WO2012005404A1 - Automatic cleaner - Google Patents

Abstract

The present invention relates to an automatic cleaner. The automatic cleaner includes a first moving part movably disposed on one side of a surface to be cleaned, a second moving part movably disposed on the other side of the surface to be cleaned, a moving wheel disposed on at least one of the first and second moving parts, a drive motor providing a driving force to the moving wheel, a fixing unit for fixing the first and second moving parts to the surface to be cleaned, and a detection part disposed on at least one of the first and second moving parts to detect an obstacle in the path of motion of the first or second moving part.

Description

Auto cleaner

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.

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

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

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

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

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

Even when the cleaning company cleans the glass windows, the worker has to move while relying on a rope fixed to the roof of the building, which requires a lot of people and equipment.

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

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.

Moreover, it aims at providing the automatic cleaner which can clean two cleaning surfaces simultaneously.

Automatic cleaner according to an embodiment of the present invention for achieving the above object, 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; And a sensing unit provided in at least one of the first moving unit and the second moving unit, and configured to detect an obstacle on a moving path of the first moving unit or the second moving unit.

In addition, the automatic cleaner according to another aspect, the first moving part is arranged to be movable on one side of the glass window; A second moving part disposed on the other side of the glass window to be movable; A moving wheel provided on the first moving part; A drive motor providing a driving force to the moving wheel; A magnetic member for allowing the second moving part to move in dependence on the movement of the first moving part; And a cleaning member provided on the first moving part or the second moving part and cleaning one side or the other side of the glass window.

According to yet another aspect, 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 first magnetic member disposed between the driver and one side of the glass window; A second magnetic member disposed between the driven part and the other side surface of the glass window; And a cleaning member for cleaning one side or the other side of the glass window.

According to still another aspect of the present invention, there is provided an automatic cleaner comprising: a first moving part disposed to be movable on one side of a cleaning surface; A second moving part disposed to be movable on the other side of the cleaning surface; A first moving wheel provided in the first moving part; A second moving wheel provided in the second moving part; A plurality of drive motors respectively providing a driving force to the first and second moving wheels; A plurality of magnetic members for fixing the first moving part and the second moving part with respect to the cleaning surface; And a cleaning member provided on at least one of the first moving part and the second moving part to clean the cleaning surface.

According to the automatic cleaner according to the embodiment of the above configuration, 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.

In addition, 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.

In addition, since a moving wheel having a predetermined frictional force is provided in the moving part, the moving part can be smoothly moved.

In addition, the sensor is provided for detecting the obstacle in the automatic cleaner, there is an effect that can perform a cleaning operation while automatically driving along the edge of the cleaning surface.

In addition, the rotating plate is provided with a rotatable plate, and the rotation of the rotating plate is an advantage that can be effectively changed the direction of the moving unit.

In addition, since the direction switching motor for rotating the rotating plate and the moving motor for moving the moving part are provided separately, there is an advantage that the moving and the direction switching of the moving part can be effectively made.

In addition, there is an advantage that a plurality of cleaning member is provided in the moving portion can be effectively cleaned.

In addition, the touch sensing unit is provided in the moving unit, and the direction of the moving unit can be easily changed according to the detection result of the touch sensing unit.

In addition, there is an effect that the moving part can clean the cleaning surface having a predetermined cleaning area while moving and changing direction along the frame of the cleaning surface.

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.

2 is a bottom perspective view showing a configuration of a first moving unit according to a first embodiment of the present invention.

3 is a bottom perspective view showing a configuration of a second moving unit according to the first embodiment of the present invention.

4 is a bottom perspective view illustrating a configuration of a first moving unit according to a second exemplary embodiment of the present invention.

5 is a bottom perspective view illustrating a configuration of a second moving unit according to a third exemplary embodiment of the present invention.

6 is a cross-sectional view showing a state in which the automatic cleaner according to the fourth embodiment of the present invention is attached to a cleaning surface.

7 is a cross-sectional view showing a state in which the automatic cleaner according to an embodiment of the present invention is attached to the inclined cleaning surface.

8 is a bottom perspective view illustrating a configuration of a first moving unit according to a fifth exemplary embodiment of the present invention.

9 is a block diagram showing the configuration of an automatic cleaner according to a sixth embodiment of the present invention.

10 is a cross-sectional view showing a state in which the automatic cleaner according to the seventh embodiment of the present invention is attached to the cleaning surface.

11 is a bottom perspective view illustrating a configuration of a first moving unit according to a seventh exemplary embodiment of the present invention.

12 is an exploded perspective view of the first moving unit according to the seventh exemplary embodiment of the present invention.

13 is a bottom perspective view illustrating a configuration of a second moving unit according to a seventh embodiment of the present invention.

14 is a view showing a driving state of the automatic cleaner according to the seventh embodiment of the present invention.

15 is a diagram illustrating a driving state of the automatic cleaner according to the eighth embodiment of the present invention.

16 is a bottom perspective view showing a configuration of a first moving unit according to a ninth embodiment of the present invention.

17 is an exploded perspective view showing a configuration of a first moving unit according to a ninth embodiment of the present invention.

18 is a bottom perspective view illustrating a configuration of a first moving unit according to a tenth exemplary embodiment of the present invention.

19 is a block diagram showing a configuration of an automatic cleaner according to a tenth embodiment of the present invention.

20 is a bottom perspective view illustrating a configuration of a first moving unit according to an eleventh embodiment of the present invention.

21 is an exploded perspective view of the first moving unit according to the eleventh embodiment of the present invention.

22 is a block diagram showing a configuration of a first moving unit according to an eleventh embodiment of the present invention.

23 is a diagram illustrating a driving state of the automatic cleaner according to the eleventh embodiment of the present invention.

24 is a diagram illustrating a driving state of an automatic cleaner according to a twelfth embodiment of the present invention.

25 is a block diagram showing a configuration of a first moving unit according to a thirteenth embodiment of the present invention.

