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WO2012005397A1 - Nettoyeur automatique - Google Patents

Nettoyeur automatique Download PDF

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Publication number
WO2012005397A1
WO2012005397A1 PCT/KR2010/004665 KR2010004665W WO2012005397A1 WO 2012005397 A1 WO2012005397 A1 WO 2012005397A1 KR 2010004665 W KR2010004665 W KR 2010004665W WO 2012005397 A1 WO2012005397 A1 WO 2012005397A1
Authority
WO
WIPO (PCT)
Prior art keywords
moving
unit
driving
force
moving part
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2010/004665
Other languages
English (en)
Korean (ko)
Inventor
서종현
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LG Electronics Inc
Original Assignee
LG Electronics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Priority to US13/383,618 priority Critical patent/US20120110759A1/en
Priority to EP10853033A priority patent/EP2433542A1/fr
Publication of WO2012005397A1 publication Critical patent/WO2012005397A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • 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
    • 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

Definitions

  • An embodiment of the present invention relates to an automatic cleaner, and more particularly, to an automatic cleaner for performing a cleaning operation on a cleaning surface disposed to be inclined with respect to the ground.
  • 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.
  • 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.
  • 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.
  • the present invention has been proposed to solve the above problems, and 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.
  • the first moving unit disposed to be movable on one side of the cleaning surface;
  • a second moving part disposed to be movable on the other side of the cleaning surface;
  • a moving wheel provided on at least one of the first moving part and the second moving part;
  • a drive motor providing a driving force to the moving wheel;
  • Fixing means for allowing the first moving part and the second moving part to be fixed to the cleaning surface;
  • a control unit for controlling to increase or decrease the driving force output from the drive motor based on the moving direction of the first moving unit or the second moving unit.
  • an automatic cleaner includes: at least one moving unit disposed to be movable on a glass window; A moving wheel provided on the moving unit; A drive motor providing a driving force to the moving wheel; Fixing means for imparting a fixing force so that the moving part is attached to the glass window; A cleaning member provided on the moving part and cleaning at least one side of the glass window; And a controller configured to adjust the current applied to the drive motor such that the drive motor generates an output equal to or greater than the sum of the weight of the moving unit and the fixing force of the fixing means.
  • an automatic cleaner includes: a driving unit movably disposed on one side of a glass window; A driven part disposed on the other side of the glass window and moving according to the movement of the driving part; A moving wheel provided for movement of the driving unit or the follower; A drive motor providing a driving force to the moving wheel; A plurality of magnetic members provided in the driving unit and the follower; Cleaning member for cleaning one side or the other side of the glass window; And a controller for controlling the driving force of the driving motor to be generated differently when the driving part or the driven part is moved upward, downward, or sideward of the glass window.
  • an automatic cleaner comprising: a driving unit movably disposed on one side of a cleaning surface disposed to be inclined with respect to the ground; A driven part disposed on the other side of the glass window and moving according to the movement of the driving part; A moving wheel provided for movement of the driving unit or the follower; A drive motor providing a driving force to the moving wheel; A plurality of magnetic members disposed on both sides of the glass window; And a control unit controlling a current applied to the driving motor such that the driving motor is generated only by a driving force having a predetermined magnitude, according to the moving direction of the driving unit or the follower.
  • the plurality of moving parts can be attached to the cleaning surface by the magnetic force of the magnetic member, there is an effect that can be easily moved by the driving force of the drive unit.
  • the plurality of moving parts are disposed with the cleaning surface interposed therebetween, and a cleaning member is provided between the moving part and the cleaning surface, so that the cleaning operation of both cleaning surfaces can be effectively performed.
