value. If the resistance value is equal to or greater than the preset value, the controller may determine that the material of the floor is carpet.

編碼器可以感測與驅動輪單元200的滾輪的馬達的操作有關的訊息。因此，產生關於馬達操作的現場資料。 The encoder may sense information related to the operation of the motor that drives the roller of the wheel unit 200. As a result, field data on motor operation is generated.

衝擊感測器可以感測吸塵器100與外部障礙物碰撞期間的衝擊。因此，產生關於外部衝擊的現場資料。 The impact sensor may sense the impact during the collision of the vacuum cleaner 100 with an external obstacle. Therefore, on-site data about external shocks are generated.

麥克風可以感測外部聲音。因此，產生關於外部聲音的現場資料。 The microphone can sense external sounds. Therefore, live data about external sounds is generated.

清潔吸嘴120被配置以抽吸包含灰塵的空氣或擦拭地板。在本文中，被配置以抽吸包含灰塵的空氣的清潔吸嘴120可以稱為抽吸模組，並且被配置以擦拭地板的清潔吸嘴120可以稱為拖把模組。 The cleaning suction nozzle 120 is configured to suck air containing dust or wipe the floor. Herein, the cleaning nozzle 120 configured to suck air containing dust may be referred to as a suction module, and the cleaning nozzle 120 configured to wipe the floor may be referred to as a mop module.

清潔吸嘴120可以可拆卸地耦接到主體110。當抽吸模組與主體110分離時，拖把模組藉由更換分離的抽吸模組而可拆卸地耦接到主體110。因此，想要從地板上去除灰塵的使用者可以將抽吸模組安裝在主體110上，並且想要擦拭地板的使用者可以將拖把模組安裝在主體110上。 The cleaning suction nozzle 120 may be detachably coupled to the main body 110. When the suction module is separated from the main body 110, the mop module is detachably coupled to the main body 110 by replacing the separated suction module. Therefore, a user who wants to remove dust from the floor can install the suction module on the main body 110, and a user who wants to wipe the floor can install the mop module on the main body 110.

清潔吸嘴120可以被配置以在抽吸包含灰塵的空氣之後具有擦拭地板的功能。 The cleaning suction nozzle 120 may be configured to have a function of wiping the floor after sucking air containing dust.

如圖所示，清潔吸嘴120可以設置在主體110的下部，或者可以設置成從主體110的一側突出。所述一側可以是主體110沿向前方向行進的一側，即，吸塵器主體110的前側。清潔吸嘴120可以設置在輪單元200的前面，使得清潔吸嘴120的一部分可以從集塵盒140向前突出。 As shown in the figure, the cleaning nozzle 120 may be provided at the lower portion of the main body 110, or may be provided to protrude from one side of the main body 110. The one side may be a side where the main body 110 travels in a forward direction, that is, the front side of the cleaner main body 110. The cleaning nozzle 120 may be provided in front of the wheel unit 200 such that a part of the cleaning nozzle 120 may protrude forward from the dust box 140.

圖1和圖2顯示出清潔吸嘴120具有從主體110的一側向前側以及左右兩側突出的形狀。具體地，清潔吸嘴120的前端設置在與主體110的一側向前隔開的位置，而清潔吸嘴120的左右兩端設置在與主體的一側分別向左側和右側隔開的位置。 1 and 2 show that the cleaning nozzle 120 has a shape protruding from one side of the main body 110 to the front side and the left and right sides. Specifically, the front end of the cleaning nozzle 120 is disposed at a position spaced forward from the side of the main body 110, and the left and right ends of the cleaning nozzle 120 are disposed at positions spaced from the side of the main body to the left and right, respectively.

抽吸馬達可以安裝在主體110內部。葉輪(圖未顯示)可以耦接到抽吸馬達的旋轉軸。當驅動抽吸馬達以使葉輪沿旋轉軸旋轉時，葉輪可以產生吸力。 The suction motor may be installed inside the main body 110. The impeller (not shown in the figure) may be coupled to the rotating shaft of the suction motor. When the suction motor is driven to rotate the impeller along the rotation axis, the impeller can generate suction.

空氣吸入通道可形成在主體110內部。包含灰塵的異物可以透過由抽吸馬達的驅動力產生的吸力從待清潔的表面引入至清潔吸嘴120中，並且引入至清潔吸嘴120中的異物可以被引入空氣吸入通道中。 The air suction channel may be formed inside the main body 110. Foreign matter containing dust may be introduced into the cleaning suction nozzle 120 from the surface to be cleaned through the suction force generated by the driving force of the suction motor, and the foreign matter introduced into the cleaning suction nozzle 120 may be introduced into the air suction channel.

清潔吸嘴120可以被設置為在主體110的所有表面中與主體110的底表面相鄰。可以在清潔吸嘴120的底部上形成通過其抽吸空氣的抽吸口。當清潔吸嘴120耦接到主體110時，抽吸口可朝底表面設置。 The cleaning suction nozzle 120 may be provided to be adjacent to the bottom surface of the main body 110 in all surfaces of the main body 110. A suction port through which air is sucked may be formed on the bottom of the cleaning suction nozzle 120. When the cleaning suction nozzle 120 is coupled to the main body 110, the suction port may be disposed toward the bottom surface.