26 is a diagram illustrating a driving state of the automatic cleaner according to a fourteenth embodiment of the present invention.

Hereinafter, with reference to the drawings will be described a specific embodiment of the present invention. However, the spirit of the present invention is not limited to the embodiments presented, and those skilled in the art who understand the spirit of the present invention can easily suggest other embodiments within the scope of the same idea.

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.

Referring to FIG. 1, the automatic cleaner 10 according to the first embodiment of the present invention 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. For example, 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 magnetic member 150 protrudes from the first body 110 toward the cleaning surface 20 and is positioned close to the magnetic member 250 of the second moving part 200, thereby providing an effect of magnetic force. It can be maximized.

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.

Due to the fact that the first magnetic member 150 protrudes to the lower side of the first body 110, the thickness of the portion of the first cleaning member 170 corresponding to the first magnetic member 150 is different. It may be thinner than the thickness of the part. 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. In a state in which the first moving part 100 is placed on one side of the cleaning surface 20, 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. As a result, the 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.

An attractive 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. Due to the fact that the second magnetic member 250 protrudes to the lower side of the first body 210, 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.

2 is a bottom perspective view showing a configuration of a first moving unit according to a first embodiment of the present invention, and FIG. 3 is a bottom perspective view showing a configuration of a second moving unit according to a first embodiment of the present invention.

2 and 3, the first body 110 of the first moving unit 100 according to the first embodiment of the present invention 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. On the outer circumferential surface of the movable wheel 130, 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. When the distance between the front part of the first body 110 and the obstacle is detected within a predetermined distance in the moving direction of the first moving part 100, 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. That is, when one driving motor 135 of the plurality of driving motors 135 rotates in the clockwise direction, and the other driving motor 135 rotates in the counterclockwise direction, the first moving unit 100 moves in one direction. Can be rotated. The drive motor 135 may be a synchronous 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.

When the first moving unit 100 proceeds in the "A" direction, the first detection sensor 180 or the second detection sensor 182 provided in front of the first body 110 is operated. On the other hand, when the first moving unit 100 proceeds in the "B" direction, 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.

Although not shown in the drawings, 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. Can be called "follower".

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. In addition, 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.

Hereinafter, the second to fourteenth embodiments will be described. In describing these embodiments, differences from the first embodiment will be mainly described. For the same parts as those of the first embodiment, the description of the first embodiment and reference numerals are used.

4 is a bottom perspective view illustrating a configuration of a first moving unit according to a second exemplary embodiment of the present invention. Referring to FIG. 4, the first main body 110 according to the second embodiment of the present invention 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. In addition, 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 138.

In front and rear of the first bottom portion 112, a plurality of 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. As the first moving unit 100 moves in one direction, the first cleaning member 170 may clean the foreign material after the cleaning of the first agitator 145 or the second agitator 146. .

Between the first drive motor 135 and the first agitator 145, a first power transmission member 141 for transmitting a driving force of the first drive motor 135 is provided. In addition, 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. In addition, the first and second power transmission members 141 and 142 may include a belt or a rope.

Although not shown in FIG. 4, 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.

5 is a bottom perspective view illustrating a configuration of a second moving unit according to a third exemplary embodiment of the present invention. Referring to FIG. 5, the second moving part 200 according to the third exemplary embodiment of the present invention includes a second main body 210 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.

Although not illustrated, 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 of the second moving part 200 may be referred to as a “second magnetic member”. By providing a plurality of magnetic members on the bottom of each moving part, mutual coupling force of the first and second moving parts 100 and 200 may be improved.

6 is a cross-sectional view showing a state in which the automatic cleaner according to the fourth embodiment of the present invention is attached to a cleaning surface. Referring to FIG. 6, 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 fourth 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. In addition, the driving motor and the driving shaft may also be provided on one side of the second moving wheel 130.

On the other hand, 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. 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 it to a controller (not shown), and the controller drives the driving motor to smoothly operate the second moving wheel 230. Can be 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.

Another embodiment is proposed.

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).

7 is a cross-sectional view showing a state in which the automatic cleaner according to an embodiment of the present invention is attached to the inclined cleaning surface. Referring to FIG. 7, the automatic cleaner 10 according to the exemplary embodiment of the present invention may move along an inclined surface 50 formed to be inclined upward with respect to the ground 80.

The inclined surface 50 may form an angle with respect to the ground 80. And, α may be larger than 0 degrees and within a range of 90 degrees or less. That is, the automatic cleaner 10 may clean the slanted cleaning surface as well as the glass window which generally forms 90 ° with respect to the ground 80.

8 is a bottom perspective view illustrating a configuration of a first moving unit according to a fifth exemplary embodiment of the present invention. Referring to FIG. 8, the first moving part 300 according to the fifth exemplary embodiment of the present invention includes a first main body 310 forming a first bottom part 312 and the first bottom part 312. A main wheel 315 is rotatably coupled to an approximately central portion of the.

The main wheel 315 may be rotated by the drive motor 320 and the drive shaft 330. Around the main wheel 315, a first cleaning member 340 for cleaning the cleaning surface 20 is provided. The bottom surface of the main wheel 315 may be formed at substantially the same height as the bottom surface of the first cleaning member 340. Therefore, in a state where the first moving part 300 is fixed to the cleaning surface 20, both the main wheel 315 and the first cleaning member 340 may be in contact with the cleaning surface 20.

At the corners of the first body 310, a plurality of auxiliary wheels 350 are provided to assist the movement of the first body 310. The auxiliary wheel 350 may be rotated by friction with the cleaning surface 20 according to the movement of the first moving part 300, and balances the front, rear, left, and right sides of the first body 310. Can function.

In addition, a plurality of first magnetic members 360 may be provided at an edge portion of the first bottom surface 312. Although not shown in the drawing, the second moving part 200 may be provided with a plurality of second magnetic members at positions corresponding to the first magnetic members 360.