  • the moving part since the output of the drive motor can be controlled, the moving part can be easily fixed and moved with respect to the inclined cleaning surface.
  • the moving part can be smoothly moved.
  • FIG. 1 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is attached to the cleaning surface.
  • FIG. 2 is a bottom perspective view showing a configuration of a first moving unit according to a first embodiment of the present invention.
  • FIG 3 is a bottom perspective view showing a configuration of a second moving unit according to the first embodiment of the present invention.
  • FIG. 4 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is fixed to the cleaning surface.
  • FIG. 5 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is moved above the cleaning surface.
  • FIG. 6 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is moved from the left side to the right side of the cleaning surface.
  • FIG. 7 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is moved below the cleaning surface.
  • FIG. 8 is a block diagram showing a configuration of the first moving unit according to the first embodiment of the present invention.
  • FIG. 9 is a bottom perspective view showing a configuration of a second moving unit according to a second embodiment of the present invention.
  • FIG. 10 is a cross-sectional view showing a state in which the automatic cleaner according to the third embodiment of the present invention is attached to the cleaning surface.
  • FIG. 11 is a bottom perspective view illustrating a configuration of a first moving unit according to a fourth exemplary embodiment of the present invention.
  • FIG. 12 is a cross-sectional view showing a state in which an automatic cleaner according to a fifth embodiment of the present invention is fixed to a cleaning surface.
  • FIG. 13 is a cross-sectional view showing a state in which the automatic cleaner according to the sixth embodiment of the present invention is attached to the cleaning surface.
  • FIG. 14 is a block diagram showing a configuration of an automatic cleaner according to a sixth embodiment of the present invention.
  • FIG. 1 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is attached to the cleaning surface.
  • the automatic cleaner 10 includes a first moving unit 100 and a second moving unit 200 provided at both sides of the cleaning surface 20. do.
  • the cleaning surface 20 is inclined with respect to the ground.
  • the cleaning surface 20 may be disposed perpendicular to the ground, and the ground may be understood as a surface corresponding to the floor surface of a building or any place.
  • the first moving part 100 includes a first main body 110 provided to be movable on one side of the cleaning surface 20, and is coupled to a lower side of the first main body 110 and the first moving part 100. ) Is a first magnetic member 150 to be fixed to the second moving part 200.
  • At least a portion of the first magnetic member 150 is positioned inside the first body 110, and the remaining portion is positioned below the bottom of the first body 110 and exposed to the outside.
  • the first moving part 100 further includes a first cleaning member 170 provided to be in contact with one side of the cleaning surface 20 and cleaning one side of the cleaning surface 20.
  • the first cleaning member 170 may be detachably coupled to a bottom surface of the first body 110 and a bottom surface of the first magnetic member 150.
  • the first cleaning member 170 may be formed of a material such as a sponge or cloth capable of absorbing dust and absorbing moisture.
  • a coupling means for coupling the first cleaning member 170 to the bottom portion of the first body 110 may be provided.
  • the coupling means may include tape or velcro (aka 'sticky').
  • the first moving part 100 further includes a plurality of moving wheels 130 to facilitate the movement of the first body 110.
  • the moving wheel 130 may be in contact with the one side.
  • the first body 110 is provided with an input unit 115 for inputting a predetermined command for the operation of the automatic cleaner 10.
  • the input unit 115 may include a power input unit.
  • the second moving part 200 has a shape corresponding to the first moving part 100 and is disposed at a position facing the first moving part 100 with respect to the cleaning surface 20.
  • the second moving part 200 is coupled to a lower side of the second main body 210 and the second main body 210 provided to be movable on the other side of the cleaning surface 20 and the second moving part 200. ) Is a second magnetic member 250 to be fixed to the first moving part (100).
  • the second magnetic member 250 together with the first magnetic member 150, "fixing means” for fixing the first moving part 100 and the second moving part 200 with respect to the cleaning surface 20 Can be understood as.
  • At least a portion of the second magnetic member 250 is positioned inside the second body 210, and the remaining portion is exposed to the outside at a position below the bottom of the second body 210.
