[go: up one dir, main page]

WO2019231241A1 - Robot nettoyeur mobile et dispositif associé - Google Patents

Robot nettoyeur mobile et dispositif associé Download PDF

Info

Publication number
WO2019231241A1
WO2019231241A1 PCT/KR2019/006455 KR2019006455W WO2019231241A1 WO 2019231241 A1 WO2019231241 A1 WO 2019231241A1 KR 2019006455 W KR2019006455 W KR 2019006455W WO 2019231241 A1 WO2019231241 A1 WO 2019231241A1
Authority
WO
WIPO (PCT)
Prior art keywords
wet
rotating
roller
rotary roller
wet member
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/KR2019/006455
Other languages
English (en)
Korean (ko)
Inventor
신경철
박성주
이노수
한상현
이재혁
임준혁
김병년
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.)
Yujin Robot Co Ltd
Original Assignee
Yujin Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020180061678A external-priority patent/KR102018159B1/ko
Priority claimed from KR1020180152701A external-priority patent/KR102121751B1/ko
Application filed by Yujin Robot Co Ltd filed Critical Yujin Robot Co Ltd
Publication of WO2019231241A1 publication Critical patent/WO2019231241A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/04—Floor surfacing or polishing machines hand-driven
    • A47L11/08—Floor surfacing or polishing machines hand-driven with rotating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • the present invention relates to a mobile robot cleaner using a wet member and a device therefor.
  • Mobile robot cleaners generally use a wet member kit having a flat structure.
  • the construction of the wet member kit having a flat plate structure is disclosed in Korean Patent Nos. 10-0611015 and 10-1520043.
  • a flat type wet member kit there is a problem in that the wet member areas in contact with the bottom surface are the same, so that they become dirty quickly or dust is accumulated only in some areas.
  • research and development of a method of using a cylindrical wet member is in progress.
  • the use of a cylindrical wet member instead of a flat plate can increase the cleaning power by scrubbing the floor.
  • the bucket structure of a general mobile robot cleaner has a flat structure, or a separate bucket is provided has a structure that is sprayed by a nozzle, etc., the discharge hole of the provided bucket is designed to face the direction of gravity, that is, the ground direction .
  • a conventional mobile robot cleaner is difficult to attach and detach the cylindrical wet member, and only the flat wet member may be used, and when a separate bucket is provided, it takes up a lot of space and requires a lot of additional parts for water supply.
  • the discharge hole of the bucket is designed to face the ground direction there is a problem that water is discharged or leaks on the ground.
  • the general wet robot cleaner when the mop rotation structure is applied to the general wet robot cleaner, it is difficult to maintain stable driving performance due to the rotation of the mop.
  • the general wet robot cleaner has a problem that the cleaning force is reduced or stable running is difficult due to the vertical vibration generated while the mop rotates.
  • the present invention has a main object to provide a mobile robot cleaner and an apparatus therefor which are wet and detachable to the wet rotating assembly and perform wet cleaning by rotating a rotating roller having an integrated bucket.
  • a wet rotating assembly for removing foreign matter; And it may include a control circuit for controlling the operation of the wheel assembly and the wet rotating assembly.
  • the wet rotating assembly includes: a wet member absorbing the liquid and contacting the bottom surface; And a rotary roller for storing and discharging the liquid, the rotary roller being coupled to the wet member, and further comprising a rotary roller housing for mounting the rotary roller and a roller driving motor for rotating the rotary roller.
  • the wet member includes: a protruding handle provided at one end to enable a user's grip; And a curved finish portion formed at the other end to expose a portion of the rotating roller, wherein the curved finish portion is formed in a structure for securing an area in which the user can grip the rotating roller without contacting the wet member. Can be.
  • the wet member is rotated with the rotary roller to absorb the liquid discharged from the rotary roller to clean the bottom surface, and in the form of wrapping the outer surface of the rotary roller It can be combined with a rotating roller.
  • the wet member fixing portion in order to secure the wet member to the rotary roller further comprises a wet member fixing portion between the rotary roller and the wet member, the wet member fixing portion in a form surrounding the rotary roller
  • the wet member may be coupled to and secured through the outer surface of the Velcro material.
  • control circuit when the manual rotational movement of the rotary roller is detected in the wet rotating assembly, the rotary member to automatically wound the wet member to the wet member fixing part. Can be rotated a set number of times.
  • the rotating roller the rotating shaft body having a liquid storage unit for storing the liquid therein, is inserted into the hollow of the wet member;
  • a locking rotating part coupled to one end of the rotating shaft main body and preventing the wet member from being separated through rotation;
  • a main groove formed in the longitudinal direction on the outer surface of the rotation shaft main body, wherein the wick portion of the wet member is inserted and fixed inward;
  • a sub groove formed in the longitudinal direction around the main groove to minimize friction with the wet member;
  • at least one liquid discharge hole arranged in the longitudinal direction of the rotating shaft main body, and a liquid discharge part configured to discharge the liquid to the wet member by the rotation of the rotating roller.
  • the rotating roller, the sub groove is formed on both sides with respect to the main groove, the sub groove may be formed side by side a plurality of grooves having a predetermined width.
  • the liquid storage unit, the inner surface of the rotating shaft main body may be formed in a curved surface to minimize the friction of the liquid during the rotation of the rotary roller.
  • the locking rotation part, the locking groove having the same shape as the main groove so that the wick portion of the wet member is inserted into the rotating roller, the inlet of the locking groove in which the insertion of the wick is started
  • the width may be greater than the width of the main groove.
  • a wet rotating assembly includes: a wet member that absorbs liquid and contacts a bottom surface; A rotary roller coupled to the wet member; A rotary roller housing for mounting the rotary roller; And it may include a roller drive motor for rotating the rotary roller.
  • the wet member the hollow is formed in order to engage with the rotary roller, and provided with a wick in the longitudinal direction on the inner surface of the wet member, the wick is the wet in the longitudinal direction
  • the outer surface of the member may be formed by sewing the upper portion of the 'U' shape between the outer surface and the inner surface in a state of overlapping the 'U' shape.
  • the rotating roller, the wick portion of the wet member is inserted into the inside fixed and the main groove formed in the inward direction on the bonding surface in contact with the wet member; And a sub groove formed in the longitudinal direction around the main groove to minimize frictional force with the wet member, wherein the sub groove is formed on both sides of the main groove and has a predetermined width.
  • These can be formed side by side.
  • the rotary roller stores and discharges the liquid
  • the wet member absorbs the liquid discharged from the rotary roller to rotate with the rotary roller to clean the bottom surface. It may be combined with the rotary roller in a form surrounding the outer surface of the rotary roller.
  • the wet member fixing portion between the rotary roller and the wet member, the wet member fixing portion in a form surrounding the rotary roller It is coupled, it is possible to secure the wet member through the outer surface of the Velcro material.
  • the present invention has the effect of separating the wet member and the rotating shaft in the rotary wet member kit for a mobile robot cleaner.
  • the wet member and the rotating shaft can be separated from the rotating wet member kit, thereby only replacing the wet member with a new one or washing the wet member using a washing machine.
  • the present invention does not have to secure a separate bucket space, there is an effect that can increase the space utilization by utilizing the inner space of the cylindrical wet member.
  • the present invention can supply water to the cylindrical wet member without a separate water injection nozzle or pump structure, thereby reducing the manufacturing cost of the mobile robot cleaner.
  • the present invention has an effect of preventing the wet member from turning or falling off due to the coupling structure of the wick portion of the wet member and the main groove of the rotating roller.
  • the present invention has the effect of always maintaining the position of the water supply hole in the upward direction (12 o'clock direction) opposite to the bottom to prevent unnecessary water discharge or leakage.
  • the present invention is effective to reduce the friction between the wet member and the rotating roller to facilitate the assembly.
  • the present invention has the effect that the user can be separated after the cleaning is completed without connecting the contaminated wet member.
  • the present invention has the effect of automatically and uniformly wound the disposable wet member on the rotary roller.
  • FIG. 1 is a view schematically showing a removable wet rotating assembly for a mobile robot cleaner according to a first embodiment of the present invention.
  • FIG. 2 is a view showing the configuration of the wet member of the removable wet rotating assembly for a mobile robot cleaner according to a first embodiment of the present invention.
  • FIG 3 is a view showing a main body configuration of the removable wet rotating assembly for a mobile robot cleaner according to the first embodiment of the present invention.
  • FIG. 4 is a view showing a coupling structure of the removable wet rotating assembly for a mobile robot cleaner according to the first embodiment of the present invention.
  • FIG. 5 is a schematic view of a removable wet rotating assembly for a mobile robot cleaner according to a second embodiment of the present invention.
  • FIG. 6 is a view showing the configuration of the wet member of the removable wet rotating assembly for a mobile robot cleaner according to a second embodiment of the present invention.
  • FIG. 7 is a view showing the main body configuration of the removable wet rotating assembly for a mobile robot cleaner according to a second embodiment of the present invention.
  • FIG. 8 is a view showing a coupling structure of the removable wet rotating assembly for a mobile robot cleaner according to a second embodiment of the present invention.
  • FIG. 9 is a view showing a lock rotating part of the removable wet rotating assembly for a mobile robot cleaner according to a second embodiment of the present invention.
  • FIG. 10 is a view showing a mobile robot cleaner according to an embodiment of the present invention.
  • 11A and 11B illustrate a structure of a mobile robot cleaner for improving driving performance according to an exemplary embodiment of the present invention.
  • FIG. 12 is a view for explaining the coupling structure of the driving performance improving apparatus according to an embodiment of the present invention.
  • FIG. 13A-13C illustrate a wet rotating assembly according to a third embodiment of the present invention.
  • FIG 14 is an exemplary view showing a wet member of the wet rotating assembly according to the third embodiment of the present invention.
  • 15 is a view showing the configuration of the removable rotating roller of the wet rotating assembly according to the third embodiment of the present invention.
  • 16 is a view showing a wet rotating assembly of the present invention and a conventional wet kit.
  • 17 is a block diagram schematically showing a rotating roller position control apparatus according to an embodiment of the present invention.
  • 18A and 18B illustrate a rotating roller position control apparatus according to an embodiment of the present invention.
  • FIG. 19 illustrates a wet rotating assembly according to an embodiment of the present invention.
  • 20 is a view for explaining the operation of the rotary roller position control device in conjunction with the wet rotating assembly according to an embodiment of the present invention.
  • 21 and 22 are flowcharts for explaining a method of controlling a rotation roller position according to an embodiment of the present invention.
  • 23A and 23B are views illustrating a mobile robot cleaner according to an embodiment of the present invention.
  • FIG. 24 is a view schematically showing a wet member and a rotating roller according to the fourth embodiment of the present invention.
  • 25 is an exploded view of the rotating roller according to the fourth embodiment of the present invention.
  • FIG. 26 is a view showing a rotating roller coupled to a wet member according to a fourth embodiment of the present invention.
  • FIG. 27 is a view showing a rotating roller according to a fourth embodiment of the present invention.
  • 28A and 28B are views illustrating a liquid reservoir and a lock rotating part included in the rotating roller according to the fourth embodiment of the present invention.
  • 29 is a view showing a wet member according to a fourth embodiment of the present invention.
  • FIG. 30 is an exemplary view showing a rotary roller coupled to a wet member of a wet member material according to a fourth embodiment of the present invention.
  • 31A and 31B are views illustrating a wet member fixing part according to a fifth embodiment of the present invention.
  • FIG. 32 is a view showing a rotary roller coupled to the wet member fixing part according to the fifth embodiment of the present invention.
  • FIG 33 is a view showing a disposable wet member according to a fifth embodiment of the present invention.
  • 34 is a view for explaining an operation of fixing the disposable wet member to the mobile robot cleaner according to the fifth embodiment of the present invention.
  • 35 is a view showing the configuration of the wick portion of the wet member according to an embodiment of the present invention.
  • 36A to 36C are views illustrating the locking rotating part of the rotating roller coupled to the wet pad according to the embodiment of the present invention.
  • 39 is a view showing a rotating roller fastening portion of the wet rotating assembly according to the embodiment of the present invention.
  • FIG. 40 is a cross-sectional view of the wet rotating assembly combined with a rotary roller according to an embodiment of the present invention.
  • 41 is a block diagram schematically showing a rotating roller position control apparatus according to an embodiment of the present invention.
  • the present invention relates to a removable wet rotating assembly for a mobile robot cleaner.
  • the removable wet rotating assembly for a mobile robot cleaner fixes a structure to which a rotating wet member rotates according to the movement of the mobile robot cleaner and is removable when the wet member is replaced.
  • Have The removable wet rotating assembly for the mobile robot cleaner may be mounted at the rear end of the dust inlet based on the moving direction of the mobile robot cleaner.
  • the mobile robot cleaner to which the wet rotating assembly according to the embodiment of the present invention may be mounted may be an automatic robot cleaner or may be a manual stick type or an automatic stick type.
  • the removable rotating roller included in the wet rotating assembly according to the present invention may be a rotary shaft (first and second embodiments) rotatably coupled to the wet member and mounted on the mobile robot cleaner, but is not limited thereto. no.