9 is a block diagram showing the configuration of an automatic cleaner according to a sixth embodiment of the present invention. 9, in the automatic cleaner 10 according to the sixth embodiment of the present invention, the first moving part 100 and the second moving part 200 fixed to one side and the other side of the cleaning surface 20 by magnetic force. ) Is included.

The first moving unit 100 includes a first power supply unit 190 for inputting power, a first switch 194 that is turned on / off according to the input of the first power supply unit 190, and the first power supply unit. The controller 192 controls the first switch 194 according to the input of the 190. The first power supply unit 190 may be provided as an input unit operable by the user, and the first switch 194 may be an electronic switch that is selectively operated according to the operation of the first power supply unit 190.

In addition, the first moving unit 100 further includes a first magnetic body 196 to which a magnetic force is applied according to an on operation of the first switch 194. The first magnetic body 196 may be understood as a "electromagnet" which is magnetized when current flows.

The second moving unit 100 includes a first power supply unit 290 for inputting power, a second switch 294 turned on / off according to the input of the second power supply unit 290, and the second power supply unit. A control unit 292 for controlling the second switch 294 in accordance with the input of 290 is included.

In addition, the second moving part 200 further includes a second magnetic body 296 to which magnetic force is applied according to the on operation of the second switch 294. The second magnetic body 296 may be understood as a "electromagnet" which is magnetized when a current flows.

When power is applied to the first moving unit 100 and the second moving unit 200 through the first power supply unit 190 and the second power supply unit 290, the first magnetic body 196 and the second magnetic body ( 296 is magnetized to mutual attraction. By the attraction force acting on the first and second magnetic bodies 196 and 296, the first moving part 100 and the second moving part 200 can be fixed to both sides of the cleaning surface 20. Therefore, even if the cleaning surface 20 is disposed to be inclined with respect to the ground, the automatic cleaner 10 has an effect that can be easily fixed to the cleaning surface 20.

Another embodiment is proposed.

The first moving part 100 includes a first magnetic material magnetized by an electric current, and the second moving part 200 includes a permanent magnet or metal (iron plate material) in which an attractive force acts on the first magnetic material. Can be. In this case, the second moving unit 200 does not need to be provided with a separate power supply unit, control unit or switch member.

10 is a cross-sectional view showing a state in which the automatic cleaner according to the seventh embodiment of the present invention is attached to the cleaning surface.

Referring to FIG. 10, the automatic cleaner 10 according to the seventh embodiment of the present invention 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 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. The first magnetic member 150 may be provided in plural, and may be disposed between the bottom portion of the first body 110 and the cleaning surface 20.

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 to clean the one side. The first cleaning member 170 may be detachably coupled to the bottom surface of the first body 110.

The first moving part 100 further includes a plurality of moving wheels 130 to facilitate the movement of the first body 110. In a state in which the first moving part 100 is placed on one side of the cleaning surface 20, the moving wheel 130 may be in contact with the one side.

The lower plate 440 is provided below the first body 110 to be rotatable. The moving wheel 130 and the first cleaning member 170 may be coupled to the lower side of the rotating plate 440.

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 may be disposed between the bottom portion of the second body 210 and the other side of the cleaning surface 20, and a plurality of second magnetic members 250 may be provided.

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.

On the other hand, although not shown in the drawings, the second moving unit 200 may be provided with a moving wheel. By the moving wheel, the movement of the second moving unit 200 may be smooth.

11 is a bottom perspective view showing a configuration of a first moving unit according to a seventh embodiment of the present invention, FIG. 12 is an exploded perspective view of a first moving unit according to a seventh embodiment of the present invention, and FIG. Bottom perspective view showing the configuration of a second moving unit according to the seventh embodiment.

11 to 13, the first moving part 100 according to the seventh exemplary embodiment of the present invention includes a first main body 110 having a first bottom part 112 and the first main body 110. The first cover 118 is coupled to the upper side of the. In a state in which the first main body 110 and the first cover 118 are coupled, the first moving part 100 may have a hexahedron shape.

The rotatable rotating plate 440 is coupled to the first bottom surface 112. The rotating plate 440 may be provided in a disk shape. An opening 111 corresponding to the rotating plate 440 is formed in the first bottom portion 112, and a rotating plate seating portion 119 on which the rotating plate 440 is mounted is provided at an edge of the opening 111. . The rotating plate 440 may be exposed to the lower side of the first body 110 in a state coupled to the rotating plate seating portion 119.

In detail, the rotating plate 440 is provided with a moving wheel 130 provided for smooth movement of the first moving part 100 and a moving motor 135 providing a driving force to the moving wheel 130. The moving motor 135 may be a synchronous motor capable of bidirectional rotation. In addition, a driving shaft 136 is provided between the moving wheel 130 and the moving motor 135 to transmit the driving force of the moving motor 135 to the moving wheel 130.

The moving wheel 130 is rotatably coupled to the rotating plate 440. At least a portion of the movable wheel 130 protrudes upward of the rotating plate 440, and the remaining portion protrudes downward of the rotating plate 440. That is, the moving wheel 130 may be disposed to pass through the rotating plate 440.

The moving motor 135 and the driving shaft 136 may be coupled to an upper side of the rotating plate 440 and may not be exposed to the outside of the first moving part 100. In addition, the moving wheel 130 and the moving motor 135 may be provided in plural on both sides of the rotating plate 440.

The rotating plate 440, a direction switching motor 442 for providing a driving force to rotate the rotating plate 440 in a predetermined direction and a motor shaft 444 connecting the direction switching motor 442 and the rotating plate 440. Is provided. The rotating plate 440 further includes a shaft coupling portion 448 to which the motor shaft 444 is coupled. The shaft coupling portion 448 may be provided at the center of the rotating plate 440 to form a rotating center of the rotating plate 440.