  • the second magnetic member 250 protrudes from the second body 210 toward the cleaning surface 20 and is positioned close to the first magnetic member 150, thereby maximizing the effect of magnetic force.
  • first moving part 100 and the second moving part 200 may be configured to be fixed to each other by the first magnetic member 150 and the second magnetic member 250.
  • the attraction force acts between the first magnetic member 150 and the second magnetic member 250.
  • the attraction force has a size that allows the first moving part 100 and the second moving part 200 to be fixed to both sides of the cleaning surface 20.
  • the second moving part 200 further includes a second cleaning member 270 provided to be in contact with the other side of the cleaning surface 20 and cleaning the other side of the cleaning surface 20.
  • the second cleaning member 270 may be detachably coupled to the bottom surface of the second body 210 and the bottom surface of the second magnetic member 250.
  • the material of the second cleaning member 270 and the bonding method are used for the description of the first cleaning member 270.
  • the first cleaning member 170 and the second cleaning member may be referred to as an "adsorption member" for wiping off foreign matter.
  • the thickness of the portion of the second cleaning member 270 corresponding to the second magnetic member 250 is different. It may be thinner than the thickness of the part.
  • FIG. 2 is a bottom perspective view showing a configuration of a first moving unit according to a first embodiment of the present invention
  • FIG. 3 is a bottom perspective view showing a configuration of a second moving unit according to a first embodiment of the present invention.
  • the first body 110 of the first moving unit 100 includes a first bottom portion 112 constituting a bottom surface.
  • the first cleaning member 170 protrudes downward from the first bottom surface 112.
  • the plurality of moving wheels 130 may be disposed at both sides of the first cleaning member 170.
  • a non-slip groove 132 for maintaining a predetermined friction force with respect to the cleaning surface 20 is formed.
  • the sliding wheel 130 may be prevented from sliding on the cleaning surface 20 by the anti-slip groove 132, the first body 110 is in the process of rotating the moving wheel 130 It may be moved on the cleaning surface 20.
  • the first main body 110 includes a plurality of driving motors 135 that provide driving force to the plurality of moving wheels 130 and a plurality of driving forces of the driving motor 135 to the moving wheels 130.
  • the drive shaft 136 is further included.
  • the driving motor 135 and the driving shaft 136 are located inside the first body 110, and at least a portion of the moving wheel 130 protrudes below the first bottom portion 112. In a state where the first body 110 is placed on the cleaning surface 20, the moving wheel 130 and the first cleaning member 170 may be in contact with the cleaning surface 20.
  • the first main body 110 further includes a first sensing sensor 180 and a second sensing sensor 182 for sensing an obstacle on a moving path of the first moving unit 100.
  • the first sensor 180 and the second sensor 182 may be referred to as a “detector”.
  • a plurality of first sensing sensors 180 and second sensing sensors 182 may be provided on both sides of the first body 110, respectively.
  • the first detection sensor 180 is provided at the front portion or the rear portion of the first body 110.
  • the first moving part 100 stops moving and changes direction. This can be done.
  • the direction change of the first moving unit 100 may be rotated by controlling the driving directions of the plurality of drive motors 135.
  • the driving motor 135 may be a synchronous motor capable of rotating in both directions, and may be an inverter motor having a variable output of the motor.
  • the second detection sensor 182 may be provided to the first bottom portion 112, and may detect the presence of a jaw or a bent portion (a portion of which the path is broken) on the movement path of the first moving part 100. have. When the second detection sensor 182 detects the jaw or the bent portion, the first moving unit 100 may stop moving and change direction.
  • the first detection sensor 180 or the second detection sensor 182 provided in front of the first body 110 is operated.
  • the first detection sensor 180 or the second detection sensor 182 provided at the rear of the first body 110 may be operated. Can be.
  • the first sensor 180 and the second sensor 182 may be provided in the second moving part 200. That is, the first and second detection sensors 180 and 182 may be provided in any one or more of the first moving part 100 and the second moving part 200.