清潔吸嘴120可以包含在其底部上形成有吸入口的殼體，並且刷單元可以可旋轉地設置在殼體內部。殼體可以提供空出的空間，使得刷單元可旋轉地設置在其中。刷單元可以包含形成為向左右延伸的旋轉軸和從旋轉軸的 外周突出的刷子。刷單元的旋轉軸可以可旋轉地耦接到殼體的左表面和右表面。 The cleaning suction nozzle 120 may include a housing having a suction port formed on the bottom thereof, and the brush unit may be rotatably provided inside the housing. The housing may provide an empty space so that the brush unit is rotatably disposed therein. The brush unit may include a rotating shaft formed to extend left and right, and a rotating shaft extending from the rotating shaft. Brushes protruding from the periphery. The rotating shaft of the brush unit may be rotatably coupled to the left and right surfaces of the housing.

刷單元被設置成使得刷子的下部突出穿過形成在殼體的下部中的吸入口。然後，當驅動抽吸馬達時，刷單元可以透過抽吸力旋轉以掃除包含灰塵在內之待清潔地板上的異物。以這種方式掃過的異物可能會被吸力吸入外殼中。刷子可以由不產生摩擦靜電的材料形成，使得異物可以不容易地附著在其上。 The brush unit is provided so that the lower part of the brush protrudes through the suction port formed in the lower part of the housing. Then, when the suction motor is driven, the brush unit can be rotated by the suction force to remove foreign objects on the floor to be cleaned including dust. Foreign objects swept in this way may be sucked into the housing by suction. The brush may be formed of a material that does not generate frictional static electricity, so that foreign matter may not easily adhere to it.

集塵盒140可以包含中空的圓柱形殼體。用於過濾通過主體110的空氣吸入通道吸入的空氣中的異物和空氣的過濾器單元可以設置在圓筒形殼體的內部。過濾器單元可以包含複數個旋風分離器。被過濾器單元過濾的灰塵和異物可以藉由落入集塵盒140的內部來容納，並且僅空氣被排放到集塵盒140的外部。然後，空氣透過抽吸馬達的抽吸力朝抽吸馬達移動，然後被排放到主體110的外部。 The dust box 140 may include a hollow cylindrical housing. A filter unit for filtering foreign matter and air in the air sucked through the air suction passage of the main body 110 may be provided inside the cylindrical housing. The filter unit may contain a plurality of cyclones. Dust and foreign matter filtered by the filter unit may be contained by falling into the inside of the dust box 140, and only air is discharged to the outside of the dust box 140. Then, the air moves toward the suction motor through the suction force of the suction motor, and then is discharged to the outside of the main body 110.

圖3是顯示輪單元、懸架單元和升降單元的視圖；圖4是顯示圖3中之傳動單元的內部的視圖；以及圖5是圖4的斜視圖。 3 is a view showing a wheel unit, a suspension unit, and a lifting unit; FIG. 4 is a view showing the inside of the transmission unit in FIG. 3; and FIG. 5 is a perspective view of FIG. 4.

參照圖3至圖5，根據本發明的機器人吸塵器100包括輪單元200、懸架單元300、以及升降單元400。 3 to 5, the robot cleaner 100 according to the present invention includes a wheel unit 200, a suspension unit 300, and a lifting unit 400.

輪單元200安裝在主體110兩側的每一側，以使吸塵器的主體110行進。輪單元200可以包含：行進驅動馬達；滾輪221和222，透過行進驅動馬達的驅動力旋轉以使主體110行進；以及齒輪箱，其中安裝有行進驅動馬達及滾輪221和222。 The wheel unit 200 is installed on each of both sides of the main body 110 to allow the main body 110 of the cleaner to travel. The wheel unit 200 may include: a traveling drive motor; rollers 221 and 222 that are rotated by the driving force of the traveling drive motor to move the main body 110; and a gear box in which the traveling drive motor and the rollers 221 and 222 are installed.

輪單元200包括設置在其前部的驅動輪221和設置在從驅動輪221向後隔開的位置的從動輪222。驅動輪221和從動輪222可以經由行進帶連接。當設置行進帶時，複數個突起沿一圓周方向形成在驅動輪221的外周面上，並且複數個槽形成在驅動帶的內周面上，形成在驅動輪221的外周面上的該複數個突起***該複數個槽中。 The wheel unit 200 includes a driving wheel 221 provided at the front portion thereof and a driven wheel 222 provided at a position spaced rearward from the driving wheel 221. The driving wheel 221 and the driven wheel 222 may be connected via a traveling belt. When the traveling belt is provided, a plurality of protrusions are formed on the outer circumferential surface of the driving wheel 221 along a circumferential direction, and a plurality of grooves are formed on the inner circumferential surface of the driving belt, and the plurality of grooves are formed on the outer circumferential surface of the driving wheel 221. The protrusions are inserted into the plurality of grooves.

當主體110行進時，安裝在輪單元200中的懸架單元300吸收由輪單元200傳送的衝擊。 When the main body 110 travels, the suspension unit 300 installed in the wheel unit 200 absorbs the impact transmitted by the wheel unit 200.

懸架單元300包括懸架框架310；引導桿320和330，安裝在懸架框架310中以引導輪單元200可向上和向下移動；以及彈性構件340和350， 被配置使得引導桿320和330穿透該彈性構件340和350，並被配置以當輪單元200向上或向下移動時吸收衝擊。 The suspension unit 300 includes a suspension frame 310; guide rods 320 and 330 installed in the suspension frame 310 to guide the wheel unit 200 to move upward and downward; and elastic members 340 and 350, It is configured such that the guide rods 320 and 330 penetrate the elastic members 340 and 350, and are configured to absorb impact when the wheel unit 200 moves up or down.