In a state in which the turning motor 442 is coupled to the rotating plate 440, the motor shaft 444 extends in a direction perpendicular to the rotating plate 440. The extension line of the motor shaft 444 crosses the extension line of the driving shaft 136.

When the direction change motor 442 is driven, the rotating plate 440 may be rotated in a clockwise or counterclockwise direction. For example, when the rotating plate 440 is rotated by 90 degrees, an extension line connecting the plurality of moving wheels 130 after the rotation forms an angle of 90 degrees with respect to the extension line before the rotation.

The direction switching motor 442 may be a synchronous motor capable of bidirectional rotation. The moving motor 135 may be referred to as a "first drive motor," and the direction change motor 442 may be referred to as a "second drive motor."

The lower side of the rotating plate 440, the first cleaning member 170 may be detachably coupled. The lower surface of the first cleaning member 170 may have the same height as the lower end of the moving wheel 130. Therefore, the first cleaning member 170 and the moving wheel 130 may be in contact with one side of the cleaning surface 20 at the same time.

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 sensing sensor 180 and the second sensing sensor 182 may be provided in plural in front, rear, left and right surfaces of the first body 110.

When the distance between the front portion or the bottom portion of the first body 110 and the obstacle (for example, the window frame) is detected within a predetermined distance in the moving direction of the first moving part 100, the first The moving unit 100 may stop the movement and change the direction.

The change of direction of the first moving unit 100 may be understood as the rotation of the rotating plate 440. When the direction change motor 442 is driven, the direction of movement of the first moving part 100 may be switched by rotating the rotating plate 440. In addition, the movement wheel 130 may be understood that the arrangement direction is changed according to the driving of the direction change motor 442. For example, when the rotating plate 440 and the moving wheel 130 are rotated 90 degrees, the first moving unit 100 may move in a direction perpendicular to the previous moving direction.

According to the movement direction of the first moving unit 100, any one of the plurality of first and second detection sensors 180 and 182 provided in four directions may be operated.

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 includes a plurality of second magnetic members 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.

When the first moving part 100 and the second moving part 200 are fixed with respect to the cleaning surface 20, the moving motor 135 is driven to rotate the moving wheel 130. 1 The moving unit 100 moves in a predetermined direction. In addition, 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.

14 is a view showing a driving state of the automatic cleaner according to the seventh embodiment of the present invention. Referring to FIG. 14, the automatic cleaner 10 according to the seventh embodiment of the present invention may clean the foreign matter of the cleaning surface 20 while moving in a state of being attached to the cleaning surface 20.

The cleaning surface 20 may be a glass window, and a frame 25 is formed at the edge of the glass window to form an edge (boundary surface) of the glass window. As shown in FIG. 14, the cleaning surface 20 may have a square shape, and an inner area of the frame 25 may be defined as a cleaning area.

The first moving part 100 may move from the upper left side of the cleaning surface 20 toward the right direction. Although not shown in the drawing, the second moving part 200 may be positioned on the opposite side of the cleaning surface 20.

When power is applied to the first moving part 100 to drive the moving motor 135, the first moving part 100 moves toward the right direction. In addition, when the front surface of the first moving unit 100 approaches the frame 25 within a predetermined distance in the moving direction of the first moving unit 100, the first detection sensor 180 may move the frame ( 25), the first moving unit 100 is stopped.

When the direction change motor 442 is driven while the first moving unit 100 is stopped, the rotating plate 440 and the moving wheel 130 are rotated in the A direction. In addition, the moving motor 135 is driven again, so that the first moving part 100 moves downward. In a state where the first moving unit 100 approaches the lower side of the cleaning surface 20, the first detection sensor 115 detects the frame 25.

As the direction change motor 442 is driven, the rotating plate 440 and the moving wheel 130 are rotated in the B direction. In addition, the first moving unit 100 may move to the lower left side of the cleaning surface 20, and may be stopped when the first detection sensor 180 detects the frame 25. In addition, the rotating plate 440 and the moving wheel 130 are rotated in the C direction according to the driving of the direction change motor 442.

The first moving part 100 is moved upward and returns to the initial cleaning start position. The first moving unit 100 may store the coordinates of the initial position before driving, and may recognize the size or shape of the cleaning surface while moving along the edge of the cleaning surface 20. That is, the first moving unit 100 may store the cleaning surface 20 as x, y axis coordinate values.

When the first moving unit 100 arrives at the first cleaning start position, the moving motor 135 moves downward while moving in the reverse direction (D direction). In addition, the first moving unit 100 may perform cleaning along a path indicated by a dotted line in FIG. 14.

Here, the first moving unit 100 may move and change direction by a predetermined distance, avoiding the cleaning area that has already been performed in the overall size coordinates of the cleaning surface 20.

That is, the first moving unit 100 does not move to a position where the first detection sensor 180 can detect the frame 25, and has a predetermined area where cleaning has already been performed. The first cleaning member 170 may move by a distance except for the width. As a result, the first moving unit 100 may perform cleaning while moving from the frame 25 to be narrowed in the center direction of the cleaning surface 20.

15 is a diagram illustrating a driving state of the automatic cleaner according to the eighth embodiment of the present invention.

Referring to FIG. 15, the automatic cleaner 10 according to the eighth embodiment of the present invention may clean the foreign material of the cleaning surface 20 while moving in a state of being attached to the cleaning surface 20. First and second sensors 180 may be provided on the front and rear portions of the first moving unit 100.

The first moving part 100 may move from the upper left side of the cleaning surface 20 toward the right direction. As described above, the second moving part 200 may be positioned on the opposite side of the cleaning surface 20.

When power is applied to the first moving part 100 to drive the moving motor 135, the first moving part 100 moves toward the right direction. In addition, when the front surface of the first moving unit 100 approaches the frame 25 within a predetermined distance in the moving direction of the first moving unit 100, the first detection sensor 180 may move the frame ( 25), the first moving unit 100 is stopped.