  • the second main body 210 of the second moving part 200 includes a second bottom part 212 forming a bottom.
  • the second bottom surface portion 212 is provided with a second magnetic member 250 and a second cleaning member 270.
  • the second magnetic member 250 may be disposed at a position corresponding to the first magnetic member 150.
  • the first moving part 100 may be referred to as a "drive part” that moves by a driving force of a driving motor, and the second moving part 200 moves by a driving force of the driving part and the attraction force of the magnetic members 150 and 250.
  • drive part that moves by a driving force of a driving motor
  • second moving part 200 moves by a driving force of the driving part and the attraction force of the magnetic members 150 and 250.
  • follower can be called "follower”.
  • the driving motor 135 When the driving motor 135 is driven and the moving wheel 130 is rotated while the first moving part 100 and the second moving part 200 are fixed with respect to the cleaning surface 20, the first moving part 100 and the second moving part 200 are fixed to the cleaning surface 20. 1
  • the moving unit 100 moves in a predetermined direction.
  • the second moving part 200 may be moved in dependence on the first moving part 100 by the attraction force between the first and second magnetic members 150 and 250.
  • FIG. 4 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is fixed to the cleaning surface.
  • the first moving part 100 and the second moving part 200 according to the first embodiment of the present invention may be fixed to both sides of the cleaning surface 20.
  • the cleaning surface 20 may be understood as an inclined surface forming an angle of ⁇ with respect to the ground 30.
  • ⁇ may have a value of 90 °.
  • a plurality of forces are applied to the first moving part 100 and the second moving part 200.
  • F1 due to its own weight acts on the first moving part 100 in the direction of gravity.
  • F1 m1 * g (g is gravity acceleration) is established.
  • the attraction force Fm acts between the first magnetic member 150 and the second magnetic member 250.
  • the Fm may be defined as a mutual pulling force generated by the magnetic forces of the first magnetic member 150 and the second magnetic member 250.
  • a shear force (shear magnetic force) Ft acting upward of the cleaning surface 20 acts between the first magnetic member 150 and the second magnetic member 250.
  • the Ft is a force acting in a direction parallel to the cleaning surface 20 and may be generated by the magnetic force of the first magnetic member 150 and the second magnetic member 250.
  • the Fm and Ft may be understood as a kind of "fixing force" generated by the magnetic members 150 and 250, respectively.
  • the wheel friction force F3 generated by friction with the cleaning surface 20 acts on the movable wheel 130.
  • the F3 is a force generated by the contact of the moving wheel 130 and the cleaning surface 20, and may act upwardly of the cleaning surface 20. That is, the F3 may act in the same direction as the Ft.
  • the first moving part 100 and the second moving part 200 may be fixed to each other by the Fm acting in the left and right directions of the cleaning surface 20.
  • the value of Ft + F3 may be formed larger than the F1 + F2.
  • the first moving part 100 and the second moving part 200 may not move below the cleaning surface 20.
  • FIG. 5 is a cross-sectional view showing a state in which the automatic cleaner according to the first embodiment of the present invention is moved upward of the cleaning surface
  • FIG. 6 is an automatic cleaner according to the first embodiment of the present invention moved from the left side to the right of the cleaning surface.
  • 7 is a cross-sectional view illustrating a state in which the automatic cleaner according to the first embodiment of the present invention is moved below the cleaning surface.
  • the automatic cleaner 10 may be moved upwardly (in the A direction) along the cleaning surface 20.
  • upward means the direction of overcoming gravity and moving.
  • wheel friction force F4 generated by contact with the cleaning surface 20 acts on the moving wheel 130.
  • ⁇ k may have a value smaller than ⁇ s .
  • the F4 acts in a direction opposite to the direction in which the automatic cleaner 10 moves, that is, under the cleaning surface 20.
  • a force of F1 + F2 + F4 + Ft may act below the cleaning surface 20.
  • the driving motor 135 may output a force of F M to provide a driving force for the movement of the automatic cleaner 10.
  • the F M may have a value greater than the force of F1 + F2 + F4 + Ft.
  • the automatic cleaner 10 may be moved from the upper left side to the right side (in the B direction) of the cleaning surface 20.
  • the automatic cleaner 10 may be moved from the upper right side to the left side of the cleaning surface 20.
  • the automatic cleaner 10 moves to the automatic cleaner 10.