  • the removable rotating roller is a rotating shaft (third embodiment and embodiment) having a water storage function to store water in the space inside the rotating shaft and to discharge a certain amount of water to the wet member according to the rotation of the wet rotating assembly. Can be implemented.
  • FIG. 1 is a view schematically showing a removable wet rotating assembly for a mobile robot cleaner according to a first embodiment of the present invention.
  • the wet rotating assembly 10 is a kit that can be rotated by being mounted on a mobile robot cleaner to clean the bottom surface, and has a structure that can be attached and detached to a specific area of the mobile robot cleaner.
  • the wet rotating assembly 10 includes a wet member 100 in contact with a bottom surface and a removable rotating roller 200 coupled to the wet member 100.
  • the wet rotating assembly 10 has a structure in which the wet member 100 can be easily replaced as the wet member 100 can be separated between the wet member 100 and the removable rotating roller 200. That is, the wet rotating assembly 10 has a structural advantage that the removable rotating roller 200 can be used as it is when the wet member 100 is replaced.
  • the wet member 100 has a cylindrical structure in which a hollow is formed, and the inner surface of the wet member 100 includes at least one seam connection part 110 and 112 in a cylindrical length direction.
  • the longitudinal direction of the cylindrical means the direction in which the hollow of the cylinder is formed
  • the length of the cylindrical means the height of the cylinder.
  • the wet member 100 may generate at least one sewing line joint part 110 and 112 by sewing the inner surface of the wet member of the cylindrical structure while the wet member outer surface of the cylindrical structure overlaps the 'U' shape.
  • the size of the at least one sewing line joining portion (110, 112) may be adjusted according to the depth of the guide portion (210, 212) of the removable rotating roller (200).
  • the removable rotary roller 200 has a cylindrical structure that can be coupled to the wet member 100 having a hollow.
  • the detachable rotating roller 200 is a locking rotary part 220 to prevent the separation of the at least one guide portion (210, 212) and the combined wet member 100 in the form of a square groove formed in the longitudinal direction of the cylinder on the outer surface of the cylinder 220 ).
  • the at least one guide part 210 and 212 may be formed at positions facing each other, such as the first guide part 210 and the second guide part 212, but the present invention is not limited thereto. Or, it may add or remove the guide portion on the outer surface of the cylinder.
  • the detachable rotating roller 200 may be provided with a plurality of guide portions by forming a plurality of radial grooves having an even angle between predetermined angles in the longitudinal direction.
  • the wet rotating assembly 10 includes a removable rotating roller 200 having a length corresponding to the width (length) of the wet member 100.
  • the length of the removable rotary roller 200 means the length of the rotary shaft body 201 excluding the locking rotary part 220.
  • the inner diameter of the hollow formed in the wet member 100 has the same length as the diameter of the removable rotary roller 200.
  • the wet rotating assembly 10 has a structure in which the seam seams 110 and 112 of the wet member 100 are inserted along the guide portions 210 and 212 of the detachable rotating roller 200.
  • the wet rotating assembly 10 may preferably couple or remove the wet member 100 to the detachable rotating roller 200 in only one direction, but is not necessarily limited thereto.
  • FIG. 2 is a view showing the configuration of the wet member of the removable wet rotating assembly for a mobile robot cleaner according to a first embodiment of the present invention.
  • FIG. 2A is a diagram illustrating the structure of the wet member 100
  • FIG. 2B is a view showing the actual shape of the wet member 100.
  • the wet member 100 has a cylindrical structure in which a hollow is formed, and the first sewing line joining unit 110 and the second sewing line joining unit 112 in a cylindrical length direction on an inner surface of the wet member 100. It is provided.
  • the longitudinal direction of the cylindrical means the direction in which the hollow of the cylinder is formed
  • the length of the cylindrical means the height of the cylinder.
  • the wet member 100 stitches the upper part of the U-shaped upper portion, that is, between the outer surface and the inner surface of the cylindrical structure in a state where the wet member outer surface of the cylindrical structure overlaps the 'U' shape, thereby sewing the first seam connection portion. 110 and the second seam seam 112 may be generated.
  • the sizes of the first sewing line joining unit 110 and the second sewing line joining unit 112 may be adjusted according to the depths of the guides 210 and 212 of the detachable rotating roller 200.
  • the size of the first sewing line joining unit 110 and the second sewing line joining unit 112 means a size that is close to the center of the hollow in the inner surface of the cylindrical structure.
  • two sewing line joining parts 110 and 112 are provided in the wet member 100, such as the first sewing line joining part 110 and the second sewing line joining part 112, but are not necessarily limited thereto.
  • the number of joints can vary.
  • the wet member 100 may form the same number of seam seams as the number of guide parts formed on the removable rotating roller 200.
  • first sewing line joining unit 110 and the second sewing line joining unit 112 formed in the wet member 100 face each other, the present invention is not necessarily limited thereto, and is not limited thereto.
  • the interval may be changed according to the position of the guide portion formed in the removable rotating roller 200.
  • FIG 3 is a view showing a main body configuration of the removable wet rotating assembly for a mobile robot cleaner according to the first embodiment of the present invention.
  • the removable rotary roller 200 has a cylindrical structure that can be inserted into a hollow formed in the wet member 100 and coupled thereto.
  • the detachable rotating roller 200 may include the rotating shaft main body 201, the first guide part 210, the second guide part 212, the locking rotation part 220, the first locking recess 230, and the second locking recess part ( 232), a lock fixing part 240 and a detachable mounting part 250.
  • the removable rotating roller 200 described in FIG. 3 is according to one embodiment, and not all the components shown in FIG. 3 are essential components, and in other embodiments, some components included in the removable rotating roller 200 are added. Can be changed or deleted.
  • the removable rotating roller 200 is provided with a locking rotating part 220 to replace the locking fixing part 240, or in the case of the locking fixing part 240 having a removable structure, the locking rotating part 220. In place of the lock fixing part 240 may be further provided.
  • the removable rotary roller 200 has a cylindrical structure that can be coupled to the wet member 100 having a hollow.
  • the detachable rotating roller 200 is divided into a rotating shaft body 201 and a locking rotating part 220.
  • the rotating shaft main body 201 includes a first guide part 210, a second guide part 212, a locking fixing part 240, and a detachable mounting part (not shown), and the locking rotating part 220 includes a first locking yaw.
  • the groove 230, the second locking recess 232, the removable mounting portion 250 is a cylindrical structure that can be coupled to the wet member 100 having a hollow.
  • the detachable rotating roller 200 is divided into a rotating shaft body 201 and a locking rotating part 220.
  • the rotating shaft main body 201 includes a first guide part 210, a second guide part 212, a locking fixing part 240, and a detachable mounting part (not shown), and the locking rotating part 220 includes a first locking yaw.
  • the rotating shaft main body 201 includes a first guide portion 210 and a second guide portion 212 having a rectangular groove shape formed in the longitudinal direction of the cylinder on the outer surface of the cylinder. As shown in FIG. 3, the first guide part 210 and the second guide part 212 may be formed at positions facing each other, but are not necessarily limited thereto. The guide part may be added to or removed from an outer surface of the cylinder. can do.
  • the rotating shaft main body 201 may include a plurality of guide grooves by forming a plurality of radial grooves having an even angle between the predetermined angles with respect to one side in the longitudinal direction.
  • One side of the rotating shaft main body 201 may be provided with a lock rotating part 220, the other side may be provided with a lock fixing part 240.
  • the lock rotating part 220 may be coupled to the rotating shaft body 201 in a form that can be rotated in order to prevent the wet member 100 is separated.
  • the lock fixing part 240 may be formed integrally with the rotating shaft main body 201, but is not necessarily limited thereto, and may be implemented in a form detachable to the other side of the rotating shaft main body 201.
  • the lock rotating part 220 has a structure capable of rotating at an angle to the left or right about the longitudinal direction of the rotating shaft main body 201.
  • the locking rotation part ( 220 has a 'OPEN' structure to which the wet member 100 and the removable rotating roller 200 can be coupled.
  • the locking rotation part 220 Has a 'CLOSE' structure so that the wet member 100 coupled with the removable rotating roller 200 is not separated.
  • the detachable rotating roller 200 includes a detachable mounting unit 250 formed on the lock rotating unit 220 and a detachable mounting unit (not shown) formed on the rotating shaft main body 201, using two detachable mounting units 250.
  • the wet rotating assembly 10 may be mounted to a mobile robot cleaner.
  • FIG. 4 is a view showing a coupling structure of the removable wet rotating assembly for a mobile robot cleaner according to the first embodiment of the present invention.
  • the wet rotating assembly 10 has a structure in which the seam seams 110 and 112 of the wet member 100 are inserted along the guides 210 and 212 of the removable rotating roller 200.
  • the locking member 220 may be rotated to prevent the wet member 100 from being separated from the rotation shaft main body 201 while the wet member 100 and the removable rotating roller 200 are coupled to each other.
  • FIG. 4A illustrates the lock rotation part 220 in an open state
  • FIG. 4B illustrates the lock rotation part 220 in a locked state
  • each of the first locking recess 230 and the second locking recess 232 may have a recess shape with each of the first guide portion 210 and the second guide portion 212.
  • the lock rotating part 220 has an open state structure in which the wet member 100 and the removable rotating roller 200 can be coupled.
  • the locking rotation part 220 rotates to the right side based on the longitudinal direction of the rotation shaft main body 201 so that the first locking recess 230 and the second locking recess 232 are rotated.
  • the locking rotary part 220 is the wet member 100 coupled with the removable rotating roller 200 is not separated. So that it has a locked state structure.
  • wet rotating assembly 20 according to the second embodiment will be described with reference to FIGS. 5 to 9, and a description overlapping with the wet rotating assembly 10 according to the first embodiment will be omitted.
  • FIG. 5 is a schematic view of a removable wet rotating assembly for a mobile robot cleaner according to a second embodiment of the present invention.
  • the wet rotating assembly 20 is a kit that can be rotated by being mounted on a mobile robot cleaner to clean the bottom surface, and has a structure that can be attached and detached to a specific area of the mobile robot cleaner.
  • the wet rotating assembly 20 includes a wet member 300 in contact with the bottom surface and a removable rotating roller 400 coupled to the wet member 300.
  • the wet member 300 has a cylindrical structure in which a hollow is formed.
  • the inner side of the wet member 300 is provided with at least one seam seam 310, 312 in a cylindrical longitudinal direction, and each of the at least one seam seam 310, 312 has a first reinforcing wick 320 and a second. Reinforcement wick 322 may be included.
  • the wet member 300 sews the inner surface of the wet member of the cylindrical structure in a state where the wet member outer surface of the cylindrical structure is overlapped in a 'U' shape, and the first side of the hollow member formed by sewing the inner surface of the wet member.
  • Including a reinforcement wick 320 and a second reinforcement wick 322 includes a third sewing line junction 310 and a fourth sewing line junction 312 formed by further sewing process.
  • the size of the third sewing line junction 310 and the fourth sewing line junction 312 or the size of the reinforcing wicks 320 and 322 included in each of the third sewing line junction 310 and the fourth sewing line junction 312 are removable. It may be adjusted according to the size of the guide portion (410, 412) of the rotary roller (400).
  • the removable rotary roller 400 is a locking rotary part for preventing the detachment of the at least one guide portion 410, 412 of the circular groove shape formed in the longitudinal direction of the cylinder on the outer surface of the cylinder and the wet member 300 is coupled ( 420.
  • FIG. 6 is a view showing the configuration of the wet member of the removable wet rotating assembly for a mobile robot cleaner according to a second embodiment of the present invention.
  • FIG. 6 is a diagram illustrating the structure of the wet member 300.
  • the wet member 300 has a cylindrical structure in which a hollow is formed, and a cylindrical length is formed on an inner surface of the wet member 300.
  • a third sewing line joining unit 310 and a fourth sewing line joining unit 312 including each of the first reinforcing wick 320 and the second reinforcing wick 322.
  • the wet member 300 sews the inner surface of the wet member of the cylindrical structure in the state where the wet member outer surface of the cylindrical structure overlaps in a 'U' shape, and the first reinforcement in the hollow formed by sewing the inner surface of the wet member.
  • the wick 320 and the second reinforcing wick 322 may be included to additionally process the sewing to generate the third sewing line junction 310 and the fourth sewing line junction 312.
  • the first reinforcing wick 320 and the second reinforcing wick 322 can be separated from the seam seams (310, 312), it may be formed of a cylindrical structure of a flexible material, but is not necessarily limited thereto.
  • the number and positions of the third sewing line joining unit 310 and the fourth sewing line joining unit 312 illustrated in FIG. 6 may be changed according to various conditions, such as the wet member 300 of the second embodiment.
  • FIG. 7 is a view showing a main body configuration of the removable wet rotating assembly for a mobile robot cleaner according to a second embodiment of the present invention.
  • the removable rotary roller 400 has a cylindrical structure that can be inserted into a hollow formed in the wet member 300 and coupled thereto.
  • the detachable rotating roller 400 may include the rotating shaft main body 401, the third guide part 410, the fourth guide part 412, the locking rotating part 420, the third locking groove part 430, and the fourth locking groove part ( 432, a lock fixing part 440, and a detachable mounting part 450.
  • the removable rotating roller 400 described in FIG. 7 is according to one embodiment, and not all the components shown in FIG. 7 are essential components, and in other embodiments, some components included in the removable rotating roller 400 are added. Can be changed or deleted.