When the direction change motor 442 is driven while the first moving unit 100 is stopped, the rotating plate 440 and the moving wheel 130 are rotated in the A direction. In addition, the moving motor 135 is driven again, so that the first moving part 100 moves downward by a predetermined distance.

The preset distance may correspond to the width or diameter of the first cleaning member 170. That is, after the direction change of the first moving unit 100 is made, the first moving unit 100 is moved by the width of the first cleaning member 170. When the first moving part 100 is moved by the predetermined distance, the rotating plate 440 and the moving wheel 130 are rotated in the B direction.

The first moving part 100 moves in a left direction, and when one surface of the first moving part 100 approaches within a predetermined distance with respect to the frame 25, the first detecting sensor 180 moves the frame ( 25), the first moving unit 100 is stopped.

When the direction change motor 442 is driven while the first moving part 100 is stopped, the rotating plate 440 and the moving wheel 130 are rotated in the C direction. Then, the first moving part 100 is moved downward. Here, the first moving unit 100 may be moved by a predetermined distance as described above.

In this manner, the first moving unit 100 may be moved along a path indicated by a dotted line in FIG. 15. As a result, the first moving unit 100 may clean the cleaning surface 20 in a zig-zag manner while performing one-way movement and direction change.

16 is a bottom perspective view showing a configuration of a first moving unit according to a ninth embodiment of the present invention, and FIG. 17 is an exploded perspective view showing a configuration of a first moving unit according to a ninth embodiment of the present invention.

16 and 17, the first moving part 500 according to the ninth exemplary embodiment of the present invention includes a first main body 510 having a first bottom part 512 and the first main body 510. The first cover 518 is coupled to the upper side of the.

The rotatable rotating plate 540 is coupled to the first bottom portion 512. The rotating plate 540 may be provided in a disk shape. An opening 511 corresponding to the rotating plate 540 is formed in the first bottom part 512, and a rotating plate seating part 519 in which the rotating plate 540 is mounted is provided at an edge of the opening 511. .

In detail, the rotating plate 540 is provided with a moving wheel 530 provided for smooth movement of the first moving part 500 and a moving motor 535 providing a driving force to the moving wheel 530. The moving wheel 530 is disposed at an approximately central portion of the rotating plate 540.

The wheel 530 includes a first wheel 531 and a second wheel 532, and a connecting shaft 533 provided between the first wheel 531 and the second wheel 532. . The first wheel 531 and the second wheel 532 are disposed to be spaced apart from each other by the connecting shaft 533. The moving motor 535 may be a synchronous motor capable of bidirectional rotation.

In addition, a driving shaft 536 is provided between the moving wheel 530 and the moving motor 535 to transfer the driving force of the moving motor 535 to the moving wheel 530. The drive shaft 536 extends substantially parallel to the connecting shaft 533. The moving wheel 530 is rotatably coupled to the rotating plate 540.

On the outer circumferential surface of the moving wheel 530, a non-slip groove 532 is formed to maintain a predetermined friction force with respect to the cleaning surface (20). The rotating plate 540, a direction switching motor 542 for providing a driving force to rotate the rotating plate 540 in a predetermined direction, and a motor shaft 544 connecting the direction switching motor 542 and the rotating plate 540. Is provided.

The coupling shaft 533 includes a shaft coupling part 548 to which the motor shaft 544 is coupled. The shaft coupling part 548 may be provided at the center of the rotating plate 540 to form a center of rotation of the rotating plate 540. The motor shaft 544 extends in a direction perpendicular to the connecting shaft 533 or the drive shaft 536. That is, the extension line of the motor shaft 544 intersects the extension line of the connection shaft 533 or the drive shaft 536 perpendicularly.

When the direction change motor 542 is driven, the moving wheel 530 and the rotating plate 540 may be rotated in a clockwise or counterclockwise direction. The direction change motor 542 may be a synchronous motor capable of bidirectional rotation.

The first bottom part 512 is provided with a plurality of auxiliary wheels 550 for easy movement of the first moving part 500. The plurality of auxiliary wheels 550 may be disposed at the corners of the first body 310. The auxiliary wheel 550 may be rotated by friction with the cleaning surface 20 according to the movement of the first moving part 500 to balance the front, rear, left, and right sides of the first body 510. Can function.

The lower side of the rotating plate 540, the first cleaning member 570 may be detachably coupled. The first main body 510 further includes a first sensing sensor 580 and a second sensing sensor 582 to detect an obstacle on a moving path of the first moving unit 500. The first detection sensor 580 and the second detection sensor 582 may be provided in plurality in front, rear, left, and right sides of the first body 110. According to the detection result of the sensing unit, the content of the first moving unit 500 moving or changing the cleaning surface 20 uses the description of the first embodiment.

18 is a bottom perspective view illustrating a configuration of a first moving unit according to a tenth embodiment of the present invention, and FIG. 19 is a block diagram illustrating a configuration of an automatic cleaner according to a tenth embodiment of the present invention. 18 and 19, the first moving part 600 according to the tenth embodiment of the present invention has a flat cylindrical shape.

The first moving part 600 includes a first body 610 having a bottom portion 612. The bottom portion 612 includes a plurality of moving wheels 630 and 632 to facilitate movement of the first moving part 600. The plurality of moving wheels 630 and 632 include a first wheel 630 and a second wheel 632. The first and second wheels 630 and 632 may be driven by the first motor 635 and the second motor 637, respectively.

A first cleaning member 670 for cleaning the cleaning surface 20 is provided around the first and second wheels 630 and 632. The first and second wheels 630 and 632 and the first cleaning member 670 may be in contact with one side surface of the cleaning surface 20 at the same time.

On the outside of the first cleaning member 670, a plurality of first magnetic members 650 are provided. In addition, in front of the first body 610, a first detection sensor 680 is provided to detect an obstacle.