輪單元200設置有桿安裝部231和232，使得將引導桿320和330安裝在桿安裝部231和232中。桿安裝部231和232被安裝為能夠在引導桿320和330上向上和向下移動，使得輪單元200被設置為能夠在懸架單元300中向上和向下移動。引導桿320和330向上和向下穿過桿安裝部分231和232。引導桿320和330向上和向下穿過的通孔形成在桿安裝部分231和232中。 The wheel unit 200 is provided with rod mounting parts 231 and 232 so that the guide rods 320 and 330 are mounted in the rod mounting parts 231 and 232. The rod mounting parts 231 and 232 are installed to be able to move up and down on the guide rods 320 and 330 so that the wheel unit 200 is provided to be able to move up and down in the suspension unit 300. The guide rods 320 and 330 penetrate the rod mounting parts 231 and 232 upward and downward. Through holes through which the guide rods 320 and 330 pass upward and downward are formed in the rod mounting parts 231 and 232.

懸架單元300設置有兩個引導桿320和330，即分別位於懸架單元300的前側和後側的前引導桿320和後引導桿330。位於前側的桿安裝部231被安裝為可在前引導桿320上向上和向下移動，而位於懸架單元300的後側的桿安裝部232被安裝為可在後引導桿330上向上和向下移動。 The suspension unit 300 is provided with two guide rods 320 and 330, namely a front guide rod 320 and a rear guide rod 330 located at the front and rear sides of the suspension unit 300, respectively. The rod mounting part 231 located on the front side is installed to be movable upward and downward on the front guide rod 320, and the rod mounting part 232 located on the rear side of the suspension unit 300 is mounted to be movable upward and downward on the rear guide rod 330 move.

懸架框架310整體上形成為方形托架形狀，並且兩個引導桿320和330分別設置在其兩端。引導桿320和330在垂直方向上延伸，使得輪單元200可以在引導桿320和330延伸的方向上移動。 The suspension frame 310 is formed in a square bracket shape as a whole, and two guide rods 320 and 330 are respectively provided at both ends thereof. The guide rods 320 and 330 extend in the vertical direction so that the wheel unit 200 can move in the direction in which the guide rods 320 and 330 extend.

兩個引導桿320和330形成為比懸架框架310的頂端和底端延伸時的距離長，使得引導桿320和330被設置為穿透懸架框架310的頂端和底端。 The two guide rods 320 and 330 are formed to be longer than the distance when the top and bottom ends of the suspension frame 310 extend, so that the guide rods 320 and 330 are provided to penetrate the top and bottom ends of the suspension frame 310.

彈性構件340和350由螺旋彈簧形成，使得引導桿320和330向上和向下穿過彈性構件340和350。彈性構件340和350的上端由懸架框架310支撐，彈性構件340和350的下端由桿安裝部231和232支撐。如果在主體110行進的同時向主體110或輪單元200施加衝擊，則彈性構件340和350可被壓縮以吸收衝擊。輪單元200的桿安裝部231和232可移動地安裝在引導桿320和330上，以支撐彈性構件340和350的下側，使得當輪單元200上下移動時，懸架單元300可以吸收衝擊。彈性構件340和350包括前彈性構件340，其底端由前桿安裝部支撐，前引導桿320向上和向下穿過該前彈性構件340；以及後彈性構件350，其底端由後桿安裝部支撐，後引導桿330向上和向下穿過該後彈性構件350。 The elastic members 340 and 350 are formed of coil springs so that the guide rods 320 and 330 pass through the elastic members 340 and 350 upward and downward. The upper ends of the elastic members 340 and 350 are supported by the suspension frame 310, and the lower ends of the elastic members 340 and 350 are supported by the rod mounting parts 231 and 232. If an impact is applied to the main body 110 or the wheel unit 200 while the main body 110 is traveling, the elastic members 340 and 350 may be compressed to absorb the impact. The rod mounting parts 231 and 232 of the wheel unit 200 are movably mounted on the guide rods 320 and 330 to support the underside of the elastic members 340 and 350 so that when the wheel unit 200 moves up and down, the suspension unit 300 can absorb impact. The elastic members 340 and 350 include a front elastic member 340 whose bottom end is supported by a front rod mounting portion through which the front guide rod 320 passes upward and downward; and a rear elastic member 350 whose bottom end is mounted by a rear rod The rear guide rod 330 penetrates the rear elastic member 350 upward and downward.

懸架單元300耦接到升降單元400以升高或降低。懸架單元300可以相對於升降單元400改變高度。 The suspension unit 300 is coupled to the lifting unit 400 to be raised or lowered. The suspension unit 300 may change the height relative to the lifting unit 400.