  • the rotary shaft main body 401 includes a third guide portion 410 and a fourth guide portion 412 of a circular groove shape formed in the longitudinal direction of the cylinder on the outer surface of the cylinder. As shown in FIG. 3, the third guide portion 410 and the fourth guide portion 412 may be formed at positions facing each other, but are not necessarily limited thereto.
  • the guide portion may be added to or removed from an outer surface of the cylinder. can do.
  • the rotation shaft main body 401 may be provided with a plurality of guide parts by forming a plurality of radial grooves having an even angle between predetermined angles in the longitudinal direction.
  • FIG. 8 is a view showing a coupling structure of the removable wet rotating assembly for a mobile robot cleaner according to a second embodiment of the present invention.
  • the wet rotating assembly 20 has a structure in which the seam seams 310 and 312 of the wet member 300 are inserted along the guides 410 and 412 of the removable rotating roller 400.
  • the locking member 420 may be rotated to prevent the wet member 300 from being separated from the rotation shaft main body 401 in a state in which the wet member 300 and the removable rotating roller 400 are coupled to each other.
  • FIG. 8A illustrates the lock rotation part 420 in an open state
  • FIG. 8B illustrates the lock rotation part 420 in a locked state
  • each of the third locking recess 430 and the fourth locking recess 432 is formed with each of the third guide portion 410 and the fourth guide portion 412.
  • the lock rotating part 420 has an open state structure in which the wet member 300 and the removable rotating roller 400 can be coupled.
  • the locking rotation part 420 is rotated to the right based on the longitudinal direction of the rotation shaft main body 401 so that the third locking recess 430 and the fourth locking recess 432 are rotated.
  • the locking rotary part 420 is not detached from the wet member 300 coupled with the removable rotary roller 400. So that it has a locked state structure.
  • the seam seams 310 and 312 of the wet member 300 are guide parts 410 and 412 of the removable rotary roller 400 due to the reinforcing wicks 320 and 322. If it is verified that does not deviate from), it may be implemented in the form without the lock rotating part 420, or may be replaced by a lock fixing part 440 having a removable structure.
  • FIG. 9 is a view illustrating a lock rotating part of the removable wet rotating assembly for the mobile robot cleaner according to the second embodiment of the present invention.
  • the lock rotating part 420 provided in the detachable rotating roller 400 according to the second embodiment includes a third locking recess 430 and a fourth locking recess 432.
  • Each of the third locking recess 430 and the fourth locking recess 432 coincides with the circular recess of the third guide portion 410 and the fourth guide portion 412 according to the rotational position of the locking rotation portion 420. It has a mismatched structure.
  • the wet member 300 may be coupled to the removable rotary roller 400.
  • the wet member 300 which is previously coupled with the removable rotary roller 400, may not be separated. Can be fixed.
  • the locking recesses 430 and 432 provided in the locking rotating part 420 may be formed to have an outer recess width 810 and an inner recess width 820 having different sizes. Specifically, the locking recesses 430 and 432 may have a wider inner recess width 820 than the outer recess width 810. For example, the locking recesses 430 and 432 may include an inner recess width 820 formed to be twice the size of the outer recess width 810.
  • the groove width of the locking grooves 430 and 432 may include the third guide portion 410 and the fourth guide portion 412 of the rotating shaft main body 401, the third seam connection portion 310 of the wet member 300, and The same applies to the fourth sewing line joining portion 312, but is not necessarily limited thereto.
  • the locking rotator 420 is illustrated as having two locking recesses in the detachable rotating roller 400, such as the third locking recess 430 and the fourth locking recess 432, but is not limited thereto.
  • the number of locking recesses may be changed.
  • the detachable rotating roller 400 may form the same number of locking recesses as the number of guides formed on the rotating shaft body 401.
  • FIG. 10 is a view showing a mobile robot cleaner according to an embodiment of the present invention.
  • FIG. 10A illustrates a perspective view of the mobile robot cleaner 1000
  • FIG. 10B illustrates a bottom perspective view of the mobile robot cleaner 1000
  • FIG. 10C illustrates a side view of the mobile robot cleaner 1000
  • FIG. 10D illustrates a rear view of the mobile robot cleaner 1000.
  • the mobile robot cleaner 1000 has a structure in which the wet rotating assembly 1010 is mounted on the lower side of the main body.
  • the mobile robot cleaner 1000 performs cleaning while moving the ground (cleaning bottom surface) through the rotation of the at least two main wheels and the wet rotating assembly 1010 provided in the main body.
  • the liquid for wet cleaning is stored inside the wet rotating assembly 1010.
  • the liquid is preferably water, but is not limited thereto, and may be one of various cleaning liquids.
  • 11A and 11B illustrate a structure of a mobile robot cleaner for improving driving performance according to an exemplary embodiment of the present invention.
  • the mobile robot cleaner 1000 includes a driving performance improving apparatus 1100, an auxiliary wheel 1130, a driving wheel 1140, and a main body 1150.
  • the driving performance improving apparatus 1100 includes a rotary roller housing 1110, a hinge portion 1112, and a hinge fixing portion 1120 coupled to the wet rotating assembly 1010.
  • the mobile robot cleaner 1000 may rotate or stop the wet rotating assembly 1010 by the operation of the rotating shaft driver included in the rotating roller housing 1110.
  • the rotary shaft drive unit may include a motor and a gearbox, and may rotate the wet rotating assembly 1010 based on the longitudinal center axis of the wet rotating assembly 1010.
  • the mobile robot cleaner 1000 rotates the wet rotating assembly 1010 in order to solve a problem in which stable driving is difficult or cleaning power is reduced due to vibration generated while performing wet cleaning. 1150 included therein.
  • the driving performance improving apparatus 1100 may operate to prevent the vibration generated by the rotation from being transmitted to the mobile robot cleaner 1000 based on the hinge structure when the wet rotating assembly 1010 is coupled and rotated for wet cleaning. Do this.
  • the mobile robot cleaner 1000 includes a driving wheel 1140 which is driven by a main driving motor (not shown) to generate driving power, and an auxiliary wheel 1130 that supports the main body 1150 by assisting the driving wheel 1140.
  • the driving performance improving apparatus 1100 may be configured at a position between the auxiliary wheel 1130 and the driving wheel 1140.
  • the mobile robot cleaner 1000 generates vibration in the vertical direction when the wet rotating assembly 1010 rotates, and the driving performance improving apparatus 1100 moves the rotary roller housing 1110 in an up state or a down state according to the generated vibration. To move.
  • FIG. 11A illustrates a driving performance improving apparatus 1100 operating in a down state when vibration occurs in a downward direction when the wet rotating assembly 1010 rotates
  • FIG. 11B illustrates an upper side when the wet rotating assembly 1010 rotates.
  • the driving performance improving device 1100 operating in the up state is shown.
  • the wet cleaner 1000 of the present invention may have the hinge part 1112 and the hinge fixing part 1120 even if vibration in the vertical direction occurs due to the rotation of the wet rotating assembly 1010. Vibration may be prevented from being transmitted to the mobile robot cleaner 1000 by the traveling performance improving apparatus 1100 to which the is applied.
  • the mobile robot cleaner 1000 may perform stable driving without receiving vibration generated by the rotation of the wet rotating assembly 1010.
  • the wet rotating assembly 1010 may further include a battery and a weight in order to enhance cleaning performance.
  • FIG. 12 is a view for explaining the coupling structure of the driving performance improving apparatus according to an embodiment of the present invention.
  • a hollow is formed at a lower side of the main body 1150 of the wet cleaner 1000 to be coupled to the wet rotating assembly 1010, and the formed hollow is configured to overlap the wet rotating assembly 1010.
  • Rotating roller housing 1110 is coupled.
  • the hinge portion 1112 may be connected to one central portion of the rotating roller housing 1110, and the hinge portion 1112 may be fixed to the lower portion of the main body 1150 by the hinge fixing portion 1120.
  • the driving performance improving apparatus 1100 may include a rotating roller housing 1110, a hinge portion 1112, and a hinge fixing portion 1120 coupled to the wet rotating assembly 1010 and the wet rotating assembly 1010. It includes.
  • the hinge portion 1112 is positioned at the outer center portion of the rotary roller housing 1110 and moves the rotary roller housing 1110 according to the vibration generated by the rotation of the wet rotating assembly 1010.
  • the hinge part 1112 and the rotary roller housing 1110 may be separately manufactured and combined, but are not necessarily limited thereto.
  • the hinge part 1112 and the rotary roller housing 1110 may be manufactured in a single body including the hinge part 1112 at an outer center of the rotary roller housing 1110. May be
  • the hinge part 1112 moves the rotary roller housing 1110 in an up state or a down state according to vibration generated in the up and down direction when the wet rotating assembly 1010 rotates.
  • the hinge part 1112 may rotate so that the rotary roller housing 1110 is in a down state when vibration occurs in a downward direction due to the rotation of the wet rotating assembly 1010.
  • the hinge portion 1112 may rotate so that the rotary roller housing 1110 is up when vibration occurs in an upward direction by the rotation of the wet rotating assembly 1010.
  • the hinge part 1112 is coupled to one side of the lower part of the main body 1150, and may be fixed through the lower part of the main body 1150 and the hinge fixing part 1120.
  • the hinge part 1112 rotates so that the rotating roller housing 1110 moves through the rotation according to the vibration in the fixed state.
  • the hinge portion 1112 may be defined as a down state in contact with a lower side of the main body 1150, and may be in a state in which the hinge portion 1112 is rotated at a minimum rotation angle in the down state.
  • the hinge fixing part 1120 is coupled to the upper side of the hinge part 1112, and is implemented in the form of a cover to fix the hinge part 1112.
  • the hinge fixing part 1120 may be coupled to the lower part of the main body 1150 to enable the rotational movement of the hinge part 1112 according to the vibration.
  • the hinge fixing part 1120 may include an angle limiting part 1122 for limiting the movement range of the hinge part 1112.
  • the hinge fixing part 1120 may determine (limit) an angle at which the hinge part 1112 can be rotated to the maximum in the up state through the angle limiting part 1122.
  • the hinge fixing part 1120 may limit the angle of the movement range so that the impact is not transmitted to the upper side of the main body 1150 by the rotary roller housing 1110 in the up state through the angle limiting part 1122. Can be.
  • the hinge fixing part 1120 fixes the hinge part 1112 to move the rotary roller housing 1110 in the up state, but the rotary roller housing 1110 is connected to the main body 1150 through the angle limiting part 1122.
  • the rotational movement of the hinge portion 1112 is limited at an angle so as not to contact the upper side of
  • FIG. 13A-13C illustrate a wet rotating assembly according to a third embodiment of the present invention.
  • FIG. 13A shows an exploded view of the wet member 1011 and the removable rotating roller 1200
  • FIG. 13B shows the wet member 1011 and the removable rotating roller 1200 in a separated state
  • 13C shows the wet member 1011 and the detachable rotating roller 1200 in a coupled state.
  • the wet rotating assembly 1010 includes a wet member 1011 and a removable rotating roller 1200.
  • the wet member 1011 has the same configuration as the wet members described in the first and second embodiments, and descriptions thereof will be omitted.
  • the removable rotating roller 1200 has a cylindrical structure that can be coupled to the wet member 1011 having a hollow, and is formed in a cylindrical structure having a length corresponding to the width of the wet member 1011.
  • An inner space of the removable rotating roller 1200 that is, the inside of the cylindrical structure, is provided with a liquid storage unit capable of storing liquid.
  • the liquid storage unit is preferably a bucket for storing water for wet cleaning, but is not necessarily limited thereto, and may be one of various cleaning liquids.
  • the detachable rotating roller 1200 includes a rotating shaft body 1210, a guide part 1220, and a liquid discharge recess 1230.
  • the rotary shaft main body 1210 has a cylindrical structure that is inserted into the hollow of the wet member 1011 and can be coupled thereto.
  • the guide part 1220 and the liquid discharge groove part 1230 are provided on the outer surface of the rotating shaft body 1210, and is formed in the groove shape in the longitudinal direction of the cylinder.
  • the guide part 1220 may be formed in two recesses like the first guide part and the second guide part.
  • the first guide part and the second guide part may be formed at positions facing each other based on the longitudinal center of the rotation shaft main body 1210.
  • the liquid discharge groove 1230 may be formed between the first guide portion and the second guide portion.
  • At least one liquid discharge hole 1232 is formed in the liquid discharge recess 1230.
  • the liquid discharge recess 1230 may include four liquid discharge holes 1232 arranged in a shape having a uniform interval.
  • the liquid discharge hole 1232 discharges the liquid stored in the liquid reservoir in a position in contact with the cleaning bottom surface due to the rotation of the wet rotating assembly 1010.
  • the liquid discharge hole 1232 may adjust the amount of liquid discharged according to the shape of the hole.
  • the wick cover 1234 and the fixed cover 1236 are coupled to the liquid discharge recess 1230.
  • the wick cover 1234 and the fixed cover 1236 may be sequentially coupled to an upper surface of the liquid discharge recess 1230.
  • the wick cover 1234 is preferably implemented with a cloth material that can absorb the liquid.
  • the wick cover 1234 may absorb the liquid discharged from the liquid discharge hole 1232, and may penetrate the wet member 1011 to transfer the liquid when the amount of liquid absorption exceeds a predetermined amount.
  • the fixed cover 1236 is formed to cover the upper surface of the wick cover 1234.
  • the fixing cover 1236 has the same number of holes as the number of the liquid discharge holes 1232, and each of the formed holes may have the same size as the diameter of the liquid discharge hole 1232, but is not necessarily limited thereto. It may be implemented in the form having a diameter of the size.
  • the hole formed in the fixed cover 1236 may be implemented in the same circle shape as the liquid discharge hole 1232, but is not necessarily limited thereto, and may be implemented in an ellipse or polygonal shape.