The second moving part 200 is located on the opposite side of the first moving part 600 with respect to the cleaning surface 20. The second moving part 200 includes a second magnetic member 250 for forming a magnetic force (human force) together with the first magnetic member 650 and a second cleaning member for cleaning the other side of the cleaning surface 20. 270 is included.

The first moving unit 600 includes a control unit 690 that can control the rotation direction or the rotation speed of the first motor 635 and the second motor 637. In the process of changing the direction of the first moving unit 600, the controller 690 may adjust the rotation direction or the rotation speed of the first motor 635 or the second motor 637.

For example, when the first motor 635 is rotated forward and the second motor 637 is rotated backward, the first moving part 600 may be rotated in one direction. In addition, by controlling the rotation speed of the first motor 635 or the second motor 637, the speed at which the first moving part 600 is rotated may be adjusted.

As such, a plurality of moving wheels are provided in the moving part, and the plurality of moving wheels are driven by the respective driving motors, so that the moving or changing direction of the moving part can be easily performed.

20 is a bottom perspective view showing a configuration of a first moving unit according to an eleventh embodiment of the present invention, FIG. 21 is an exploded perspective view of a first moving unit according to an eleventh embodiment of the present invention, and FIG. 11 is a block diagram showing a configuration of the first moving unit according to the eleventh embodiment.

20 to 22, the first moving part 100 according to the eleventh embodiment of the present invention includes a first main body 110 having a first bottom part 112 and the first main body 110. The first cover 118 is coupled to the upper side of the. The rotatable rotating plate 440 is coupled to the first bottom surface 112. The rotating plate 440 may be provided in a disk shape.

The description of the rotating plate 440, the moving motor 135, the moving wheel 130, the direction change motor 442, etc. uses the description of FIG.

The first moving unit 100 further includes a touch sensing unit 160 to detect an obstacle in the process of moving the first moving unit 100. The touch sensing unit 160 may be provided in plural in the first moving unit 100.

For example, the touch sensing unit 160 may detect a window frame protruding upward of the glass window when the edge of the cleaning surface 20, for example, the cleaning surface 20 is a glass window. In addition, the touch sensing unit 160 may detect the presence of an obstacle by being in contact with the glass window frame or being pressed from the glass window frame.

In FIG. 21, two contact sensing units 160 are provided on one side and the other side of the first moving unit 100. However, three contact sensing units 160 may be provided on the front, rear, left, and right sides of the first moving unit 100. More than one may be provided. According to the moving direction of the first moving unit 100, any one of the plurality of touch sensing units 160 may act.

In detail, the contact sensing unit 160 is selectively turned on according to the action of the contact unit 161 in contact with the obstacle, the elastic member 162 and the elastic member 162 provided on one side of the contact unit 161. A switch unit 163 to be turned on / off is included.

The contact portion 161 has a contact area of a predetermined area or more on the front surface thereof to allow contact with an obstacle. In addition, the contact portion 161 may have a cross-sectional shape of “┏”, and may be formed to be horizontally long by a predetermined length. However, the contact portion 161 will not be limited to one particular shape.

The first cover 118 is formed with a coupling portion 118a to which the contact portion 161 is coupled. The coupling part 118a may be provided in the form of a through hole to allow the contact part 161 to move forward and backward while the contact part 161 is in contact with an obstacle.

The elastic member 162 is disposed at the rear side of the contact portion 161 to enable the elastic movement of the contact portion 161. When the contact portion 161 contacts the obstacle, the elastic member 162 is contracted, and when the contact of the contact portion 161 is released, the elastic member 162 may be restored.

The switch unit 163 is connected to the elastic member 162. The switch unit 163 may be turned on in the process of contracting the elastic member 162, and the switch unit 163 may be turned off in the process of restoring the elastic member 162.

Although the touch sensing unit 160 is illustrated in the drawing as being provided in the first cover 118, the touch sensing unit 160 may be provided in the first body 110.

The operation of the first moving unit 100 in relation to the touch sensing unit 160 will be described briefly.

In the process of moving the cleaning surface 20 by the first moving unit 100, when the contact detecting unit 160 contacts an obstacle (for example, a window frame), the elastic member 162 is contracted and the switch is performed. Unit 163 may be turned on. When the switch unit 163 is turned on, the control unit 105 of the first moving unit 100 controls the moving motor 135 to stop the movement and change the direction.

The change of direction of the first moving part 100 may be understood as the change of the arrangement direction of the moving wheel 130 by the rotation of the rotating plate 440. When the direction change of the first moving part 100 is completed, the first moving part 100 may be moved in a different direction from the previous by the moving wheel 130 in which the arrangement direction is changed.

Another embodiment is proposed.

On the other hand, although not shown in the figure, the touch sensing unit 160 may be provided in the second moving unit 200. That is, the touch sensing unit 160 may be provided in any one or more of the first moving unit 100 and the second moving unit 200.

When the touch sensing unit 160 is provided in the second moving unit 200, the ON signal of the switch unit may be transmitted to the control unit 105 of the first moving unit 100. Here, the first moving unit 100 and the second moving unit 200 may be provided with a communication module (wired or wireless) for transmitting or receiving the ON signal of the switch unit.

In addition, description about the 2nd moving part 200 uses description of FIG.

23 is a diagram illustrating a driving state of the automatic cleaner according to the eleventh embodiment of the present invention. Referring to FIG. 23, the automatic cleaner 10 according to the eleventh embodiment of the present invention may clean the foreign matter of the cleaning surface 20 while moving in a state of being attached to the cleaning surface 20. The front and rear parts of the automatic cleaner 10 may be provided with the contact detecting unit 160.

The cleaning surface 20 may be a glass window, and a frame 25 is formed at the edge of the glass window to form an edge (boundary surface) of the glass window. As shown in FIG. 23, the cleaning surface 20 may have a square shape, and an inner area of the frame 25 may be defined as a cleaning area.