升降單元400包括殼體450，該殼體450具有用於容納懸架單元300的至少一部分的空間。引導桿320和330的兩端均耦接到殼體450。引導桿 320和330的頂端和底端分別耦接到殼體450的頂端和底端，使得引導桿320和330的高度可以延伸到類似於殼體450的高度。殼體450的頂端和底端之間的高度與每個引導桿320和330的頂端和底端之間的高度相同。殼體450的頂端和底端之間的高度高於懸架框架310的頂端和底端之間的高度。懸架框架310的頂端和底端之間的高度高於桿安裝部分231和232中的每一個的頂端和底端之間的高度。因此，懸架框架310由設置在殼體450中的引導桿320和330引導以使其升高或降低。桿安裝部231和232由設置在懸架框架310中的引導桿320和330引導以使其升高或降低。 The lifting unit 400 includes a housing 450 having a space for accommodating at least a part of the suspension unit 300. Both ends of the guide rods 320 and 330 are coupled to the housing 450. Guide rod The top and bottom ends of 320 and 330 are respectively coupled to the top and bottom ends of the housing 450 so that the height of the guide rods 320 and 330 can be extended to a height similar to that of the housing 450. The height between the top and bottom ends of the housing 450 is the same as the height between the top and bottom ends of each of the guide rods 320 and 330. The height between the top and bottom ends of the housing 450 is higher than the height between the top and bottom ends of the suspension frame 310. The height between the top and bottom ends of the suspension frame 310 is higher than the height between the top and bottom ends of each of the rod mounting parts 231 and 232. Therefore, the suspension frame 310 is guided by the guide rods 320 and 330 provided in the housing 450 to raise or lower it. The rod mounting parts 231 and 232 are guided by the guide rods 320 and 330 provided in the suspension frame 310 to raise or lower them.

升降單元400可以耦接到主體110。在這種情況下，殼體450可以耦接到主體110。升降單元400設置為與主體110一起升降。升降單元400可以藉由在向上和向下移動時升降主體110來調節主體110的高度。 The lifting unit 400 may be coupled to the main body 110. In this case, the housing 450 may be coupled to the main body 110. The lifting unit 400 is configured to be lifted and lowered together with the main body 110. The lifting unit 400 may adjust the height of the main body 110 by lifting the main body 110 while moving upward and downward.

升降單元400包括升降驅動馬達410，用於提供驅動力，使得升降單元400相對於懸架單元300升高或降低；以及傳動部分440，用於將升降驅動馬達410的旋轉力傳送到懸架單元300。 The lifting unit 400 includes a lifting drive motor 410 for providing a driving force to raise or lower the lifting unit 400 relative to the suspension unit 300; and a transmission part 440 for transmitting the rotation force of the lifting drive motor 410 to the suspension unit 300.

升降驅動馬達410安裝在殼體450的內側。升降驅動馬達410被固定為不改變其相對於殼體450的位置，而升降驅動馬達410可以提供正向或反向旋轉力。 The lift drive motor 410 is installed inside the housing 450. The elevator drive motor 410 is fixed so as not to change its position relative to the housing 450, and the elevator drive motor 410 can provide forward or reverse rotation force.

在圖4和圖5中，與圖3不同，省略了傳動部分440的蓋442，並且示出了傳動部分440的內部。 In FIGS. 4 and 5, unlike FIG. 3, the cover 442 of the transmission part 440 is omitted, and the inside of the transmission part 440 is shown.

圖6是本發明的主要部分的分解立體圖；以及圖7和圖8是顯示其中圖6的主要部分被耦接的狀態的視圖。圖8是從圖7的後側觀看的視圖。 6 is an exploded perspective view of the main part of the present invention; and FIGS. 7 and 8 are views showing a state in which the main part of FIG. 6 is coupled. Fig. 8 is a view viewed from the rear side of Fig. 7.

參照圖6至圖8，升降驅動馬達410包括旋轉軸422，該旋轉軸422與懸架單元300相對於升降單元400被提升的方向平行地設置。旋轉軸422與引導桿320和330延伸的方向平行地設置。 6 to 8, the lifting drive motor 410 includes a rotating shaft 422 which is arranged in parallel with the direction in which the suspension unit 300 is lifted with respect to the lifting unit 400. The rotation shaft 422 is provided in parallel with the direction in which the guide rods 320 and 330 extend.

傳動部分440包括安裝在殼體450的內部空間中的蓋。該蓋包含設置在其上側的第一蓋444和設置在其下側的第二蓋446。第二蓋446設置在第一蓋444的下方，並且兩個蓋組合在一起以形成可在其中安裝組件的空間。 The transmission part 440 includes a cover installed in the inner space of the housing 450. The cover includes a first cover 444 provided on the upper side thereof and a second cover 446 provided on the lower side thereof. The second cover 446 is disposed under the first cover 444, and the two covers are combined together to form a space in which components can be installed.

通孔445形成在第一蓋444的上表面上，升降驅動馬達410的旋轉軸422穿過該通孔445。旋轉軸422設置有第一齒輪424。當旋轉軸422旋轉時，第一齒輪424也以相同的旋轉速度和相同的旋轉方向旋轉。 A through hole 445 is formed on the upper surface of the first cover 444, and the rotation shaft 422 of the lift drive motor 410 passes through the through hole 445. The rotating shaft 422 is provided with a first gear 424. When the rotation shaft 422 rotates, the first gear 424 also rotates at the same rotation speed and the same rotation direction.

另外，傳動單元440包括透過與旋轉軸422接合而旋轉的第一旋轉桿460和透過與第一旋轉桿460接合而旋轉的第二旋轉桿470。在這種情況下，第一旋轉桿460和第二旋轉桿470彼此垂直地設置。當第一旋轉桿460水平設置時，第二旋轉桿470則垂直設置。因此，第二旋轉桿470與旋轉軸422平行設置。 In addition, the transmission unit 440 includes a first rotation rod 460 that rotates by being engaged with the rotation shaft 422 and a second rotation rod 470 that is rotated by being engaged with the first rotation rod 460. In this case, the first rotating rod 460 and the second rotating rod 470 are arranged perpendicular to each other. When the first rotating rod 460 is arranged horizontally, the second rotating rod 470 is arranged vertically. Therefore, the second rotating rod 470 is arranged in parallel with the rotating shaft 422.