  • the centers of the hole formed in the fixed cover 1236 and the liquid discharge hole 1232 may be positioned in a straight line, but are not necessarily limited thereto, and may be positioned on different lines to control the discharge of the liquid. That is, after the liquid discharged from the liquid discharge hole 1232 passes through the wick cover 1234, the discharge of the liquid may be adjusted according to the position of the hole of the fixed cover 1236. For example, when the centers of the holes formed in the fixed cover 1236 and each of the liquid discharge holes 1232 are located in a straight line, the liquid discharge is increased, and the holes and the liquid discharge holes 1232 formed in the fixed cover 1236 are increased. If each center is on a different line, the liquid emissions are reduced.
  • the position between the hole formed in the fixed cover 1236 and the liquid discharge hole 1232 may be fixed, but when the position of the fixed cover 1236 is adjustable, the hole formed in the fixed cover 1236 and the liquid discharge hole 1232 may be fixed.
  • the position of the liver can be changed.
  • the fixed cover 1236 may be adjusted in a manner that is movable in the longitudinal direction of the wet rotating assembly 1010 by a predetermined range.
  • the outer surface where the wick cover 1234 and the fixed cover 1236 are coupled to the liquid discharge recess 1230 is formed on the same curved surface as the outer surface of the rotation shaft body 1210. That is, the wick cover 1234 and the fixed cover 1236 are coupled to the liquid discharge groove 1230 so that the groove shape of the liquid discharge groove 1230 is filled so that the same surface as the outer surface of the rotary shaft body 1210 Can be achieved.
  • the bucket stopper 1240 is a stopper for injecting or removing a liquid into the liquid reservoir and may be a soft stopper.
  • the removable rotary roller 1200 includes a lock rotating part 1250 formed at one end of the rotating shaft main body 1210 and a lock fixing part formed at the other end of the rotating shaft main body 1210.
  • the lock rotating part 1250 and the lock fixing part have a structure for preventing the detachment of the wet member 1011 while the wet member 1011 and the removable rotating roller 1200 are coupled to each other.
  • Each of the locking rotating unit 1250 and the locking fixing unit has a rotating shaft 1252, coupled to the mobile robot cleaner 1000 through the rotating shaft 1252, and a wet rotating assembly according to the rotation control of the mobile robot cleaner 1000. 1010 may be rotated.
  • the lock fixing part is preferably formed integrally with the other end of the rotating shaft body 1210, but is not necessarily limited thereto, and may be implemented in a detachable form.
  • the lock rotating part 1250 has a structure capable of rotating at an angle to the left or right about the longitudinal direction of the rotating shaft body 1210.
  • the locking rotation part 1250 may have a locking groove part in a number corresponding to the number of grooves of the guide part 1220.
  • the seam line junction of the wet member 1011 is inserted into the guide portion 1220 through the locking recess.
  • One side of the locking rotating unit 1250 may be formed with a display groove for displaying the position of the liquid discharge groove 1230.
  • the display recess may be formed to expose one end of the fixed cover 1236, which is a position reference region.
  • FIG 14 is an exemplary view showing a wet member of the wet rotating assembly according to the third embodiment of the present invention.
  • the wet member 1011 may form at least one sewing line joint by sewing the inner surface of the wet member of the cylindrical structure while the wet member outer surface of the cylindrical structure overlaps the 'U' shape.
  • the size of each of the at least one sewing line joining portion may be adjusted according to the depth of the guide portion 1220 of the removable rotating roller 1200.
  • 15 is a view showing the configuration of the removable rotating roller of the wet rotating assembly according to the third embodiment of the present invention.
  • FIG. 15A is an exploded view of the detachable rotating roller 1200 and shows a form before the components included in the detachable rotating roller 1200 are combined.
  • the liquid discharge recess 1230 may include four liquid discharge holes 1232 arranged in a shape having a uniform interval.
  • the wick cover 1234 and the fixed cover 1236 are sequentially coupled to the upper surface of the liquid discharge recess 1230.
  • the wick cover 1234 is a cloth material capable of absorbing liquid, and absorbs the liquid discharged from the liquid discharge hole 1232.
  • the fixing cover 1236 is formed to cover the upper surface of the wick cover 1234, and serves to fix the wick cover 1234.
  • the fixed cover 1236 has the same number of holes as the number of the liquid discharge holes 1232.
  • FIG. 15B is a perspective view of the detachable rotating roller 1200 and shows a form after the components included in the detachable rotating roller 1200 are combined.
  • the detachable rotating roller 1200 discharges the liquid stored in the internal space through the liquid discharge hole 1232.
  • the discharged liquid is primarily absorbed in the wick cover 1234, and is transferred to the wet member 1011 when the liquid absorption amount is a predetermined amount or more.
  • the operation of discharging liquid from the removable rotating roller 1200 may be performed after the wet rotating assembly 1010 is mounted on the mobile robot cleaner 1000 and rotated while the liquid discharge hole 1232 is in contact with the ground (cleaning bottom surface). Can be performed.
  • 16 is a view showing a wet rotating assembly of the present invention and a conventional wet kit.
  • Figure 16 (a) shows a conventional circular flat plate wet kit.
  • the circular flat plate wet kit has water holes 1610, 1612, 1614, 1616 for delivering water to the wet member.
  • the water holes 1610, 1612, 1614, and 1616 may be in contact with the ground (cleaning floor) while the robot cleaner performs wet cleaning, and the water may be drained excessively or leaked after the cleaning is finished. There is this.
  • the size of the bucket for storing water is increased, thereby increasing the size of the robot cleaner.
  • Figure 16 (b) shows a conventional rectangular flat plate wet kit.
  • the rectangular flat plate wet kit has water holes 1620 and 1622 for delivering water to the wet member.
  • the water holes 1620 and 1622 have a problem in that the robot cleaner may be in contact with the ground (cleaning bottom surface) while the robot cleaner performs wet cleaning and may leak even after the water is excessively discharged or the cleaning is finished.
  • the size of the bucket for storing water is made large, thereby increasing the size of the robot cleaner.
  • 16C shows the wet rotating assembly 1010 of the present invention. Referring to FIG. 16C, four liquid discharge holes 1232 are present in the wet rotating assembly 1010.
  • the liquid discharge hole 1232 of the wet rotating assembly 1010 may be rotated after being mounted in the mobile robot cleaner 1000 to discharge water only at a position where the liquid discharge hole 1232 is in contact with the ground (cleaning bottom). . Accordingly, the wet rotating assembly 1010 of the present invention can solve the conventional problem that water leakage may occur after the water is excessively discharged or the cleaning is finished.
  • 17 is a block diagram schematically showing a rotating roller position control apparatus according to an embodiment of the present invention.
  • the rotary roller position control device 1700 is a wet rotary machine mounted on the mobile robot cleaner 1000 based on a power signal applied through the power supply unit 1050 and an operation signal input through the input unit 1060. The rotational position of the casting assembly 1010.
  • the rotary roller position controller 1700 includes a rotary shaft driver 1020, a sensor unit 1030, and a controller 1040.
  • the rotary roller position controller 1700 of FIG. 17 is according to one embodiment, and not all blocks shown in FIG. 17 are essential components, and in other embodiments, some of the blocks included in the rotary roller position controller 1700 are illustrated. This can be added, changed or deleted.
  • the rotary shaft driver 1020 refers to a module that performs an operation of rotating or stopping the wet rotating assembly 1010.
  • the rotary shaft drive unit 1020 includes a motor and a gearbox, and the shape of the motor and the gearbox may be variously changed if it can be rotated based on the longitudinal central axis of the wet rotating assembly 1010.
  • the rotary shaft driver 1020 rotates or stops the wet rotating assembly 1010 by operating the motor and the gearbox based on the control signal received from the controller 1040.
  • the control signal may include only a signal for rotating or stopping the wet rotating assembly 1010, but is not necessarily limited thereto, and may include a signal for a rotation speed.
  • the sensor unit 1030 senses the wet rotating assembly 1010 and outputs a sensing value for sensing.
  • the sensing value output from the sensor unit 1030 is transmitted to the control unit 1040.
  • the sensor unit 1030 senses a position reference region of the wet rotating assembly 1010 and outputs a sensing value for sensing or not detecting the position reference region.
  • the location reference area of the wet rotating assembly 1010 refers to an area corresponding to a part of a specific component included in the wet rotating assembly 1010. Specifically, the location reference area of the wet rotating assembly 1010 is preferably an area corresponding to one end of the fixed cover 1236 coupled with the liquid discharge recess 1230 formed in the wet rotating assembly 1010. .
  • the sensor unit 1030 may be implemented as a photo sensor to sense a location reference area. Accordingly, the position reference area of the wet rotating assembly 1010 may be formed to have a brightness equal to or greater than a predetermined reference brightness for sensing the photo sensor.
  • the sensor unit 1030 is described as being implemented only by a photo sensor, but is not necessarily limited thereto.
  • the sensor unit 1030 may be implemented as a proximity sensor for determining whether the position reference area of the wet rotating assembly 1010 is close.
  • the sensor unit 1030 may be implemented by a magnetic sensor method.
  • the sensor unit 1030 may be implemented as a reed switch, and may sense a position reference area of the wet rotating assembly 1010 using a reed switch.
  • the position reference region of the wet rotating assembly 1010 may be implemented with a magnetic material.
  • the controller 1040 controls the rotation operation of the wet rotating assembly 1010 such that liquid is not discharged from the wet rotating assembly 1010 in cooperation with the rotation shaft driving unit 1020 and the sensor unit 1030.
  • the controller 1040 checks the rotational position of the wet rotating assembly 1010 based on the sensing value obtained from the sensor unit 1030, and the wet rotating assembly 1010 through the rotary shaft drive unit 1020 based on the rotational position. Control the rotation of
  • the controller 1040 determines the rotational position of the wet rotating assembly 1010 according to whether the sensor unit 1030 detects the position reference area of the wet rotating assembly 1010, and wets until the position reference area is detected.
  • the rotating assembly 1010 is controlled to rotate.
  • the controller 1040 controls the wet rotating assembly 1010 to rotate until the position reference region is sensed. Meanwhile, the controller 1040 controls the wet rotating assembly 1010 to stop when it is determined that the location reference area is detected based on the sensor value.
  • the controller 1040 acquires a sensing value from the sensor unit 1030 when the initial power of the mobile robot cleaner 1000 is applied (power off-> ON) or a cleaning stop signal is input during the cleaning operation due to a user's manipulation. It is desirable to control the rotation of the wet rotating assembly 1010.
  • 18A and 18B illustrate a rotating roller position control apparatus according to an embodiment of the present invention.
  • FIG. 18A shows a perspective view of the rotary roller position controller 1700
  • FIG. 18B shows a bottom perspective view of the rotary roller position controller 1700.
  • a rotation shaft driving unit 1020 is provided at one end of the rotary roller housing 1600 for coupling with the wet rotating assembly 1010, and a sensor unit 1030 is provided at the other end.
  • a sensor unit 1030 is formed on the inner side of the other end of the rotating roller housing 1600, and the position reference area of the wet rotating assembly 1010 is formed through the sensor unit 1030 of the inner side. Then, one side end area of the fixed cover 1236 is sensed.
  • the sensor unit 1030 may be provided at the 12 o'clock position based on the rotation axis 1252 of the wet rotating assembly 1010.
  • FIG. 19 illustrates a wet rotating assembly according to an embodiment of the present invention.
  • the location reference area is one side end area of the fixed cover 1236 and may be exposed through the display recess formed on one side of the locking rotating part 1250 provided in the detachable rotating roller 1200.
  • One side end area of the fixed cover 1236 which is a position reference area, may be formed to have a brightness higher than or equal to a predetermined reference brightness, and the remaining area excluding the position reference area, that is, the locking rotating unit 1250 may be lower than or equal to the preset reference brightness. It may be formed to have a brightness that contrasts with the area.
  • 20 is a view for explaining the operation of the rotary roller position control device in conjunction with the wet rotating assembly according to an embodiment of the present invention.
  • FIG. 20 there is shown a rotating roller position control device 1700 that cooperates with the wet rotating assembly 1010 mounted to the mobile robot cleaner 1000, in particular, the sensor unit 1030 of the rotating roller position control device 1700.
  • the portion of the position reference region, that is, one side end region of the fixed cover 1236 is sensed.
  • the sensor unit 1030 may detect a location reference area at a position facing the one end area of the fixed cover 1236. That is, the rotation roller position control device 1700 controls the rotation of the wet rotating assembly 1010 at a position where the sensor unit 1030 and the position reference area face each other.
  • 21 and 22 are flowcharts for explaining a method of controlling a rotation roller position according to an embodiment of the present invention.
  • FIG. 21 a rotation roller position control method in a state where initial power of the mobile robot cleaner 1000 is applied due to a user's manipulation will be described.
  • the rotary roller position control device 1700 receives power when the power of the mobile robot cleaner 1000 is changed to an ON state (S1910).
  • the rotary roller position control device 1700 checks the sensing value of sensing the position reference area of the wet rotating assembly 1010 (S1920).
  • the rotary roller position control device 1700 determines whether the position reference area is detected by checking the rotation position of the wet rotating assembly 1010 based on the sensing value (S1930).
  • step S1930 the rotary roller position control device 1700 performs the control so that the wet rotating assembly 1010 is rotated (S1932). After step S1932, the rotary roller position control device 1700 controls the wet rotating assembly 1010 to rotate until the position reference region is detected so that liquid is not discharged from the wet rotating assembly 1010.
  • step S1930 when the position reference area is detected in step S1930, the rotary roller position control device 1700 performs the control to stop the rotation of the wet rotating assembly 1010 (S1940), enters the standby state for wet cleaning (S1950).
  • FIG. 22 a rotating roller position control method in a state in which a cleaning stop signal is input during a cleaning operation of the mobile robot cleaner 1000 will be described.