When power is applied to the first moving part 100 to drive the moving motor 135, the first moving part 100 moves toward the right direction (A direction). In the process of moving the first moving unit 100, when the touch sensing unit 160 contacts the frame 25, the movement of the first moving unit 100 is stopped.

When the direction change motor 442 is driven while the first moving part 100 is stopped, the rotating plate 440 and the moving wheel 130 are rotated in the B direction. In addition, the moving motor 135 is driven again, so that the first moving part 100 moves downward by a predetermined distance.

The preset distance may correspond to the width or diameter of the first cleaning member 170. When the first moving part 100 is moved by the predetermined distance, the rotating plate 440 and the moving wheel 130 are rotated in the C direction.

The first moving unit 100 is moved in a left direction, and when the touch sensing unit 160 contacts the frame 25, the movement of the first moving unit 100 is stopped. When the direction change motor 442 is driven while the first moving part 100 is stopped, the rotating plate 440 and the moving wheel 130 are rotated, after which the first moving part 100 is rotated. Is moved downwards.

Here, the first moving unit 100 may be moved by a predetermined distance as described above. In this manner, the first moving unit 100 may be moved along the path indicated by the solid arrow in FIG. 6. As a result, the first moving unit 100 may clean the cleaning surface 20 in a zig-zag manner while performing one-way movement and direction change.

24 is a diagram illustrating a driving state of an automatic cleaner according to a twelfth embodiment of the present invention. Referring to FIG. 24, the automatic cleaner 10 according to the twelfth embodiment of the present invention may clean the foreign material of the cleaning surface 20 while moving in a state of being attached to the cleaning surface 20.

The touch sensor 160 may be provided on the front and rear parts and one side of the automatic cleaner 10. The first moving part 100 may move from the upper left side of the cleaning surface 20 toward the right direction.

When power is applied to the first moving part 100 to drive the moving motor 135, the first moving part 100 moves toward the right direction (D direction). In the process of moving the first moving unit 100, when the touch sensing unit 160 contacts the frame 25, the movement of the first moving unit 100 is stopped.

When the direction change motor 442 is driven while the first moving unit 100 is stopped, the rotating plate 440 and the moving wheel 130 are rotated in the E direction. When the moving motor 135 is driven again, the first moving part 100 is moved downward (F direction).

When the automatic cleaner 10 contacts the frame 25 positioned below the cleaning surface 20, the automatic cleaner 10 is stopped. In addition, the rotating plate 440 and the moving wheel 130 are rotated in the G direction.

In addition, the first moving unit 100 may move to the lower left side (H direction) of the cleaning surface 20, and may be stopped when the contact detecting unit 160 contacts the frame 25. In addition, as the direction change motor 442 is driven, the rotating plate 440 and the moving wheel 130 are rotated in the I direction.

The first moving part 100 is moved upward (J direction), and returns to the initial cleaning start position. The first moving unit 100 may store the coordinates of the initial position before driving.

When the first moving unit 100 arrives at the first cleaning start position, the moving motor 135 moves downward while rotating in the reverse direction. In addition, the first moving unit 100 may perform cleaning along a path indicated by a dotted line in FIG. 24.

That is, the first moving unit 100 does not move to a position where the touch sensing unit 160 can contact the upper frame 25, but has a predetermined area where cleaning has been performed. 1 may be moved by a distance except for the width of the cleaning member 170. As a result, the first moving unit 100 may perform cleaning while moving from the frame 25 to be narrowed in the center direction of the cleaning surface 20.

25 is a block diagram showing a configuration of a first moving unit according to a thirteenth embodiment of the present invention.

Referring to FIG. 25, the first moving unit 100 according to the thirteenth embodiment of the present invention includes an obstacle detecting sensor 720 for detecting whether an obstacle is present during the movement of the first moving unit 100; Gyro sensor 710 to detect whether the balance is maintained during the movement of the first moving unit 100 and a control unit 105 for controlling them.

The obstacle detecting sensor 720 may detect the existence of the frame 25 when the first moving part 100 approaches the frame 25 within a predetermined distance. The obstacle detecting sensor 720 may include an infrared sensor or an ultrasonic sensor. When the obstacle detecting sensor 720 detects an obstacle, the controller 105 may control the direction change motor 442 to rotate the moving direction of the first moving part 100.

The gyro-sensor 710 may be understood as a sensor capable of recognizing an angle change of the moving wheel 130. The gyro sensor 710 may detect whether the first moving unit 100 is in an equilibrium state by sensing rotation speeds or rotation angles of the plurality of moving wheels 130, respectively.

One moving wheel of the plurality of moving wheels 130 may be driven by the first motor 135a, and the other moving wheel may be driven by the second motor 135b. For example, in the process of moving the first moving part 100 straight, when the number of rotations of the one moving wheel is greater than the number of rotations of the other moving wheel, the first moving part 100 is shaken to move out of the set moving path. Can be.

In this case, the controller 105 may lower the output of the first motor 135a to reduce the rotation speed of the one wheel. Then, the first moving unit 100 can go straight along the set movement path.

Another embodiment is proposed.

In the thirteenth embodiment, the gyro sensor 710 is described as being provided together with the obstacle detecting sensor 720, but, alternatively, the first moving unit 100 together with the touch sensing unit 160 described in the first embodiment is described. It may be provided in).

26 is a diagram illustrating a driving state of the automatic cleaner according to a fourteenth embodiment of the present invention. Referring to FIG. 26, the automatic cleaner 10 according to the fourteenth exemplary embodiment of the present invention may clean a foreign material of the cleaning surface 20 while moving in a state of being attached to the cleaning surface 20.

The front and rear parts of the automatic cleaner 10 may be provided with the contact detecting unit 160. When power is applied to the first moving part 100 to drive the moving motor 135, the first moving part 100 moves toward the right direction. In the process of moving the first moving unit 100, when the touch sensing unit 160 contacts the frame 25, the movement of the first moving unit 100 is stopped.