第一旋轉桿460可旋轉地耦接到蓋442。在這種情況下，第一旋轉桿460設置有軸承，使得即使第一旋轉桿460旋轉，蓋442也不會移動。 The first rotating rod 460 is rotatably coupled to the cover 442. In this case, the first rotating rod 460 is provided with a bearing so that even if the first rotating rod 460 rotates, the cover 442 does not move.

第一旋轉桿460設置有與第一齒輪422可旋轉地接合的第二齒輪462。當第一齒輪424繞垂直旋轉軸旋轉時，第二齒輪462繞水平旋轉軸旋轉。在這種情況下，第一齒輪424可以是蝸桿，而第二齒輪462可以是蝸輪。第一齒輪和第二齒輪可以垂直地改變旋轉軸方向，並且還可以改變旋轉速度。 The first rotating lever 460 is provided with a second gear 462 rotatably engaged with the first gear 422. When the first gear 424 rotates about the vertical rotation axis, the second gear 462 rotates about the horizontal rotation axis. In this case, the first gear 424 may be a worm, and the second gear 462 may be a worm gear. The first gear and the second gear can change the direction of the rotation axis vertically, and can also change the rotation speed.

第三齒輪464設置在第一旋轉桿460的另一側。當第一旋轉桿460旋轉時，第三齒輪464一起旋轉。 The third gear 464 is provided on the other side of the first rotating rod 460. When the first rotating rod 460 rotates, the third gear 464 rotates together.

第二旋轉桿470設置有第四齒輪472，其透過與第三齒輪464接合並被轉動而旋轉。當第三齒輪464繞水平旋轉軸旋轉時，第四齒輪472繞垂直旋轉軸旋轉。在這種情況下，第三齒輪464可以是蝸桿，而第四齒輪472可以是蝸輪。第三齒輪和第四齒輪可以垂直地改變旋轉軸方向，並且還改變旋轉速度。 The second rotating rod 470 is provided with a fourth gear 472 which rotates by being engaged with the third gear 464 and being rotated. When the third gear 464 rotates about the horizontal rotation axis, the fourth gear 472 rotates about the vertical rotation axis. In this case, the third gear 464 may be a worm, and the fourth gear 472 may be a worm gear. The third gear and the fourth gear can vertically change the rotation axis direction and also change the rotation speed.

在傳動單元中，可以透過兩個蝸桿和蝸輪調節轉速以降低轉速。另外，透過傳動部分傳送的旋轉力最初具有在垂直方向旋轉的軸，並且透過傳動部分傳送的旋轉力最終也具有在垂直方向旋轉的軸。 In the transmission unit, the speed can be adjusted by two worms and worm gears to reduce the speed. In addition, the rotational force transmitted through the transmission portion initially has an axis that rotates in the vertical direction, and the rotational force transmitted through the transmission portion eventually has an axis that rotates in the vertical direction.

在第二旋轉桿470的上側形成有螺紋，並且在懸架框架310中形成有耦接孔312，第二旋轉桿470***該耦接孔312中。耦接孔312形成有螺紋，該螺紋可與形成在第二旋轉桿470上的螺紋接合，使得當第二旋轉桿470旋轉時，懸架框架310向上或向下移動。 A thread is formed on the upper side of the second rotating rod 470, and a coupling hole 312 is formed in the suspension frame 310, and the second rotating rod 470 is inserted into the coupling hole 312. The coupling hole 312 is formed with a screw thread that may be engaged with a screw thread formed on the second rotating rod 470 so that when the second rotating rod 470 rotates, the suspension frame 310 moves up or down.

第二旋轉桿470的上端可以耦接到懸架框架310的耦接孔312，而第二旋轉桿470的下端可以耦接到第二蓋446。第二旋轉桿470的下端設置有軸承，使得第二旋轉桿470可旋轉地耦接到第二蓋446。 The upper end of the second rotating rod 470 may be coupled to the coupling hole 312 of the suspension frame 310, and the lower end of the second rotating rod 470 may be coupled to the second cover 446. The lower end of the second rotating rod 470 is provided with a bearing so that the second rotating rod 470 is rotatably coupled to the second cover 446.

圖9是顯示懸架單元相對於升降單元下降的狀態的視圖。 Fig. 9 is a view showing a state in which the suspension unit is lowered relative to the elevating unit.

與圖3相比，懸架單元300和輪單元200在圖9中相對於升降單元400的位置是處於降低狀態。因此，以不改變高度的方式耦接到升降單元400的主體110高於輪單元200。這是因為輪單元200在行進時與地板接觸。 Compared with FIG. 3, the positions of the suspension unit 300 and the wheel unit 200 relative to the lifting unit 400 in FIG. 9 are in a lowered state. Therefore, the main body 110 coupled to the lifting unit 400 in a manner that does not change the height is higher than the wheel unit 200. This is because the wheel unit 200 is in contact with the floor while traveling.

將省略懸架單元300相對於升降單元400下降的過程。 The process of descending the suspension unit 300 relative to the lifting unit 400 will be omitted.

如果由升降驅動馬達410產生旋轉力，則第一齒輪424在旋轉軸422旋轉的同時旋轉。與第一齒輪424接合的第二齒輪462旋轉，並且耦接到第一旋轉桿460的第三齒輪464也與第二齒輪462一起旋轉。 If the rotation force is generated by the lift drive motor 410, the first gear 424 rotates while the rotation shaft 422 rotates. The second gear 462 engaged with the first gear 424 rotates, and the third gear 464 coupled to the first rotation lever 460 also rotates with the second gear 462.