  • the mobile robot cleaner 1000 stops at an arbitrary position, that is, the position at which the cleaning stop signal is input. (S2012).
  • the rotating roller position control device 1700 checks a sensing value of sensing the position reference area of the wet rotating assembly 1010 while the mobile robot cleaner 1000 is stopped (S2020).
  • the rotary roller position control device 1700 determines whether the position reference area is detected by checking the rotation position of the wet rotating assembly 1010 based on the sensing value (S2030).
  • step S2030 the rotary roller position control device 1700 performs the control so that the wet rotating assembly 1010 is rotated (S2032). After step S2032, the rotary roller position control device 1700 controls the wet rotating assembly 1010 to rotate until the position reference area is detected so that liquid is not discharged from the wet rotating assembly 1010.
  • the rotary roller position control device 1700 performs the control to stop the rotation of the wet rotating assembly 1010 (S2040), for restarting or ending the wet cleaning Enter the standby state (S2050).
  • FIGS. 21 and 22 are described as sequentially executing each step, but is not necessarily limited thereto. In other words, since the steps described in FIGS. 21 and 22 may be applied by changing the steps or executing one or more steps in parallel, FIGS. 21 and 22 are not limited to the time series order.
  • the rotating roller position control method according to the present embodiment described in FIGS. 21 and 22 may be implemented in an application (or program) and recorded on a recording medium readable by a terminal device (or computer).
  • An application (or program) for implementing the rotating roller position control method according to the present embodiment is recorded, and a recording medium readable by the terminal device (or computer) records all kinds of data in which data that can be read by the computing system is stored.
  • Device or media
  • 23A and 23B are views illustrating a mobile robot cleaner according to an embodiment of the present invention.
  • FIG. 23A (a) shows a perspective view of the mobile robot cleaner 2010, and FIG. 23A (b) shows a side view of the mobile robot cleaner 2010.
  • FIG. 23B shows a bottom perspective view of the mobile robot cleaner 2010.
  • the mobile robot cleaner 2010 performs wet cleaning while moving the bottom surface to be cleaned. Specifically, the mobile robot cleaner 2010 performs wet cleaning while moving the ground (cleaning bottom surface) through the rotation of the at least one wheel and the wet rotation kit provided in the main body.
  • the liquid for wet cleaning is stored inside the rotary roller 2200, and the liquid is discharged to the wet member 2100 by the rotation of the rotary roller 2200.
  • the liquid is preferably water, but is not necessarily limited thereto, and may be one of various cleaning liquids.
  • the mobile robot cleaner 2010 includes a body housing 2020, a wheel assembly 2030, a wet rotating assembly 2040, and a sensor unit 2050.
  • the main body housing 2020 is a housing defining an outer circumferential surface of the mobile robot cleaner 2010.
  • the main body housing 2020 includes an upper housing 2022 and a lower housing 2024.
  • the body housing 2020 may also include a body having a skeleton like the support inside the mobile robot cleaner 2010.
  • the main body housing 2020 may be a concept including both the upper housing 2022 and the lower housing 2024, but is not necessarily limited thereto, and the protective cover is coupled to the lower housing 2024. It may be.
  • the wheel assembly 2030 is coupled to the body housing 2020 and generates a driving force for moving the mobile robot cleaner 2010.
  • the wheel assembly 2030 may include at least one wheel and include a wheel driving motor for driving the wheel.
  • the wheel assembly 2030 may be implemented in the form of a module detachable from the lower housing 2024 or independently detachable.
  • At least one wheel 2034 included in the wheel assembly 2030 rotates under the driving force of the wheel driving motor 2032.
  • the driving of the wheel driving motor 2032 may be controlled by a control circuit (not shown).
  • At least one wheel 2034 may be provided at left and right sides of the lower housing 2024, respectively, and each wheel 2034a and 2034b may have a wheel driving motor 2032a for each wheel 2034a and 2034b for independent driving. , 2032b) may be connected.
  • the mobile robot cleaner 2010 may be moved back and forth, left and right, or rotated by at least one wheel included in the wheel assembly 2030.
  • the wheel of the wheel assembly 2030 is actively driven and may be referred to as a main wheel because it enables the mobile robot cleaner 2010 to travel.
  • the wheel assembly 2030 may further include a main wheel encoder (not shown) for detecting rotation according to the substantial driving of the wheel.
  • the wheel assembly 2030 may further include a main wheel sensor (not shown) for detecting rotation of the wheel or sensing current applied to the wheel driving motor.
  • the control circuit for controlling the drive of the wheel assembly drives the wheel through the control of the wheel drive motor.
  • control circuitry may be provided in the wheel assembly or may be implemented such that the main processor of the mobile robot cleaner performs its function.
  • Such control circuitry inputs an encoded signal from the mail wheel encoder from the main wheel sensor and / or a signal obtained from the main wheel sensor to determine whether the main wheel is operating properly in accordance with a command from the control circuit. You can judge.
  • the control circuit is dangerous when the signal sensed from the main wheel sensor exceeds the reference value, that is, when an overcurrent is applied to the drive motor, by stopping the driving or applying a reverse bias to prevent the circuit from being damaged.
  • the control signal for the out of operation may be transmitted to the wheel driving motor.
  • the auxiliary wheel 2036 may be provided at a position away from the wheel assembly 2030.
  • the auxiliary wheel 2036 is provided at a position different from the at least one wheel 2034a and 2034b in the lower housing 2024.
  • the auxiliary wheel 2036 may be implemented as a passive auxiliary wheel and an active auxiliary wheel. Unlike the active auxiliary wheel, which is driven by the driving force, the passive auxiliary wheel means a wheel that slides as the mobile robot cleaner moves by the rotation of the wheels 2034a and 2034b without the driving force.
  • the auxiliary wheel 2036 supports the mobile robot cleaner 2010 together with the at least one wheel 2034a and 2034b and assists driving of the mobile robot cleaner 2010 by the at least one wheel 2034a and 2034b.
  • the present embodiment may further include an auxiliary wheel encoder (not shown) for encoding the rotation of the auxiliary wheel 2036, and an auxiliary wheel sensor (not shown) for detecting the rotation of the auxiliary wheel 2036. .
  • the wet rotating assembly 2040 is coupled to the body housing 2020 and removes foreign substances on the bottom surface according to the movement of the mobile robot cleaner 2010.
  • the wet rotating assembly 2040 may be implemented in a detachable module form to be detachably separated from the bottom of the body housing.
  • the body housing 2020 may further include a fixing brush 2070 which prevents foreign substances of a certain size or more from the bottom surface from entering the wet rotating assembly 2040 according to the movement of the mobile robot cleaner 2010.
  • the fixed brush 2070 may be implemented to have a predetermined width at one edge of the lower housing 2024 to remove foreign matter in the direction in which the mobile robot cleaner 2010 moves.
  • the fixed brush 2070 may be implemented with a cleaning material of a predetermined length for filtering foreign matters of a specific size or more, that is, to prevent entry into the lower portion of the mobile robot cleaner 2010, and the length of the cleaning hat for filtering foreign materials. It can be changed according to the size of.
  • the wet rotating assembly 2040 by the fixed brush 2070 removes the foreign matter on the bottom while the foreign matter is primarily filtered, and the wet rotating assembly 2040 is rotated by the fixed brush 2070. Obstructive foreign matter can be removed in advance, and the failure rate of the wet rotating assembly 2040 can be minimized.
  • the wet rotating assembly 2040 rotates toward the bottom surface to be cleaned and is positioned on the surface of the rotating roller 2200 and the rotating roller 2200 provided to be detachably detached from the wet rotating assembly furnace 2040.
  • Wet member 2100 capable of absorbing liquid.
  • the wet rotating assembly 2040 removes foreign matter on the bottom surface by rotating the rotating roller 2200.
  • the wet rotating assembly 2040 may include a rotating roller housing for mounting the rotating roller 2200 and a roller driving motor for rotating the rotating roller 2200.
  • the rotary roller housing is provided to detach the rotary roller 2200 through the rotary roller fastening portion, the roller driving motor to rotate by transmitting a driving force to the rotary roller 2200.
  • the driving of the roller driving motor may be controlled by a control circuit (not shown) for driving the roller.
  • the sensor unit 2050 senses environmental information obtained during the driving process of the mobile robot cleaner 2010.
  • the sensor unit 2050 is arranged on the front surface of the upper housing 2022, that is, the moving direction of the mobile robot cleaner 2010, and senses a peripheral obstacle.
  • the sensor unit 2050 may include an infrared proximity sensor, an ultrasonic sensor, and a position sensitive device (PSD) sensor capable of measuring a distance from an obstacle around it, but is not limited thereto. If the distance to the surrounding obstacle can be measured, it can be implemented by various types of sensors.
  • PSD position sensitive device
  • the lower housing 2024 of the mobile robot cleaner 2010 includes at least one proximity sensor 2060 to prevent the wheels of the at least one wheel 2034 or the auxiliary wheel 2036 from being pulled out.
  • the proximity sensor 2060 is a cliff sensor for preventing the wheel from falling off or detecting the state of the wheel falling off the cliff terrain, an infrared sensor for determining whether the mobile robot cleaner 2010 can run, distance to the cliff terrain. It may be implemented as a PSD sensor for measuring the.
  • Each of the proximity sensors 2060a, 2060b, and 2060c may be provided at different positions of the lower housing 2024, and each of the proximity sensors 2060a, 2060b, and 2060c may be provided toward the bottom surface.
  • two proximity sensors 2060a and 2060b are formed to be symmetrical to the front left and right regions of the lower housing 2024, and the other proximity sensor 2060c is the lower housing 2024. It may be formed in the rear center region.
  • the mobile robot cleaner may further include a main processor, a memory, and a power supply unit.
  • the main processor is included in the mobile robot cleaner, controls the driving of active modules that are actively driven, performs a situation diagnosis on a currently running situation, and generates a command to perform an appropriate operation according to the diagnosed situation. This function delivers the necessary modules.
  • Actively driven modules such as wheel assembly modules and wet rotating assemblies, may have respective subprocessors. In this case, the subprocessor may be implemented to perform an operation according to the command of the main processor. If there is no subprocessor, the main processor may be implemented to generate driving signals for driving various modules on behalf of the subprocessor and transmit the generated driving signals to the corresponding modules.
  • the memory may store software necessary for driving the mobile robot cleaner or store driving information (map information, driving distance information, etc.) generated according to driving.
  • the power supply unit supplies power for driving the mobile robot cleaner.
  • the mobile robot cleaner may further include a communication module. In order for the user to remotely control the mobile robot cleaner, a communication module must be included in the mobile robot cleaner, and thus remote control is possible.
  • the main processor or another sub-processor is driven such as the modules to be driven, the signal detected by the wheel assembly, the signal detected by the auxiliary wheel, the signal detected in relation to the rotation of the rotary roller
  • the current driving situation may be determined by using signals from sensors for detecting the state of the objects. For example, if the wheel of the wheel assembly is rotating in the normal range but the rotating roller is not rotating properly, in this case the main processor or subprocessor (control module for each module) is related to the rotation of the current rotating roller. It can be seen that the current failure has occurred, it is also possible to generate an escape command to escape this situation. This situation may occur when the wet member is detached from the rotating roller or the wet member is entangled on the running floor.
  • the main processor or the subprocessor may determine whether the current situation is caused by the departure of the wet member or a driving area such as a carpet by calculating the height value (such as calculating a standard deviation).
  • the main processor or subprocessor may determine that the rotating roller is idle. This can occur mainly in situations where there is little water falling on the rotating roller or the main wheel is difficult to rotate. If the current flowing in the driving circuit associated with the driving of the main wheel maintains a constant level, the main processor determines that the current situation is that the rotating roller is out of water, and generates an acoustic signal or visual alarm for water replenishment. The signal can be provided to the user.
  • FIG. 24 is a view schematically showing a wet member and a rotating roller according to the fourth embodiment of the present invention.
  • Wet rotation kit means a kit that can be rotated mounted to the wet rotating assembly 2040 to clean the bottom surface.
  • the wet rotating kit includes a wet member 2100 in contact with the bottom surface and a rotating roller 2200 coupled to the wet member 2100.
  • the wet rotating kit has a structure in which the wet member 2100 is easily replaced as the wet member 2100 and the rotary roller 2200 can be separated. That is, the wet rotation kit has a structural advantage of using the rotary roller 2200 as it is when the wet member 2100 is replaced.
  • the wet member 2100 has a cylindrical structure in which a hollow is formed, and the inner surface of the wet member 2100 includes at least one wick 120 and 122 in a cylindrical length direction.
  • the longitudinal direction of the cylindrical means the direction in which the hollow of the cylinder is formed
  • the length of the cylindrical means the height of the cylinder.
  • the wet member 2100 may generate at least one wick 120 or 122 by sewing the inner surface of the wet member of the cylindrical structure while the wet member outer surface of the cylindrical structure overlaps the 'U' shape.
  • the size of the at least one wick 120, 122 may be adjusted according to the depth of the main grooves (2330, 332) of the rotary roller (2200).
  • the rotary roller 2200 has a cylindrical structure that can engage with the wet member 2100 having a hollow.
  • Rotating roller 2200 is a locking rotary part 2210 to prevent the separation of the at least one main groove (2330, 332) and the combined wet member 2100 in the form of a square groove on the outer surface of the cylinder in the longitudinal direction of the cylinder It includes.
  • the rotary roller 2200 includes sub grooves 2340 and 342 formed in the longitudinal direction of the cylinder around the main grooves 2330 and 332 in order to minimize friction force when the rotary roller 2200 is coupled to the wet member 2100.