  • F4 + Ft can be acted in the opposite direction.
  • the force F M output by the driving motor 135 may have a value greater than F4 + Ft.
  • the automatic cleaner 10 according to the first embodiment of the present invention may be moved from the upper side of the cleaning surface toward the lower side (in the C direction).
  • F4 + Ft described above with reference to FIG. 4 may act upward.
  • F1 + F2 due to the weight of the automatic cleaner 10 may act downward.
  • a force F M is applied to the driving motor 135 so that the automatic cleaner 10 may move to the lower side of the cleaning surface 20.
  • the automatic cleaner 10 may be moved downward. That is, it can be formed within the range of F M > F4 + Ft-F1-F2.
  • the driving motor 135 may apply a braking force to the automatic cleaner 10, and at this time, the automatic cleaner 10 may be stably moved downward.
  • the "braking force” may be understood as a driving force of a predetermined size for driving the rotational direction of the moving wheel 130 to the opposite of the moving direction of the automatic cleaner 10.
  • the magnitude of the force F M output from the drive motor 135 is the largest when the automatic cleaner 10 moves upward, and the smallest when the downward movement moves. And F M in the case of lateral movement has a value between these values.
  • FIG. 8 is a block diagram showing a configuration of the first moving unit according to the first embodiment of the present invention.
  • an acceleration sensor 185 for detecting a change in the moving speed of the automatic cleaner 10 or the first moving unit 100 is provided.
  • An altitude sensor 186 for detecting a height change of the automatic cleaner 10 or the first moving unit 100, and a controller 180 for controlling them.
  • the automatic cleaner 10 or the first moving unit 100 is controlled to be moved at a preset speed on the cleaning surface 20. That is, the automatic cleaner 10 may be moved at a constant speed regardless of which direction (up, down, or side) it moves.
  • the acceleration sensor 185 may detect a change in the moving speed of the automatic cleaner 10 or the first moving unit 100.
  • the controller 180 may control the driving motor 135 to correct the moving speed of the first moving part 100 to the preset speed. .
  • the altitude sensor 186 may detect a change in the moving height of the first moving unit 100. For example, the altitude sensor 186 may detect whether the first moving part 100 moves upward or downward or in a lateral direction.
  • the controller 180 may adjust the output of the driving motor 135 according to the moving direction of the first moving unit 100. That is, the controller 180 may adjust the current applied to the driving motor 135. That is, F calculated in FIGS. 5 to 7 according to the moving direction of the first moving unit 100. M of The value can be adjusted appropriately.
  • the driving motor 135 may output as much output as necessary according to the moving direction of the first moving part 100, and thus does not waste unnecessary output from the driving motor 135. There is this.
  • FIG. 9 is a bottom perspective view showing a configuration of a second moving unit according to a second embodiment of the present invention.
  • the second moving part 200 includes a second main body 210 that is movably attached to the cleaning surface 20, and the second main body 210.
  • the second cleaning member 270 provided to the second bottom portion 212 of the plurality of magnetic members are provided with a magnetic force 280 is included.
  • the second cleaning member 270 may be disposed at an approximately center portion of the second bottom portion 212, and the plurality of magnetic members 280 may be disposed at an edge portion of the second bottom portion 212.
  • a plurality of magnetic members may be provided in the first moving part 100 at positions corresponding to the magnetic members 280.
  • the magnetic member of the first moving part 100 may be referred to as a “first magnetic member” and the magnetic member 280 of the second moving part 200 may be referred to as a “second magnetic member”.
  • FIG. 10 is a cross-sectional view showing a state in which the automatic cleaner according to the third embodiment of the present invention is attached to the cleaning surface.
  • a first moving wheel 130 is provided on the first moving part 100 and a second moving wheel 230 is provided on the second moving part 200 according to the third embodiment of the present invention. Is provided.
  • One side of the first moving wheel 130 may be provided with the driving motor and driving shaft described with reference to FIG. 2.
  • the driving motor and the driving shaft may also be provided on one side of the second moving wheel 130.
  • a rotation detecting unit 235 for detecting the rotation of the second moving wheel 230 is provided.