第三齒輪464的旋轉傳送給第四齒輪472以使第二旋轉桿470旋轉。第二旋轉桿470的旋轉可以改變懸架框架310相對於第二旋轉桿470的高度。懸架單元300可以使用引導桿320和333在垂直方向上延伸作為移動軌跡來升高或降低。 The rotation of the third gear 464 is transmitted to the fourth gear 472 to rotate the second rotation lever 470. The rotation of the second rotating rod 470 may change the height of the suspension frame 310 relative to the second rotating rod 470. The suspension unit 300 may be raised or lowered using the guide rods 320 and 333 extending in the vertical direction as a movement trajectory.

即，當升降驅動馬達410的旋轉軸422向前或向後旋轉時，懸架單元300可以相對於升降單元400升高或降低，使得懸架單元300的高度可以改變。 That is, when the rotation shaft 422 of the lift drive motor 410 rotates forward or backward, the suspension unit 300 may be raised or lowered relative to the lift unit 400 so that the height of the suspension unit 300 may be changed.

在該實施例中，懸架單元300相對於升降單元400移動的軌跡可以由引導桿320和330引導。另外，輪單元200相對於懸架單元300移動的軌跡可以由引導桿320和330引導。即，懸架單元300、升降單元400以及輪單元200的移動軌跡可以完全由引導桿320和330限制，並且可以藉由共享引導桿320和330來實現功能。因此，具有簡化配置的優點。 In this embodiment, the trajectory of the movement of the suspension unit 300 relative to the lifting unit 400 may be guided by the guide rods 320 and 330. In addition, the trajectory of the movement of the wheel unit 200 relative to the suspension unit 300 may be guided by the guide rods 320 and 330. That is, the movement trajectories of the suspension unit 300, the lifting unit 400, and the wheel unit 200 can be completely restricted by the guide rods 320 and 330, and functions can be realized by sharing the guide rods 320 and 330. Therefore, there is an advantage of simplified configuration.

圖10是顯示根據本發明一實施例之機器人吸塵器與外部對接裝置的對接的視圖；以及圖11是根據本發明一實施例之機器人吸塵器的控制方塊圖。 10 is a view showing the docking of the robot cleaner and the external docking device according to an embodiment of the present invention; and FIG. 11 is a control block diagram of the robot cleaner according to an embodiment of the present invention.

參照圖10和圖11，根據本發明一實施例的機器人吸塵器100在主體110內部設置有電池1。電池1儲存用於驅動設置在主體110中的各種電氣組件的電力。用於對電池1充電的充電端口2設置在主體110的下表面上。充電端口2可以連接到用於充電的外部對接裝置。充電端口2可以連接到設置在外部對接裝置3中的供電終端4以對電池1充電。對接裝置3可以是充電站。當電池1的電量小於或等於預定值時，吸塵器100可以自動行進到對接裝置3的位置，使得主體110可以與對接裝置3對接。當吸塵器100完成清潔時，吸塵器100可以自動行進到對接裝置3的位置，使得主體110可以與對接裝置3對接。 10 and 11, the robot cleaner 100 according to an embodiment of the present invention is provided with a battery 1 inside the main body 110. The battery 1 stores electric power for driving various electric components provided in the main body 110. A charging port 2 for charging the battery 1 is provided on the lower surface of the main body 110. The charging port 2 can be connected to an external docking device for charging. The charging port 2 may be connected to a power supply terminal 4 provided in the external docking device 3 to charge the battery 1. The docking device 3 may be a charging station. When the power of the battery 1 is less than or equal to the predetermined value, the vacuum cleaner 100 can automatically travel to the position of the docking device 3 so that the main body 110 can be docked with the docking device 3. When the vacuum cleaner 100 finishes cleaning, the vacuum cleaner 100 can automatically travel to the position of the docking device 3 so that the main body 110 can be docked with the docking device 3.

控制器5可以使用由感測單元130輸入的感測值來控制升降單元400，以抬升升降單元400。例如，控制器5可以從感測單元130接收對接裝置3的位置訊息以識別對接裝置3的位置。充電端口2設置在主體100的下表面上。 當主體100試圖與對接裝置3對接時，控制器5控制升降驅動馬達410沿一個方向旋轉以升高升降單元400，使得主體110向上移動。在升高升降單元400之後，控制器5控制升降驅動馬達410沿另一個方向旋轉以降低升高的升降單元400，使得主體100向下移動。然後，控制器5可以控制充電端口2連接到對接裝置3的供電終端4。 The controller 5 may use the sensing value input by the sensing unit 130 to control the lifting unit 400 to lift the lifting unit 400. For example, the controller 5 may receive the location information of the docking device 3 from the sensing unit 130 to identify the location of the docking device 3. The charging port 2 is provided on the lower surface of the main body 100. When the main body 100 attempts to dock with the docking device 3, the controller 5 controls the lift drive motor 410 to rotate in one direction to raise the lift unit 400, so that the main body 110 moves upward. After the lifting unit 400 is raised, the controller 5 controls the lifting driving motor 410 to rotate in another direction to lower the raised lifting unit 400 so that the main body 100 moves downward. Then, the controller 5 can control the charging port 2 to be connected to the power supply terminal 4 of the docking device 3.