  • the sub grooves 2340 and 342 are formed on both sides of the main grooves 2330 and 332, and the sub grooves 2340 and 342 have a structure in which a plurality of grooves having a predetermined width are formed side by side.
  • the predetermined width of the sub grooves 2340 and 342 is preferably smaller than the width of the main grooves 2330 and 332.
  • the at least one main recess 2330 and 332 may be formed at positions facing the first wick 2120 and the second wick 2122, but are not necessarily limited thereto.
  • the main groove can be added or removed from the outer side of the cylinder.
  • the rotary roller 2200 may have a plurality of main grooves by forming a plurality of radial grooves having an even angle between predetermined angles in the longitudinal direction.
  • the wet rotating kit includes a rotating roller 2200 having a length corresponding to the width (length) of the wet member 2100.
  • the length of the rotary roller 2200 means the length of the rotating shaft body 2220 excluding the locking rotating part 2210.
  • the inner diameter of the hollow formed in the wet member 2100 has the same length as the diameter of the rotary roller 2200.
  • the wet rotation kit has a structure in which the wick portions 120 and 122 of the wet member 2100 are inserted along the main grooves 2330 and 332 of the rotation roller 2200.
  • the wet rotation kit may preferably couple or remove the wet member 2100 to the rotary roller 2200 in only one direction, but is not necessarily limited thereto.
  • 25 is an exploded view of the rotating roller according to the fourth embodiment of the present invention.
  • the wet rotation kit according to the present embodiment includes a wet member 2100 and a rotating roller 2200 coupled to the wet member 2100 in contact with the bottom surface, and descriptions overlapping with those described in FIG. 24 will be omitted.
  • the wet member 2100 is for absorbing dust, and may be formed of various materials such as a towel, a cloth, a cloth, and a sponge.
  • the wet member 2100 may be formed to surround the rotating roller 2200, and may further include a coupling part for engaging with the rotating roller 2200.
  • the coupling portion of the wet member 2100 may be at least one wick, but is not necessarily limited thereto.
  • the rotary roller 2200 has a cylindrical structure that can be coupled to the wet member 2100 having a hollow, and has a cylindrical structure having a length corresponding to the width of the wet member 2100.
  • An inner space of the rotating roller 2200 that is, a cylinder structure, is provided with a liquid storage unit capable of storing liquid.
  • the liquid storage unit is preferably a bucket for storing water for wet cleaning, but is not necessarily limited thereto, and may be one of various cleaning liquids.
  • the rotating roller 2200 includes a lock rotating part 2210, a rotating shaft body 2220, a main groove 2330, sub grooves 2340 and 342, and a liquid discharge groove 2350.
  • the rotating shaft main body 2220 has a cylindrical structure that is inserted into the hollow of the wet member 2100 and can be coupled thereto.
  • the main groove 2330 and the liquid discharge groove 2350 are provided on the outer surface of the rotation shaft body 2220, and is formed in the shape of the groove in the longitudinal direction of the cylinder.
  • the main groove 2330 includes a groove formed in an inward direction on a surface in contact with the wet member 2100, and the groove includes a coupling portion, that is, at least one wick, of the wet member 2100 to rotate the wet member 2100. It can be fixed to (2200).
  • the main groove 2330 may be formed in two groove shapes such as the first main groove and the second main groove.
  • the first main groove and the second main groove may be formed at positions facing each other based on the longitudinal center of the rotation shaft main body 2220.
  • the liquid discharge recess 2350 may be formed between the first main recess and the second main recess.
  • the sub grooves 2340 and 342 play a role of minimizing the friction force when the wet members 2100 are coupled to the wet members 2100, and are formed in the longitudinal direction of the cylinder around the main grooves 2330 and 332.
  • the sub recesses 2340 and 342 are formed at both sides with respect to the main recesses 2330 and 332.
  • the sub recesses 2340 and 342 have a structure in which a plurality of recesses having a predetermined width are formed side by side.
  • the predetermined width of the sub grooves 2340 and 342 is preferably smaller than the width of the main grooves 2330 and 332.
  • At least one liquid discharge hole 2370 is formed in the liquid discharge recess 2350.
  • the liquid discharge recess 2350 may include three liquid discharge holes 2370 arranged in a shape having a uniform interval.
  • the liquid discharge hole 2370 discharges the liquid stored in the liquid storage unit at a position in contact with the cleaning bottom surface due to the rotation of the rotary roller 2200.
  • the liquid discharge hole 2370 may adjust the amount of liquid discharged according to the shape of the hole.
  • the wick cover 2352 and the fixed cover 2354 are coupled to the liquid discharge recess 2350.
  • the wick cover 2352 and the fixed cover 2354 may be sequentially coupled to an upper surface of the liquid discharge recess 2350.
  • the wick cover 2352 is preferably implemented with a cloth material that can absorb the liquid.
  • the wick cover 2352 absorbs the liquid discharged from the liquid discharge hole 2370, and when the amount of liquid absorption reaches or exceeds a predetermined amount, the wick cover 2352 can penetrate the wet member 2100 to transfer liquid.
  • the fixed cover 2354 is formed to cover the upper surface of the wick cover 2352.
  • the fixing cover 2354 has the same number of holes as the number of the liquid discharge holes 2370, and each of the formed holes may have the same size as the diameter of the liquid discharge hole 2370, but is not necessarily limited thereto. It may be implemented in the form having a diameter of the size.
  • the hole formed in the fixed cover 2354 may be implemented in the same circle shape as the liquid discharge hole 2370, but is not necessarily limited thereto, and may be implemented in an ellipse or polygonal shape.
  • the centers of the hole formed in the fixed cover 2354 and the liquid discharge hole 2370 may be positioned in a straight line, but are not necessarily limited thereto, and may be positioned on different lines to control the discharge of the liquid. That is, after the liquid discharged from the liquid discharge hole 2370 passes through the wick cover 2352, the discharge of the liquid may be adjusted according to the position of the hole of the fixed cover 2354. For example, when the centers of the holes formed in the fixed cover 2354 and the liquid discharge holes 2370 are located in a straight line, the liquid discharge increases, and the holes formed in the fixed cover 2354 and the liquid discharge holes 2370 are formed. If each center is on a different line, the liquid emissions are reduced.
  • the position between the hole formed in the fixed cover 2354 and the liquid discharge hole 2370 may be fixed. However, when the position of the fixed cover 2354 is adjustable, the hole formed in the fixed cover 2354 and the liquid discharge hole 2370 may be fixed. The position of the liver can be changed. Here, the fixed cover 2354 may be adjusted in a manner that is movable in the longitudinal direction of the rotary roller 2200 by a predetermined range.
  • the outer surface where the wick cover 2352 and the fixed cover 2354 are coupled to the liquid discharge recess 2350 is formed on the same curved surface as the outer surface of the rotation shaft body 2220. That is, the wick cover 2352 and the fixed cover 2354 are coupled to the liquid discharge groove 2350 so that the groove shape of the liquid discharge groove 2350 is filled, so that the same curved surface as the outer surface of the rotation shaft main body 2220. Can be achieved.
  • the bucket stopper 2356 is a stopper for injecting or removing a liquid into the liquid reservoir and may be a soft stopper.
  • the rotating roller 2200 includes a locking rotating part 2210 formed at one end of the rotating shaft main body 2220 and a locking fixing part formed at the other end of the rotating shaft main body 2220.
  • the locking rotating part 2210 and the locking fixing part have a structure for preventing the wet member 2100 from being separated while the wet member 2100 and the rotary roller 2200 are coupled to each other.
  • Each of the locking rotating part 2210 and the locking fixing part has rotating shafts 212 and 222, and the rotating roller 2200 is coupled to the wet rotating assembly 2040 through the rotating shafts 212 and 222, and the wet rotating assembly.
  • the rotary roller 2200 may be rotated according to the rotation control of the 2040.
  • the lock fixing part is preferably formed integrally with the other end of the rotating shaft body 2220, but is not necessarily limited thereto, and may be implemented in a detachable form.
  • the lock rotating part 2210 has a structure capable of rotating at an angle to the left or right about the longitudinal direction of the rotating shaft body 2220.
  • the lock rotation part 2210 may have a lock recess in a number corresponding to the number of recesses in the main recess 2330.
  • the wick of the wet member 2100 is inserted into the main groove 2330 through the locking groove.
  • One side of the lock rotating part 2210 may be formed with a display groove for displaying the position of the liquid discharge groove 2350.
  • the display recess may be formed to expose one end of the fixed cover 2354, which is a position reference region.
  • FIG. 26 is a view showing a rotating roller coupled to a wet member according to a fourth embodiment of the present invention.
  • the rotary roller 2200 is inserted into and coupled to the hollow formed inside the wet member 2100.
  • the wet member 2100 rotates with the rotary roller 2200 mounted to the wet rotating assembly 2040 to absorb the liquid discharged from the rotary roller 2200 to clean the bottom surface, and the rotary roller 2200 It is coupled to the rotating roller 2200 in a form surrounding the outer surface.
  • the wet member 2100 has a structure for the convenience of the user when separated from the rotary roller 2200.
  • the wet member 2100 includes a protruding handle 2410 at one end thereof to allow the user's grip to be separated from the rotating roller 2200.
  • the wet member 2100 includes a curved finish portion 2420 formed at the other end such that a portion of the rotating roller 2200 is exposed.
  • the curved finish portion 2420 is formed in a structure for securing a region in which the user can grip the rotary roller 2200 without contacting the wet member 2100 when separated from the rotary roller 2200.
  • FIG. 27 is a view showing a rotating roller according to a fourth embodiment of the present invention.
  • the rotating roller 2200 includes a locking rotating part 2210 at one end of the rotating shaft body 2220.
  • the lock rotating part 2210 has a structure that rotates to prevent the wet member 2100 is separated from the wet member 2100 and the rotary roller 2200 in a coupled state.
  • the lock rotating part 2210 has a structure capable of rotating at an angle to the left or right about the longitudinal direction of the rotating shaft body 2220.
  • the lock rotation part 2210 may have a lock recess in a number corresponding to the number of recesses in the main recess 2330.
  • the wick of the wet member 2100 is inserted into the main groove 2330 through the locking groove.
  • the lock rotating part 2210 is a starting part at which the rotating roller 2200 is inserted into the hollow of the wet member 2100 and may be manufactured in a round shape for smooth insertion into the hollow.
  • the rotary shaft main body 2220 has a cylindrical structure which is inserted into the hollow of the wet member 2100 and is coupled to the rotary shaft main body 2220, and main grooves 2330 and sub grooves 2340 and 342 are formed on outer surfaces of the rotary shaft main body 2220.
  • the main groove 2330 is provided on the outer surface of the rotation shaft main body 2220, and is formed in the groove shape in the longitudinal direction of the cylinder.
  • the main groove 2330 includes a groove formed in an inward direction on a surface in contact with the wet member 2100, and the groove includes a coupling portion, that is, at least one wick, of the wet member 2100 to rotate the wet member 2100. It can be fixed to (2200).
  • the sub grooves 2340 and 342 play a role of minimizing the friction force when the rotary shaft body 2220 and the wet member 2100 are coupled to each other, and are formed in the longitudinal direction of the cylinder around the main groove 2330.
  • the sub recesses 2340 and 342 may be formed at both sides with respect to the main recesses 2330 and 332.
  • the sub recesses 2340 and 342 have a structure in which a plurality of recesses having a predetermined width are arranged in parallel.
  • the predetermined width of the sub grooves 2340 and 342 is preferably smaller than the width of the main grooves 2330 and 332.
  • 28A and 28B are views illustrating a liquid reservoir and a lock rotating part included in the rotating roller according to the fourth embodiment of the present invention.
  • FIG. 28A shows a side of a liquid reservoir for storing liquid in the inner space of the rotating shaft body 2220.
  • the inner surface 2610 of the rotating shaft body 2220 is minimized so that friction between the liquid reservoir, that is, the inner surface 2610 of the rotating shaft body 2220 and the stored liquid is minimized.
  • the curved surfaces 2620, 2630, and 2640 are formed.
  • the rotating roller 2200 designs the inner surface 2610 of the rotating shaft body 2220 in consideration of the friction of the liquid in the process of forming the main groove 2330 or the sub grooves 2340 and 342. Due to this design, when the rotating roller 2200 rotates, noise generated by friction between the inner surface 2610 of the rotating shaft body 2220 and the stored liquid may be minimized.
  • 28B shows the lock rotating part 2210 coupled with the rotating shaft body 2220.
  • the lock rotating part 2210 has a locking recess of the same shape as the main recess 2330 so as to be coupled to the rotating roller 2200 by using the wicks 120 and 122 of the wet member 2100.
  • the inlet width 2610 of the locking recess in which the wick portions 120 and 122 of the wet member 2100 are inserted is preferably formed larger than the width 2620 of the main recess 2330.
  • 29 is a view showing a wet member according to a fourth embodiment of the present invention.
  • the wet member 2100 When separating the wet member 2100 and the rotary roller 2200, the wet member 2100 is provided with a protruding handle 2410 and the curved finish portion 2420 for the user's convenience.
  • the wet member 2100 has a protruding handle 2410 at one end thereof to enable a user's grip.
  • the wet member 2100 includes a curved finish portion 2420 formed at the other end such that a portion of the rotating roller 2200 is exposed.
  • the curved finish portion 2420 is formed in a structure for securing a region in which the user can grip the rotary roller 2200 without contacting the wet member 2100 when separated from the rotary roller 2200.
  • the user grasps the protruding handle 2410 with one hand, and grasps a portion of the rotating roller 2200 exposed by the curved finish portion 2420 with the other hand. 2100 and the rotary roller 2200 may be separated.
  • FIG. 30 is an exemplary view showing a rotary roller coupled to a wet member of a wet member material according to a fourth embodiment of the present invention.
  • the wet member 2100 may couple the integral wet member 2800 of the mop material to the rotating roller 2200.
  • the unitary wet member 2800 may include a protruding handle 2410 and a curved finish 2420.