  • the second moving wheel 130 When the second moving part 200 starts to move depending on the movement of the first moving part 100, the second moving wheel 130 may be rotated, and the rotation detecting part 235 may be rotated. The rotation of the two moving wheels 130 can be detected.
  • the rotation detecting unit 235 detects the rotation of the second moving wheel 230 and transmits the rotation to the control unit (not shown) of the second moving unit 200.
  • the control unit drives the driving motor to The second moving wheel 230 may be smoothly rotated. Since the moving wheel is also provided in the second moving part 200, there is an effect that the movement of the second moving part 200 as a “following part” can be smoothed.
  • the second moving unit 200 may not be provided with a separate control unit, and the detection content of the rotation detecting unit 235 may be a control unit of the first moving unit by a wired or wireless communication method (in the first embodiment). 180).
  • the second moving wheel 230 may be naturally rotated by the traction force of the first moving part 100. That is, one side of the second moving wheel 230 is not provided with a separate drive motor and a drive shaft, the second moving wheel 230 is the cleaning surface according to the movement of the second moving part (200) It may be rotated by friction with 20).
  • FIG. 11 is a bottom perspective view illustrating a configuration of a first moving unit according to a fourth exemplary embodiment of the present invention.
  • the first body 110 includes a first cleaning member 170 provided on the first bottom surface 112. Both sides of the first cleaning member 170 are provided with a first moving wheel 130 and a second moving wheel 138 rotatably provided.
  • the first main body 110 includes a first driving motor 135 and a first driving shaft 136 for transmitting a driving force to the first moving wheel 130.
  • the first main body 110 includes a second driving motor 137 and a second driving shaft 139 for transmitting a driving force to the second moving wheel 148.
  • agitators 145 and 146 rotatably provided to shake off the foreign matter of the cleaning surface 20 are provided.
  • the agitators 145 and 146 may be referred to as "rotary cleaning members".
  • the plurality of agitators may include a first agitator 145 provided at a rear of the first main body 110 and rotating by a driving force of the first driving motor 135, and of the first main body 110.
  • a second agitator 146 provided at the front side and rotating by the driving force of the second driving motor 137 is included.
  • the first cleaning member 170 may be disposed between the first agitator 145 and the second agitator 146.
  • the first cleaning member 170 may clean the foreign material after the cleaning of the first agitator 145 or the second agitator 146. .
  • a first power transmission member 141 for transmitting a driving force of the first drive motor 135 is provided between the first drive motor 135 and the first agitator 145.
  • a second power transmission member 142 is provided between the second driving motor 137 and the second agitator 146 to transmit a driving force of the second driving motor 137.
  • the first power transmission member 141 extends rearward from the first drive motor 135, and the second power transmission member 142 extends forward from the second drive motor 137.
  • the first and second power transmission members 141 and 142 may be disposed to be wound around the outer peripheral surfaces of the drive shafts 136 and 139 and the agitator 145 and 146, respectively.
  • the first and second power transmission members 141 and 142 may include a belt or a rope.
  • the second moving part 200 may be provided with the first and second agitators.
  • the agitator of the second moving part 200 may be driven by a driving motor, or may be rotated by friction with the cleaning surface 20 according to the movement of the second moving part 200.
  • FIG. 12 is a cross-sectional view showing a state in which an automatic cleaner according to a fifth embodiment of the present invention is fixed to a cleaning surface.
  • the automatic cleaner 10 may be moved along the cleaning surface 20, which is defined as an inclined surface formed to be inclined upward with respect to the ground 30.
  • the inclined surface 50 may form an angle ⁇ with respect to the ground 80.
  • ⁇ may be in a range larger than 0 ° and less than 90 °.
  • the force acting in the direction parallel to the cleaning surface 20 with respect to the own weight F1 of the first moving part 100 is F1 * sin ⁇
  • the force acting in the direction perpendicular to the cleaning surface 20 is F1. It can be understood as * cos ⁇ .
  • the F1 * cos ⁇ acts in a direction away from the first moving part 100 with respect to the cleaning surface 20.
  • the force acting in the direction parallel to the cleaning surface 20 can be understood as F2 * sin ⁇ , which acts in a direction perpendicular to the cleaning surface 20.