另外，清潔吸嘴120在其下表面上形成有抽吸口以抽吸地板的異物。因此，當吸塵器100沿待清潔的地板表面行進時，如果地板表面的材料是地毯，則地毯的束線通過清潔吸嘴120的吸口被吸走，然後吸塵器的行進性能可能下降。因此，升降單元400可以根據待清潔的地板表面的材料藉由控制升降驅動馬達410來向上或向下移動，使得可以控制清潔吸嘴120的高度。感測單元130可以獲得與地板表面的材料有關的地板訊息，並且控制器5可以從感測單元130接收地板訊息。這裡，感測單元130可以是距離感測器、反射率測量感測器或影像感測器中的至少一個，其可以獲取與地板表面的材料有關的地板訊息。當基於由感測單元130提供的地板訊息確定地板表面的材料是地毯時，控制器5可以控制升降驅動馬達410沿一個方向旋轉以向上移動清潔吸嘴120，藉以升高升降單元400。當基於地板訊息確定吸塵器100已從地毯上離開時，控制器5可以控制提升驅動馬達410沿另一方向旋轉以使清潔吸嘴120向下移動，藉以降低升降單元400。 In addition, the cleaning suction nozzle 120 is formed with a suction port on the lower surface thereof to suck foreign matter of the floor. Therefore, when the vacuum cleaner 100 travels along the floor surface to be cleaned, if the material of the floor surface is a carpet, the harness of the carpet is sucked away through the suction opening of the cleaning nozzle 120, and then the travel performance of the vacuum cleaner may be reduced. Therefore, the lifting unit 400 may move up or down by controlling the lifting driving motor 410 according to the material of the floor surface to be cleaned, so that the height of the cleaning suction nozzle 120 may be controlled. The sensing unit 130 may obtain floor information related to the material of the floor surface, and the controller 5 may receive the floor information from the sensing unit 130. Here, the sensing unit 130 may be at least one of a distance sensor, a reflectance measurement sensor, or an image sensor, which can acquire floor information related to the material of the floor surface. When it is determined that the material of the floor surface is carpet based on the floor information provided by the sensing unit 130, the controller 5 may control the lifting driving motor 410 to rotate in one direction to move the cleaning nozzle 120 upward, thereby raising the lifting unit 400. When it is determined based on the floor information that the vacuum cleaner 100 has moved away from the carpet, the controller 5 may control the lifting driving motor 410 to rotate in another direction to move the cleaning nozzle 120 downward, thereby lowering the lifting unit 400.

如上所述，在根據本發明一實施例的吸塵器中，用於升高主體110的升降單元安裝在懸掛單元300中。因此，即使透過升降單元400調節了吸塵器的主體110的高度，懸架單元300也可以保持吸收輪單元200的衝擊的功能。 As described above, in the cleaner according to an embodiment of the present invention, the lifting unit for lifting the main body 110 is installed in the suspension unit 300. Therefore, even if the height of the main body 110 of the cleaner is adjusted through the lifting unit 400, the suspension unit 300 can maintain the function of absorbing the impact of the wheel unit 200.

根據本發明的機器人吸塵器，由於升降單元被安裝在懸掛單元中，因此即使透過升降單元調節主體的高度以升高主體，懸掛單元也可以保持吸收衝擊的功能。 According to the robot cleaner of the present invention, since the lifting unit is installed in the suspension unit, even if the height of the main body is adjusted by the lifting unit to raise the main body, the suspension unit can maintain the function of absorbing impact.

此外，由於當清潔吸嘴行進通過地毯(其為地板的材料)以吸入異物時，清潔吸嘴的高度會升高，因此地毯的束線不被吸入形成在清潔吸嘴下表面的吸氣口，並且因此主體的行進性能不會降低。 In addition, since the height of the cleaning nozzle increases when the cleaning nozzle travels through the carpet (which is the material of the floor) to suck in foreign matter, the harness of the carpet is not sucked into the suction port formed on the lower surface of the cleaning nozzle , And therefore the traveling performance of the main body will not be reduced.

此外，由於在嘗試與外部對接裝置對接時抬起主體以對電池充電，設置在主體下表面上的充電端口可以在穩定狀態下電連接到對接裝置。 In addition, since the main body is lifted to charge the battery when trying to dock with the external docking device, the charging port provided on the lower surface of the main body can be electrically connected to the docking device in a stable state.

本發明不限於上述實施例，並且所屬領域的普通技術人員可以在本文中做出各種修改和變型如所附的請求項可以理解的。此外，這樣的修改和變化均落入本發明的範圍內。 The present invention is not limited to the above-mentioned embodiments, and those of ordinary skill in the art can make various modifications and variations in this text as can be understood by the appended claims. In addition, such modifications and changes fall within the scope of the present invention.

