Autonomous cleaning device

Patent metadata

Field	Value
Publication number	US-9615714-B2
Application number	US-201314033971-A
Country	US
Kind code	B2
Filing date	Sep 23, 2013
Priority date	Nov 9, 2012
Publication date	Apr 11, 2017
Grant date	Apr 11, 2017

Abstract

Provided is an autonomous cleaning device that is capable of embodying various travelling motions, improving an obstacle avoidance capability, and stably travelling, the autonomous cleaning device including: a case in which an accommodation part and a hole are formed; and a wheel assembly accommodated in the accommodation part, wherein the wheel assembly includes: one wheel, of which part is exposed to an outside through the hole; a first motor that drives and travels the wheel; and a second motor that rotates the wheel so as to change a travelling direction.

First claim

What is claimed is:

1. An autonomous cleaning device comprising:
a case in which an accommodation part and a hole are formed;
a wheel assembly accommodated in the accommodation part, the wheel assembly comprising:
a wheel, of which part is exposed to an outside through the hole,
a first motor that drives the wheel to, while the autonomous cleaning device is disposed on a first floor, cause the autonomous cleaning device to travel along the first floor, and
a second motor that rotates the wheel so as to change a travelling direction of the autonomous cleaning device; and

a fall prevention sensor comprising:
a switch, and
a movable body having a latch extending from the movable body,
wherein the movable body is positioned with respect to the switch, and a downward force is applied to the movable body, so that,
when the autonomous cleaning device travels along the first floor, with a pad contacting the first floor and the movable body pressurizing the pad, to a second floor lower than the first floor so that the movable body is above the second floor, the movable body descends downward toward the second floor to cause the latch to contact the switch, which thereby causes the second motor to be driven to rotate the wheel to change the travelling direction, and
when the traveling direction is changed so that the movable body is above the first floor, the movable body is lifted by the first floor so that the latch no longer contacts the switch.

2. The autonomous cleaning device according to claim 1 , further comprising:
an elastic member interposed between a bottom surface of the case and a top surface of a pad part.

3. The autonomous cleaning device according to claim 1 , further comprising:
a bumper at outer sides of the case, wherein the bumper covers all outer sides of the case.

4. The autonomous cleaning device according to claim 3 , further comprising:
a sensor coupling part provided at the case, and
a sensor, capable of detecting an external obstacle, mounted on the sensor coupling part.

5. The autonomous cleaning device according to claim 4 , further comprising:
a plurality of inwardly-protruding arms at the bumper and configured so that, when the bumper is pressurized by an external shock, the plurality of arms to pressurize the sensor.

6. The autonomous cleaning device according to claim 5 , further comprising:
a protruding coupling rib on a bottom of the case,
wherein a coupling hole is formed in each of the arms, and the coupling rib is inserted into the coupling hole so that a bumper body is movably mounted on the case.

7. The autonomous cleaning device according to claim 3 , further comprising:
a plurality of sensor coupling parts provided at the case; and
a plurality of sensors mounted on the plurality of sensor coupling parts, respectively, to detect obstacles positioned in an omni-direction.

8. The autonomous cleaning device according to claim 1 , wherein the pad is a replaceable pad, and the autonomous cleaning device further comprises:
a pad part to which the pad is attachable and detachable.

9. The autonomous cleaning device according to claim 1 , further comprising:
a wheel case accommodating the wheel assembly and having a hole formed in a bottom of the wheel case through which the wheel passes.

10. The autonomous cleaning device according to claim 9 , wherein
the pad is a replaceable pad,
the autonomous cleaning device further comprises a pad part to which the pad is attachable and detachable, and having a hole formed therein, and
the hole formed in the bottom of the wheel case, the hole formed in the case, and the hole formed in a pad part communicate with one another so that the wheel passes through each of the holes to contact the first floor when the autonomous cleaning device is disposed on the first floor.

11. The autonomous cleaning device according to claim 9 , further comprising:
legs are formed on a bottom surface of the wheel case, and
grooves corresponding to the legs formed in a top surface of the case so that the legs are inserted into the grooves and the wheel case is fixed to the top surface of the case.

12. The autonomous cleaning device according to claim 1 , further comprising:
a pad part, wherein the wheel is exposed to an outside through a center of the pad part.

13. The autonomous cleaning device according to claim 1 , further comprising:
a mass applying the downward force to the movable body as the autonomous cleaning device travels along the first floor so that the movable body pressurizes the pad.

14. An autonomous cleaning device comprising:
a base having a first hole formed in a center of the base;
a pad part, which is mounted on a bottom surface of the base and in which a second hole corresponding to the first hole is formed;
a wheel that is accommodated in the base and is exposed to an outside through the first hole formed in the base and the second hole formed in the pad part;
a first motor that drives the wheel to, while the autonomous cleaning device is disposed on a first floor, cause the autonomous cleaning device to travel along the first floor;
a second motor that controls the wheel to change a travelling direction of the autonomous cleaning device; and
a fall prevention sensor comprising:
a switch, and
a movable body partially extending through the base and having a latch extending from the movable body,
wherein the movable body is positioned with respect to the switch, and a downward force is applied to the movable body, so that,
when the autonomous cleaning device travels along the first floor, with a pad coupled to the pad part contacting the first floor and the movable body pressurizing the pad, to a second floor lower than the first floor so that the movable body is above the second floor, the movable body descends downward toward the second floor to cause the latch to contact the switch, which thereby causes the second motor to be driven to control the wheel to change the travelling direction, and
when the traveling direction is changed so that the movable body is above the first floor, the movable body is lifted by the first floor so that the latch no longer contacts the switch.

15. The autonomous cleaning device according to claim 14 , further comprising:
a wheel cover mounted on the base, wherein the first motor and the second motor are mounted on the wheel cover.

16. The autonomous cleaning device according to claim 15 , wherein the first motor is connected to the wheel, and the second motor rotates the first motor and the wheel together to thereby control the wheel.

17. The autonomous cleaning device according to claim 16 , further comprising:
first and second gears, wherein
the second motor is connected to the first gear and rotates the first gear,
the first motor and the wheel are connected to the second gear, and
the second gear rotates while interlocking with the first gear.

18. The autonomous cleaning device according to claim 15 , further comprising:
a supporter mounted on the base, wherein the wheel cover is mounted on the supporter.

19. The autonomous cleaning device according to claim 18 , further comprising:
an elastic member provided at the supporter, wherein the elastic member alleviates a shock applied to the wheel cover when the wheel travels on an uneven floor.

20. The autonomous cleaning device according to claim 14 , further comprising:
a front sensor, provided at one side of the base, that detects whether there is an obstacle in front of the trav

Assignees

• Samsung Electronics Co Ltd

Inventors

• Jang Hwi Chan
• Lee Won Min
• Choi Sang Hwa
• Hyun Du Hwan

Classifications

• A47L2201/00

  Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation · CPC title

• A47L11/4066

  Propulsion of the whole machine · CPC title

• A47L11/4061 Primary

  Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated · CPC title

• A47L11/4072

  Arrangement of castors or wheels · CPC title

• A47L2201/04

  Automatic control of the travelling movement; Automatic obstacle detection · CPC title