  • the force to do can be understood as F2 * cos ⁇ .
  • the F2 * cos ⁇ acts in a direction in which the second moving part 200 approaches the cleaning surface 20.
  • the attraction force Fm is applied by the magnetic force of the first magnetic member 150 and the second magnetic member 250.
  • the Fm may act in a direction perpendicular to the cleaning surface 20.
  • Shear magnetic force (Ft) by the magnetic force of the first and second magnetic members (150,250) may be directed upward in parallel to the cleaning surface (20).
  • the friction force F3 acting on the cleaning surface 20 by the moving wheel 130 may be operated upward in parallel to the cleaning surface 20.
  • Fm + F2cos ⁇ the force in the direction away from the cleaning surface 20
  • Fm + F2cos ⁇ the force in the direction away from the cleaning surface 20
  • Fm + F2cos ⁇ may be larger than F1cos ⁇ .
  • the force acting downward of the cleaning surface 20 is F1 * sin ⁇ + F2 * sin ⁇
  • the force acting upward of the cleaning surface 20 is Ft Can be understood as + Fm.
  • the Ft + Fm may be larger than F1 * sin ⁇ + F2 * sin ⁇ .
  • FIG. 13 is a cross-sectional view showing a state in which the automatic cleaner according to the sixth embodiment of the present invention is attached to a cleaning surface
  • FIG. 14 is a block diagram showing the configuration of the automatic cleaner according to the sixth embodiment of the present invention.
  • the automatic cleaner 500 in the automatic cleaner 500 according to the sixth embodiment of the present invention, a suction force is generated so that the main body 510 and the main body 510 are attached to the cleaning surface 20.
  • Adsorption unit 550 is included.
  • the automatic cleaner 500 may be understood as the first moving unit described in the first embodiment, and the adsorption unit 550 may be understood as a kind of fixing means.
  • the adsorption part 550 may be provided to generate a negative pressure inside the main body 510, and may be provided to a bottom surface of the main body 510.
  • the suction unit 550 includes a suction motor 551 provided inside the main body unit 510 and a suction hole 555 through which external air is sucked due to a pressure difference.
  • the suction hole 555 is formed in the bottom of the body portion 510.
  • the automatic cleaner 500 includes a controller 580 for adjusting the output of the suction motor 551.
  • the controller 580 may control the output amount of the suction motor 551 to be added or decreased differently from when the automatic cleaner 500 is attached (fixed) to the cleaning surface 20 and when it is moved.
  • the bottom surface of the main body 510 is provided with a cleaning member 570 provided to be in contact with the cleaning surface 20 to clean the cleaning surface 20 when the automatic cleaner 500 is moved.
  • the cleaning member 570 may be disposed on one side and the other side of the suction hole 555.
  • the bottom surface of the main body 510 is provided with a moving wheel 530 rotatably contacting the cleaning surface 20 to facilitate the movement of the main body 510.
  • the moving wheel 530 may be driven by the moving motor 540.
  • the bottom of the cleaning member 570 and the bottom of the moving wheel 530 may be spaced apart from the bottom of the body 510 by the same distance. Therefore, while the automatic cleaner 500 is fixed to the cleaning surface 20, the cleaning member 570 and the moving wheel 530 may be in contact with the cleaning surface 20 at the same time.
  • the output of the suction motor 551 is w1 while the automatic cleaner 500 is fixed to the cleaning surface 20, and the output of the suction motor 551 is w2 while the automatic cleaner 500 is moved. It can be formed as.
  • the w1 and w2 are preset values, and the w2 may have a value less than or equal to w1.
  • the w2 may be defined as an output (suction input) in which the automatic cleaner 500 may be attached to the cleaning surface 20 but may be moved by a driving force of a predetermined size.
  • the moving motor 540 provides a driving force so that the automatic cleaner 500 can move by overcoming at least a portion of the suction force (fixing force) of the suction part 550.
  • the output (driving force) of the moving motor 540 required according to the moving direction (upward, downward or sideward) of the automatic cleaner 500 may be determined differently.
  • the control unit 580 may adjust the force output from the moving motor 540 according to the moving direction of the automatic cleaner 500, thereby preventing unnecessary output of the moving motor 540. have.
  • the present invention can control the output of the drive motor according to the moving direction of the moving part, the industrial use is remarkable because the moving part can be easily fixed and moved with respect to the inclined cleaning surface.