100‧‧‧吸塵器 100‧‧‧Vacuum cleaner

110‧‧‧主體 110‧‧‧Main body

113‧‧‧上蓋 113‧‧‧Upper cover

114‧‧‧手柄 114‧‧‧Handle

115‧‧‧擷取單元 115‧‧‧Capturing unit

120‧‧‧清潔吸嘴 120‧‧‧Clean the nozzle

130‧‧‧感測單元 130‧‧‧Sensing unit

140‧‧‧集塵盒 140‧‧‧Dust box

200‧‧‧輪單元 200‧‧‧wheel unit

Claims (8)

一種機器人吸塵器，包括：一主體；一輪單元，包含可移動地支撐該主體的一滾輪；一懸架單元，該輪單元安裝在該懸架單元中以向上或向下移動，該懸架單元被配置以當該輪單元向上或向下移動時吸收衝擊；以及一升降單元，該懸架單元安裝在該升降單元中以升高或降低，該升降單元耦接到該主體，其中，該升降單元包括：一升降驅動馬達，包含一旋轉軸，與該懸架單元相對於該升降單元升高的方向平行地設置，以及一傳動單元，被配置以將該升降驅動馬達的旋轉力傳送給該懸架單元，以及其中，該懸架單元包括：一懸架框架，一引導桿，安裝在該懸架框架中，以引導該輪單元可向上或向下移動，以及一彈性構件，該引導桿穿過該彈性構件，當該輪單元向上或向下移動時，該彈性構件吸收衝擊，其中，該傳動單元包括一第一旋轉桿以及一第二旋轉桿，該第一旋轉桿藉由與該旋轉軸接合而旋轉，該第二旋轉桿藉由與該第一旋轉桿接合而旋轉，其中，該第一旋轉桿和該第二旋轉桿彼此垂直地設置，其中，該第二旋轉桿與該旋轉軸平行地設置，其中，該升降單元包括一殼體，該引導桿的兩端都耦接到該殼體上，以及其中，該引導桿藉由穿過該懸架框架的上端和下端而延伸以從該懸架框架的上端和下端退出。 A robot vacuum cleaner includes: a main body; a wheel unit including a roller that movably supports the main body; a suspension unit installed in the suspension unit to move upward or downward, and the suspension unit is configured to be The wheel unit absorbs impact when moving up or down; and a lifting unit, the suspension unit is installed in the lifting unit to be raised or lowered, the lifting unit is coupled to the main body, wherein the lifting unit includes: a lifting unit The driving motor includes a rotating shaft, which is arranged parallel to the direction in which the suspension unit is raised relative to the lifting unit, and a transmission unit configured to transmit the rotation force of the lifting driving motor to the suspension unit, and wherein, The suspension unit includes: a suspension frame, a guide rod installed in the suspension frame to guide the wheel unit to move up or down, and an elastic member, the guide rod passing through the elastic member, when the wheel unit When moving up or down, the elastic member absorbs shocks. The transmission unit includes a first rotating rod and a second rotating rod. The first rotating rod rotates by being engaged with the rotating shaft. The rod rotates by being engaged with the first rotating rod, wherein the first rotating rod and the second rotating rod are arranged perpendicular to each other, wherein the second rotating rod is arranged parallel to the rotating shaft, and the lifting The unit includes a housing, both ends of the guide rod are coupled to the housing, and wherein the guide rod extends by passing through the upper and lower ends of the suspension frame to withdraw from the upper and lower ends of the suspension frame . 如請求項1之機器人吸塵器，其中，如果該升降驅動馬達的該旋轉軸向前或向後旋轉，該懸架單元相對於該升降單元升高或降低。 Such as the robot cleaner of claim 1, wherein, if the rotating shaft of the lifting drive motor rotates forward or backward, the suspension unit is raised or lowered relative to the lifting unit. 如請求項1之機器人吸塵器，其中，該第二旋轉桿可旋轉地耦接到該懸架單元。 The robot cleaner of claim 1, wherein the second rotating rod is rotatably coupled to the suspension unit. 如請求項3之機器人吸塵器，其中，該第二旋轉桿形成有一螺紋，並且當該第二旋轉桿旋轉時，該懸架單元升高或降低。 For example, the robot cleaner of claim 3, wherein the second rotating rod is formed with a thread, and when the second rotating rod rotates, the suspension unit is raised or lowered. 如請求項1之機器人吸塵器，其中，該輪單元包括一桿安裝部，該引導桿穿過該桿安裝部，並且該桿安裝部在該引導桿的一延伸方向上被引導。 The robot cleaner of claim 1, wherein the wheel unit includes a rod mounting part, the guide rod passes through the rod mounting part, and the rod mounting part is guided in an extension direction of the guide rod. 如請求項1之機器人吸塵器，進一步包括：一感測單元，包含一障礙感測器、一地板感測器或一位置感測器中的至少一個，以及一控制器，被配置以使用該感測單元的一感測值驅動該升降驅動馬達。 For example, the robot vacuum cleaner of claim 1, further comprising: a sensing unit including at least one of an obstacle sensor, a floor sensor or a position sensor, and a controller configured to use the sensor A sensed value of the measuring unit drives the lifting drive motor. 如請求項6之機器人吸塵器，還包括：一充電端口，設置在該主體的一下表面，其中，當該主體試圖與一外部對接裝置對接時，該控制器驅動該升降驅動馬達使該主體向上移動。 For example, the robot cleaner of claim 6, further comprising: a charging port arranged on the lower surface of the main body, wherein when the main body tries to connect with an external docking device, the controller drives the lifting drive motor to move the main body upward . 如請求項6之機器人吸塵器，進一步包括：一清潔吸嘴，耦接到該主體，並設置有一抽吸口，該抽吸口被配置以抽吸地板的異物，其中，在使用由該地板感測器所感測的地板訊息確定該地板的材料是地毯時，該控制器驅動該升降驅動馬達使該清潔吸嘴向上移動。 For example, the robot vacuum cleaner of claim 6, further comprising: a cleaning nozzle, coupled to the main body, and provided with a suction port configured to suck foreign objects on the floor, wherein the floor feels during use When the floor information sensed by the sensor determines that the material of the floor is carpet, the controller drives the lift drive motor to move the cleaning nozzle upward.

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