  • the integrated wet member 2800 is described as being implemented with a mop material, but is not necessarily limited thereto, and may be changed to various materials if wet cleaning is possible by absorbing liquid discharged from the rotating roller 2200.
  • 31A and 31B are views illustrating a wet member fixing part according to a fifth embodiment of the present invention.
  • the rotary roller 2200 When using the disposable wet member 3000, the rotary roller 2200 adds a wet member fixture 2900 between the rotary roller 2200 and the disposable wet member 3000 to engage with the disposable wet member 3000. It includes.
  • the rotary roller 2200 may be inserted into the wet member fixing part 2900, and the disposable wet member 3000 may be fixed to the outer surface of the wet member fixing part 2900.
  • the wet member fixing part 2900 may have the same shape as the wet member 2100 of FIG. 29, and has only a different material. That is, the wet member fixing unit 2900 may be formed of a material that passes as it is without absorbing the liquid discharged from the rotating roller 2200.
  • the wet member fixing unit 2900 serves to fix the disposable wet member 3000. As shown in FIG. 31B, the wet member fixing unit 2900 is coupled to surround the rotating roller 2200, and fixes the disposable wet member 3000 through the outer surface of the Velcro material.
  • the Velcro material of the wet member fixing part 2900 may be a structure for fixing the disposable wet member 3000 in a unidirectional structure, but is not limited thereto.
  • the Velcro material of the wet member fixing unit 2900 may be implemented in various forms 2910 and 2920 such as a non-directional or bidirectional structure to fix the disposable wet member 3000.
  • FIG. 32 is a view showing a rotary roller coupled to the wet member fixing part according to the fifth embodiment of the present invention.
  • the rotary roller 2200 is inserted into and coupled to the hollow formed inside the wet member fixing unit 2900.
  • the wet member fixing portion 2900 includes a curved finish portion 2420 formed at the other end such that a portion of the rotating roller 2200 is exposed.
  • the curved finish portion 2420 is an area in which the user can grip the rotating roller 2200 without contacting the wet member fixing part 2900 when separating the rotating roller 2200 and the wet member fixing part 2900. It is formed into a structure to secure.
  • the wet member fixing unit 2900 passes the liquid discharged from the rotary roller 2200 without absorbing it, and the liquid passed through is transferred to the disposable wet member 3000 fixed to the outer surface of the wet member fixing unit 2900. do.
  • FIG 33 is a view showing a disposable wet member according to a fifth embodiment of the present invention.
  • FIG. 33A illustrates a disposable wet member 3000
  • FIG. 33B illustrates a disposable wet member 3000 covering an outer surface of the wet member fixing unit 2900 coupled with the rotating roller 2200. Indicates.
  • 34 is a view for explaining an operation of fixing the disposable wet member to the mobile robot cleaner according to the fifth embodiment of the present invention.
  • FIG. 34A illustrates a state in which the rotating roller 2200 coupled with the wet member fixing unit 2900 is mounted to the wet rotating assembly 2040 of the mobile robot cleaner 2010.
  • 34B illustrates a state where the disposable wet member 3000 is placed on the rotary roller 2200 coupled with the wet member fixing unit 2900. Here, a portion of the wet member fixing part 2900 that comes into contact with the disposable wet member 3000 is fixed.
  • 34C illustrates a state in which the rotary roller 2200 is rotated by the control of the control circuit so that the disposable wet member 3000 is automatically wound on the wet member fixing unit 2900.
  • the control circuit of the mobile robot cleaner 2010 detects a manual rotational movement of the rotary roller 2200 and rotates the rotary roller 2200 a predetermined number of times so that the disposable wet member 3000 is attached to the wet member fixing unit 2900.
  • Automatic winding the predetermined number of times may be one rotation of the rotating roller 2200, but is not necessarily limited thereto, and the number of rotations may be changed by setting.
  • 35 is a view showing the configuration of the wick portion of the wet member according to an embodiment of the present invention.
  • the wet member 2100 has a cylindrical structure in which a hollow is formed, and the first wick portion 2120 and the second wick portion are formed on the inner surface of the wet member 2100 in a cylindrical length direction. 2122.
  • the longitudinal direction of the cylindrical means the direction in which the hollow of the cylinder is formed
  • the length of the cylindrical means the height of the cylinder.
  • the wet member 2100 is a first wick by sewing between the outer surface and the inner surface of the U-shaped upper portion, that is, the cylindrical structure in a state in which the outer surface of the cylindrical wet member overlaps the 'U' shape.
  • 2120 and the second wick 2122 may be generated.
  • the sizes of the first wick 2120 and the second wick 2122 may be adjusted according to the depths of the main recesses 2330 and 332 of the rotary roller 2200.
  • the size of the first wick portion 2120 and the second wick portion 2122 means a size closer to the center of the hollow in the inner surface of the cylindrical structure.
  • the wet member 2100 has a cylindrical structure in which a hollow is formed, and the first reinforcement wick 125 and the second reinforcement wick are formed on the inner surface of the wet member 2100 in a cylindrical length direction.
  • the third wick portion 124 and the fourth wick portion 126 may be provided.
  • the wet member 2100 sews the inner surface of the wet member of the cylindrical structure in a state in which the outer surface of the wet member of the cylindrical structure is overlapped in a 'U' shape, and the first reinforcement in the hollow formed by sewing the inner surface of the wet member.
  • the third wick 124 and the fourth wick 126 may be generated by additional sewing by including the wick 125 and the second reinforcing wick 127.
  • the first reinforcing wick 125 and the second reinforcing wick 127 may be separated from the wicks 2310 and 312, and may be formed in a cylindrical structure of a flexible material, but is not limited thereto.
  • 36A to 36C are views illustrating the locking rotating part of the rotating roller coupled to the wet pad according to the embodiment of the present invention.
  • the wet rotation kit has a structure in which the wick portions 120 and 122 of the wet member 2100 are inserted along the main grooves 2330 and 332 of the rotation roller 2200.
  • the locking member 2210 may be rotated to prevent the wet member 2100 from being separated from the rotation shaft body 2220 in a state in which the wet member 2100 and the rotary roller 2200 are coupled to each other.
  • FIG. 36A (a) shows the lock rotating part 2210 in the open state
  • FIG. 14B shows the lock rotating part 2210 in the locked state.
  • the locking rotating part 2210 when the locking groove of the locking rotating part 2210 is positioned in line with the main groove 2330 of the rotating shaft main body 2220, the locking rotating part 2210 is a wet member 2100. ) And the rotary roller 2200 has an open state structure that can be coupled or separated.
  • the locking rotating part 2210 may be a rotary roller (
  • the wet member 2100 coupled with the 2200 has a locked state structure so that the wet member 2100 is not separated.
  • 36B (a) and (b) only differ in the shape of the locking groove of the locking rotation part 212, and show the same open state structure and locked state structure as in FIGS. 36A (a) and (b), and thus overlap. The description will be omitted.
  • the locking rotating part 212 provided in the rotating roller 2200 includes locking recesses 2330 and 332.
  • the locking grooves 2330 and 332 provided in the locking rotating unit 212 may be formed to have an outer groove width 3410 and an inner groove width 3420 having different sizes. Specifically, the locking grooves 2330 and 332 are preferably formed with an inner groove width 3420 wider than the outer groove width 3410. For example, the locking recesses 2330 and 332 may include an inner recess width 3420 formed to be twice the size of the outer recess width 3410.
  • the wet rotating assembly 2040 includes a rotating roller housing 3500, a rotating shaft driver 3510, and a rotating roller fastening 3520.
  • the wet rotating assembly 2040 may further include a wet member 2100 and a rotating roller 2200, and the wet member 2100 and the rotating roller 2200 are mounted inside the rotating roller housing 3500. Can be.
  • the rotary roller fastening part 3520 serves to fasten the rotary roller 2200 to the rotary roller housing 3500.
  • the rotary roller fastening unit 3520 may further include a roller position sensing unit 3524, and determines the stop position of the rotary roller 2200 through the roller position sensing unit 3524.
  • a rotation shaft driving unit 3510 including a driving force transmitting unit 3512 and a roller driving motor 3514 is provided at one end of the rotating roller housing 3500 to which the rotating roller 2200 is coupled.
  • Rotating roller fastening portion 3520 is provided at the side end.
  • the rotary roller fastening part 3520 is a rotary shaft fastening part 3352 which is fastened to the rotary shaft 212 of the rotary roller 2200, a roller position sensing part 3524 which senses the side region of the rotary roller 2200, and the rotation.
  • a center of gravity weight 3526 for adjusting the center of gravity of the roller housing 3500.
  • 39 is a view showing a rotating roller fastening portion of the wet rotating assembly according to the embodiment of the present invention.
  • the rotating roller fastening part 3520 is formed on the inner side of the other end of the rotating roller housing 3500.
  • a roller position sensing unit 3524 is formed at the inner side surface of the other end of the rotary roller housing 3500, and the roller position sensing unit 3524 of the inner side faces the position reference area 1800 of the rotary roller 2200. Sensing.
  • the roller position sensing unit 3524 may be provided at the 12 o'clock position based on the rotation shaft 212 of the rotary roller 2200.
  • FIG. 40 is a cross-sectional view of the wet rotating assembly combined with a rotary roller according to an embodiment of the present invention.
  • a wet rotating assembly 2040 interlocked with a rotating roller 2200 mounted on a mobile robot cleaner 2010 may be illustrated.
  • the roller position sensing unit 3524 of the wet rotating assembly 2040 in particular, in the roller position sensing unit 3524 of the wet rotating assembly 2040.
  • the position reference area 1800 that is, a portion for sensing the one end area of the rotating roller 2200 is shown.
  • the roller position sensing unit 3524 may detect the position reference area 1800 at a position facing the one end area of the rotating roller 2200. That is, the wet rotating assembly 2040 controls the rotation of the rotating roller 2200 to stop at the position where the roller position sensing unit 3524 and the position reference area 1800 face each other.
  • 41 is a block diagram schematically showing a rotating roller position control apparatus according to an embodiment of the present invention.
  • the wet rotating assembly 2040 may be implemented with a rotary roller position controller 3900 for controlling the stop position of the rotary roller 2200.
  • the rotary roller position control device 3900 controls the rotation position of the rotary roller 2200 mounted on the mobile robot cleaner 2010 based on the power applied through the power supply 3950 and the operation signal input through the input unit 3960. To control.
  • the rotary roller position controller 3900 includes a rotary roller driver 3920, a rotary roller detector 3930, and a control circuit 3940.
  • the rotary roller position controller 3900 of FIG. 41 is according to one embodiment, and not all of the blocks shown in FIG. 41 are essential components, and in other embodiments, some of the blocks included in the rotary roller position controller 3900. This can be added, changed or deleted.
  • the rotary roller driver 3920 refers to a module that performs an operation of rotating or stopping the rotary roller 2200.
  • the rotary roller driver 3920 includes a motor and a gearbox, and the shape of the motor and the gearbox may be variously changed if it can be rotated based on the longitudinal central axis of the rotary roller 2200.
  • the rotary roller driver 3920 rotates or stops the rotary roller 2200 by operating the motor and the gearbox based on the control signal received from the control circuit 3940.
  • the control signal may include only a signal for rotating or stopping the rotating roller 2200, but is not necessarily limited thereto, and may include a signal for a rotating speed.
  • the rotary roller detector 3930 senses the rotary roller 2200 and outputs a sensing value for the sensing.
  • the sensing value output from the rotating roller detector 3930 is transmitted to the control circuit 3940.
  • the rotary roller detector 3930 senses a position reference region of the rotary roller 2200 and outputs a sensing value for detecting or not detecting the position reference region.
  • the position reference area of the rotating roller 2200 means an area corresponding to a part of a specific part included in the rotating roller 2200.
  • the position reference region of the rotary roller 2200 is preferably an area corresponding to one end of the fixed cover 2354 coupled with the liquid discharge recess 2350 formed in the rotary roller 2200.
  • the rotating roller detector 3930 may be implemented as a photo sensor to sense a location reference area. Accordingly, the position reference area of the rotating roller 2200 may be formed to have a brightness equal to or greater than a predetermined reference brightness for sensing the photo sensor.
  • the rotating roller detector 3930 is described as being implemented only by a photo sensor, but is not necessarily limited thereto, and may be implemented as a proximity sensor for determining whether the position reference area of the rotating roller 2200 is close.
  • the rotary roller detector 3930 may be implemented by a magnetic sensor method.
  • the rotating roller detector 3930 may be implemented as a reed switch, and may detect a position reference area of the rotating roller 2200 by using a reed switch.
  • the position reference region of the rotating roller 2200 may be implemented with a magnetic material.
  • the control circuit 3940 controls the rotation operation of the rotary roller 2200 such that the liquid is not discharged from the rotary roller 2200 in cooperation with the rotary roller driver 3920 and the rotary roller detector 3930.
  • the control circuit 3940 checks the rotation position of the rotation roller 2200 based on the sensing value obtained from the rotation roller detection unit 3930, and the rotation roller 2200 through the rotation roller driver 3920 based on the rotation position. Control the rotation of
  • the control circuit 3940 determines the rotation position of the rotation roller 2200 according to whether the rotation roller detection unit 3930 detects the position reference area of the rotation roller 2200, and the rotation roller until the position reference area is detected. 2200 is controlled to rotate.
  • control circuit 3940 controls the rotating roller 2200 to rotate until the position reference region is sensed.
  • control circuit 3940 controls the rotating roller 2200 to be stopped when it is determined that the position reference region is detected based on the sensor value.
  • the control circuit 3940 senses from the rotating roller detector 3930 when the initial power of the mobile robot cleaner 2010 is applied (power off-> ON) or a cleaning stop signal is input during the cleaning operation due to a user's manipulation. It is preferable to control the rotation operation of the rotary roller 2200 by obtaining a value.