Landscapes

  • Electric Vacuum Cleaner (AREA)

Abstract

La présente invention concerne un nettoyeur automatique. Le nettoyeur automatique selon un mode de réalisation de la présente invention comprend : une première partie mobile disposée de façon à pouvoir se déplacer par rapport à un côté d'un objet à nettoyer ; une seconde partie mobile disposée de façon à pouvoir se déplacer par rapport à l'autre côté de l'objet ; une roue mobile disposée sur au moins un élément parmi la première partie mobile et la seconde partie mobile ; un moteur d'entraînement conduisant la force motrice à la roue mobile ; un élément de fixation fixant la première partie mobile et la seconde partie mobile l'une à l'autre à travers l'objet ; et une partie de commande augmentant ou réduisant la puissance de la force d'entraînement provenant du moteur d'entraînement en fonction de la direction de déplacement de la première ou de la seconde partie mobile.
PCT/KR2010/004665 2010-07-06 2010-07-16 Nettoyeur automatique Ceased WO2012005397A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US13/383,618 US20120110759A1 (en) 2010-07-06 2010-07-16 Automatic cleaner
EP10853033A EP2433542A1 (fr) 2010-07-06 2010-07-16 Nettoyeur automatique

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020100065087A KR101212374B1 (ko) 2010-07-06 2010-07-06 자동 청소기
KR10-2010-0065087 2010-07-06

Publications (1)

Publication Number Publication Date
WO2012005397A1 true WO2012005397A1 (fr) 2012-01-12

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ID=45441360

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/004665 Ceased WO2012005397A1 (fr) 2010-07-06 2010-07-16 Nettoyeur automatique

Country Status (4)

Country Link
US (1) US20120110759A1 (fr)
EP (1) EP2433542A1 (fr)
KR (1) KR101212374B1 (fr)
WO (1) WO2012005397A1 (fr)

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EP2853185A4 (fr) * 2012-05-23 2016-03-09 Intellectual Discovery Co Ltd Procédé de commande d'un appareil de nettoyage de fenêtre
CN102894928A (zh) * 2012-07-13 2013-01-30 太仓博天网络科技有限公司 一种自动清洗玻璃窗的机器人系统
CN102908099B (zh) * 2012-10-17 2015-08-12 林瑞别 一种自动方便清洁玻璃器
WO2014157760A1 (fr) * 2013-03-29 2014-10-02 인텔렉추얼디스커버리 주식회사 Appareil de nettoyage de fenêtre et procédé de commande de déplacement s'y rapportant
CN104545671B (zh) * 2013-10-24 2017-09-26 北京建筑大学 全自动窗户清洗装置
CN104324913B (zh) * 2014-09-26 2017-05-24 安徽新迪机电科技有限责任公司 一种飞碟式光伏电池板清洗器及其清洗方法
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CN105167708B (zh) * 2015-09-22 2018-05-15 河北工业大学 智能双面擦玻璃机器人
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TWM534589U (zh) * 2016-07-01 2017-01-01 Wen-Chou Chen 電動擦窗器
CN106618368A (zh) * 2017-03-07 2017-05-10 张春平 门窗清洁机
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CN113335408B (zh) * 2021-05-31 2023-03-14 重庆邮电大学 一种自感知自适应的夹层式磁敏橡胶足掌装置
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Also Published As

Publication number Publication date
EP2433542A1 (fr) 2012-03-28
US20120110759A1 (en) 2012-05-10
KR20120004304A (ko) 2012-01-12
KR101212374B1 (ko) 2012-12-13

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