In addition, the first moving part 100 retreats in a direction away from the frame 25 (a direction). When the direction change motor 442 is driven while the first moving part 100 is retracted, the first moving part 100 is rotated in the B direction.

Here, unlike the first embodiment, the first moving part 100 may rotate itself. The direction change motor 442 may be coupled to the first body 110 of the first moving part 100. In addition, the operation in which the first moving unit 100 retreats may be understood as an operation for securing a rotation radius of the first moving unit 100.

In addition, the moving motor 135 is driven again, so that the first moving part 100 moves downward by a predetermined distance. The preset distance may correspond to the width or diameter of the first cleaning member 170. When the first moving part 100 is moved by the predetermined distance, the rotating plate 440 and the moving wheel 130 are rotated.

In addition, the first moving unit 100 is moved in a left direction, and when the touch sensing unit 160 contacts the frame 25, the movement of the first moving unit 100 is stopped. Then, the first moving unit 100 is retracted and rotated again by a predetermined distance, and then moved downward. And

The first moving unit 100 may be moved by a predetermined distance as described above. In this manner, the first moving part 100 may clean the cleaning surface 20 in a zig-zag manner while performing one-way movement and direction change.

Industrial Applicability Since the plurality of moving parts can be attached to the cleaning surface by the magnetic force of the magnetic member and can be easily moved by the driving force of the driving part, the industrial applicability is remarkable.

Claims (22)

A first moving part 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; And And a sensing unit provided in at least one of the first moving unit and the second moving unit and configured to detect an obstacle on a moving path of the first moving unit or the second moving unit. The method of claim 1, In the first moving unit, A first body having a bottom portion; A first magnetic member coupled to the bottom portion; And Automatic cleaner comprising a first cleaning member coupled to one side of the first magnetic member. The method of claim 1, In the second moving unit, A second body having a bottom portion; A second magnetic member coupled to the bottom portion; And Automatic cleaner comprising a second cleaning member coupled to one side of the second magnetic member. The method of claim 1, In the fixing means, And a plurality of magnetic members provided in the first moving part and the second moving part, respectively, and having a mutual attraction force. The method of claim 4, wherein The plurality of magnetic members are projected to the lower side of the bottom portion of the first moving part and the second moving part, respectively. The method of claim 5, In the first moving unit or the second moving unit, Automatic cleaner comprising a cleaning member coupled to the lower side of the magnetic member. The method of claim 1, In the moving wheel, The automatic cleaner is formed with a non-slip groove for maintaining a friction force with respect to the cleaning surface. The method of claim 1, The detection unit, A first sensing sensor provided on the front or rear surface of the first moving part or the second moving part; And Automatic cleaner comprising a second detection sensor provided on the bottom surface of the first moving unit or the second moving unit. The method of claim 1, In the first moving unit or the second moving unit, It is rotatably provided, the automatic cleaner comprising a rotary cleaning member to shake off the foreign material of the cleaning surface. A first moving part movably disposed on one side of the glass window; A second moving part disposed on the other side of the glass window to be movable; A moving wheel provided on the first moving part; A drive motor providing a driving force to the moving wheel; A magnetic member for allowing the second moving part to move in dependence on the movement of the first moving part; And The vacuum cleaner is provided on the first moving unit or the second moving unit, and includes a cleaning member for cleaning one side or the other side of the glass window. The method of claim 10, The magnetic member, A first magnetic member coupled to the first moving part and at least partially exposed to the outside of the first moving part; And And a second magnetic member coupled to the second moving part and exposing at least a portion of the second moving part to the outside of the second moving part. The method of claim 10, The cleaning member, Adsorption member for wiping the foreign matter of one side or the other side of the cleaning surface; And Automatic cleaner provided on the first moving portion or the second moving portion rotatably, comprising a rotary cleaning member to shake off the foreign matter. The method of claim 12, The rotary cleaning member is provided with a plurality, the automatic cleaner, characterized in that the suction member is disposed between a plurality of rotary cleaning member. The method of claim 12, A drive shaft connecting the moving wheel and a drive motor; And a power transmission member provided between the drive shaft and the rotary cleaning member and transmitting a rotational force of the drive shaft to the rotary cleaning member. The method of claim 10, The glass window is disposed to be inclined at a predetermined inclination angle with respect to the ground, wherein the inclination angle is greater than 0 degrees and less than 90 degrees automatic cleaner. A driving unit disposed to be movable on one side of the 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 first magnetic member disposed between the driver and one side of the glass window; A second magnetic member disposed between the driven part and the other side surface of the glass window; And Automatic cleaner comprising a cleaning member for cleaning one side or the other side of the glass window. The method of claim 16, The first magnetic member is coupled to the bottom surface of the drive unit, at least a portion of the first magnetic member is an automatic cleaner exposed to the lower side of the bottom surface. The method of claim 16, The second magnetic member is coupled to the bottom surface portion of the follower, and at least a portion of the second magnetic member is exposed to the lower side of the bottom of the automatic cleaner. The method of claim 16, A power supply unit for inputting power to the driving unit; And And a switch which is turned on according to a power input of the first power supply unit and applies a current to the first magnetic member. The method of claim 16, At least one of the first magnetic member and the second magnetic member is an automatic cleaner, characterized in that the electromagnet magnetized by the electric current. The method of claim 16, In the moving wheel, A main wheel provided at the bottom of the driving unit or the follower; And Automatic cleaner including a plurality of auxiliary wheels provided at the corner of the bottom portion. A first moving part 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 first moving wheel provided in the first moving part; A second moving wheel provided in the second moving part; A plurality of drive motors respectively providing a driving force to the first and second moving wheels; A plurality of magnetic members for fixing the first moving part and the second moving part with respect to the cleaning surface; And An automatic cleaner provided on at least one of the first moving part and the second moving part and including a cleaning member for cleaning the cleaning surface.

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