Landscapes

  • Nozzles For Electric Vacuum Cleaners (AREA)

Abstract

L'invention concerne un robot nettoyeur mobile et un dispositif associé. Le robot nettoyeur mobile selon un mode de réalisation de la présente invention peut comprendre : un boîtier de corps principal définissant une surface circonférentielle externe du robot nettoyeur mobile ; un ensemble roue comprenant au moins une roue et un moteur d'entraînement de roue pour entraîner la roue, l'ensemble roue étant couplé au boîtier de corps principal ; un ensemble rotatif humide comprenant un rouleau rotatif qui tourne vers un sol à nettoyer et qui est indépendamment détachable, et un élément humide qui est positionné sur une surface du rouleau rotatif et qui est apte à absorber du liquide, l'ensemble rotatif humide éliminant des corps étrangers sur le sol par la rotation du rouleau rotatif ; et un circuit de commande pour commander le fonctionnement de l'ensemble roue et de l'ensemble rotatif humide.
PCT/KR2019/006455 2018-05-30 2019-05-29 Robot nettoyeur mobile et dispositif associé Ceased WO2019231241A1 (fr)

Applications Claiming Priority (10)

Application Number Priority Date Filing Date Title
KR10-2018-0061678 2018-05-30
KR1020180061678A KR102018159B1 (ko) 2018-05-30 2018-05-30 습식 청소기용 착탈식 원통형 걸레 키트
KR10-2018-0090428 2018-08-02
KR20180090428 2018-08-02
KR1020180152701A KR102121751B1 (ko) 2018-08-02 2018-11-30 습식 로봇 청소기용 회전형 걸레 키트와 그를 위한 위치 제어방법 및 장치
KR10-2018-0152701 2018-11-30
KR1020180152700A KR102136536B1 (ko) 2018-08-02 2018-11-30 회전형 걸레 키트를 적용한 습식 로봇 청소기의 주행 성능 향상 장치
KR10-2018-0152700 2018-11-30
KR1020190045549A KR102136537B1 (ko) 2018-08-02 2019-04-18 이동식 로봇 청소기 및 그를 위한 장치
KR10-2019-0045549 2019-04-18

Publications (1)

Publication Number Publication Date
WO2019231241A1 true WO2019231241A1 (fr) 2019-12-05

Family

ID=68697085

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2019/006455 Ceased WO2019231241A1 (fr) 2018-05-30 2019-05-29 Robot nettoyeur mobile et dispositif associé

Country Status (1)

Country Link
WO (1) WO2019231241A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210330846A1 (en) * 2020-04-27 2021-10-28 Carnegie Robotics, Llc Floor cleaning and disinfecting robot

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR940004850Y1 (ko) * 1992-05-20 1994-07-21 이헌조 걸레청소가 가능한 진공청소기 흡입구의 로울러형 걸레구
KR100822785B1 (ko) * 2007-06-27 2008-04-17 김광현 물청소장치
JP2014045898A (ja) * 2012-08-30 2014-03-17 Sharp Corp 掃除装置
KR101644887B1 (ko) * 2015-03-24 2016-08-02 엘지전자 주식회사 에지테이터 및 이를 포함하는 로봇 청소기
KR101692737B1 (ko) * 2015-09-23 2017-01-04 엘지전자 주식회사 로봇 청소기

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR940004850Y1 (ko) * 1992-05-20 1994-07-21 이헌조 걸레청소가 가능한 진공청소기 흡입구의 로울러형 걸레구
KR100822785B1 (ko) * 2007-06-27 2008-04-17 김광현 물청소장치
JP2014045898A (ja) * 2012-08-30 2014-03-17 Sharp Corp 掃除装置
KR101644887B1 (ko) * 2015-03-24 2016-08-02 엘지전자 주식회사 에지테이터 및 이를 포함하는 로봇 청소기
KR101692737B1 (ko) * 2015-09-23 2017-01-04 엘지전자 주식회사 로봇 청소기

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210330846A1 (en) * 2020-04-27 2021-10-28 Carnegie Robotics, Llc Floor cleaning and disinfecting robot
US12447221B2 (en) * 2020-04-27 2025-10-21 Carnegie Robotics, Llc Floor cleaning and disinfecting robot

Similar Documents

Publication Publication Date Title
WO2020060155A1 (fr) Robot nettoyeur, dispositif et système de charge
WO2015133796A1 (fr) Lave-linge
WO2015099350A1 (fr) Dispositif de nettoyage
WO2018110856A1 (fr) Dispositif de rotation
WO2018074852A1 (fr) Aspirateur robot
WO2021040469A1 (fr) Récipient de stockage de détergent et son procédé de fabrication
WO2022045679A1 (fr) Aspirateur
WO2014025120A1 (fr) Dispositif d'alimentation de bande de support, système de montage de puces et procédé de montage de puces
WO2020013472A1 (fr) Buse d'aspirateur
WO2020027469A1 (fr) Buse de dispositif de nettoyage et son procédé de commande
WO2021215869A1 (fr) Robot nettoyeur et procédé de commande de robot nettoyeur
WO2022114636A1 (fr) Appareil de nettoyage comprenant un aspirateur et une station d'accueil, et son procédé de commande
WO2022182119A1 (fr) Appareil de traitement de vêtements et procédé de commande d'appareil de traitement de vêtements
WO2019231241A1 (fr) Robot nettoyeur mobile et dispositif associé
WO2021137476A1 (fr) Station de charge pour robot nettoyeur
WO2022015023A1 (fr) Robot nettoyeur
WO2022015024A1 (fr) Robot nettoyeur
WO2021137477A1 (fr) Station de charge sous vide de robot
WO2021137522A1 (fr) Robot nettoyeur
EP3086699A1 (fr) Dispositif de nettoyage
WO2022019401A1 (fr) Unité de buse et robot nettoyeur la comprenant
WO2024258175A1 (fr) Appareil de coupe de tête de pieu en béton
WO2024172442A1 (fr) Station d'aspiration
WO2023136425A1 (fr) Dispositif de nettoyage
WO2023013926A1 (fr) Module de tissu humide pour dispositif de nettoyage

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19810350

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19810350

Country of ref document: EP

Kind code of ref document: A1