AUTONOMOUS CLEANING DEVICE

• US 20140131123A1
• Filed: 09/23/2013
• Published: 05/15/2014
• Est. Priority Date: 11/09/2012
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Jang, Hwi Chan, Lee, Won Min, Choi, Sang Hwa, Hyun, Du Hwan
• Granted Patent: US 9,615,714 B2
• Time in Patent Office: Days
• US Class Current: 180/21
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4066 Propulsion of the whole machine
• CPC Class Codes: A47L 11/4072 Arrangement of castors or wheels
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection

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.

Claims

1. An autonomous cleaning device comprising:

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 comprises;

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.

2. The autonomous cleaning device according to claim 1, wherein an

elastic member is 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, wherein a bumper is further provided at outer sides of the case, and the bumper covers all outer sides of the case.

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

5. The autonomous cleaning device according to claim 4, wherein a plurality of sensor coupling parts and a plurality of sensors are provided so as to detect all obstacles positioned in an omni-direction.

6. The autonomous cleaning device according to claim 4, wherein a plurality of inwardly-protruding arms are provided at the bumper, and if the bumper is pressurized by an external shock, the plurality of arms pressurize the sensor.

7. The autonomous cleaning device according to claim 6, wherein a protruding coupling rib is provided on a bottom of the case, 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.

8. The autonomous cleaning device according to claim 1, wherein holes are formed in the bottom of the case and the pad part and communicate with each other, and the wheel is exposed to an outside through the holes.

9. The autonomous cleaning device according to claim 1, wherein the wheel assembly is accommodated in a wheel case, and a hole through which the wheel passes and is exposed to an outside is formed in a bottom of the wheel case.

10. The autonomous cleaning device according to claim 9, wherein the hole formed in the bottom of the wheel case, the hole formed in the bottom of the case, and the hole formed in the pad part communicate with one another.

11. The autonomous cleaning device according to claim 9, wherein legs are formed on a bottom surface of the wheel case, and grooves corresponding to the legs are 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, wherein the wheel is exposed to an outside through a center of the pad part.

13. An autonomous cleaning device comprising:

a base having a 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 hole corresponding to the hole is formed;

a wheel that is accommodated in the base and is exposed to an outside through the hole formed in the base and the hole formed in the pad part;

a first motor that travels the wheel; and

a second motor that changes a travelling direction of the wheel.

14. The autonomous cleaning device according to claim 13, wherein the first motor and the second motor are mounted on a wheel cover, and the wheel cover is mounted on the base.

15. The autonomous cleaning device according to claim 14, wherein the first motor is connected to the wheel, and the second motor rotates the first motor and the wheel together.

16. The autonomous cleaning device according to claim 15, wherein the second motor is connected to a first gear and rotates the first gear, and the first motor and the wheel are connected to a second gear, and the second gear rotates while interlocking with the first gear.

17. The autonomous cleaning device according to claim 14, wherein a supporter is mounted on the base, and the wheel cover is mounted on the supporter.

18. The autonomous cleaning device according to claim 17, wherein an elastic member is provided at the supporter, and the elastic member alleviates a shock applied to the wheel cover when the wheel travels on an uneven floor.

19. The autonomous cleaning device according to claim 13, wherein a front sensor that detects whether there is an obstacle in front of a travelling direction is provided at one side of the base.

20. The autonomous cleaning device according to claim 19, wherein the front sensor comprises a pressurizing part that directs toward outer sides of the base, and if the pressurizing part is pressurized by the obstacle during travel, it is detected that there is an obstacle in front of the travelling direction.

21. The autonomous cleaning device according to claim 13, wherein a fall prevention sensor that detects whether a floor on which the autonomous cleaning device travels continues, is provided at the base.

22. The autonomous cleaning device according to claim 21, wherein, if the fall prevention sensor is placed on a lower floor than the floor on which the autonomous cleaning device travels, the fall prevention sensor descends and pressurizes a switch so as to detect whether the floor continues.

23. The autonomous cleaning device according to claim 21, wherein a hole is formed in the base positioned at a lower part of the fall prevention sensor, and part of the fall prevention sensor is exposed to outer sides of the base through the hole.

24. The autonomous cleaning device according to claim 13, wherein a pad part is provided at a lower part of the base, and a replaceable pad is mounted on the pad part.

25. The autonomous cleaning device according to claim 13, wherein an upper part of the base is covered by a cover, and a bumper is provided at outer sides of the base and outer sides of the cover.

26. An autonomous cleaning device comprising:

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 comprises;

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;

wherein the rotation of the one wheel by the second motor causes the travelling direction to be changed while maintaining the orientation of the autonomous cleaning device.