KR20210015596A - Charging apparatus for the moving robot - Google Patents

Abstract

The present invention relates to a charging stand for a moving robot, which comprises: a charging terminal provided to the charging stand; and a caster guide guiding a corresponding terminal corresponding to the charging terminal to easily come in contact with the charging terminal. The charging stand comprises first to third guide surfaces to determine a longitudinal contact position of both terminals and comprises the caster guide having a wide rear side and a narrow front side to determine the transverse contact positon of the both terminals to guide the both terminals to be vertically overlapped.

Description

Charging apparatus for the moving robot}

The present invention relates to a mobile robot charging base, and more particularly, to a mobile robot charging base including a charging terminal provided in the charging base and a caster guide for easily contacting a corresponding terminal corresponding to the charging terminal.

Robots have been developed for industrial use and have been responsible for part of factory automation. In recent years, the field of application of robots has been further expanded, medical robots, aerospace robots, and the like have been developed, and home robots that can be used in general homes are also being made. Among these robots, there is a mobile robot capable of driving by magnetic force.

A typical example of a mobile robot used at home is a robot cleaner, which is a device that cleans a corresponding area by inhaling dust or foreign substances while traveling on a certain area by itself.

The robot vacuum cleaner is largely composed of a cleaning robot and a charging station. The cleaning robot is equipped with a rechargeable battery, is free to move, can move by itself using the operating power of the battery, cleans by inhaling foreign substances on the floor during movement, and returns to the charging station to charge the battery if necessary. do.

In Prior Art 1, the charging station has a terminal electrically connected to the power supply, and the mobile robot has a corresponding terminal to be electrically connected to the terminal of the charging station. When the terminal of the charging station and the terminal of the mobile robot come into contact with each other, charging of the mobile robot starts.

The mobile robot can be electrically connected to the terminal of the charging station only when it moves to the charging station and docked at the correct location. However, the prior art has a problem in that a means for autonomously driving a mobile robot and seating it in an accurate docking section is not provided.

In prior art 2, a robot mobile robot capable of moving by a mop surface is known. In the prior art, the robot moving robot is provided with a first rotating member and a second rotating member for fixing a pair of mop surfaces arranged in the left-right direction as a vertical axis. The robot moving robot according to the prior art moves as the first rotating member and the second rotating member rotate while only the mop surfaces fixed to the first rotating member and the second rotating member are in contact with the floor.

In particular, in the case of the prior art 1, the body of the cleaner is lifted when the base of the charging table is inclined and advanced by the forward force of a general robot cleaner, and the charging terminal of the mobile robot and the corresponding terminal of the charging table are in contact. However, in the case of a mobile robot that proceeds with the frictional force between the spinmap and the floor, there is a problem in that the forward force is very weak, so that the inclination to lift the body cannot proceed, and the moving direction of the mobile robot cannot be finely and accurately adjusted.

In addition, in the case of the prior art, since the robot cleaner proceeds only with the frictional force of the spinmap, and the water level stored in the water tank is variable, it is difficult to effectively mop, and there is a problem in the driving force.

In particular, since it is very difficult to adjust the moving direction by friction with the rotating mop in the conventional wet robot, there is a disadvantage in that it is impossible to clean only by random driving and to run a pattern capable of meticulous cleaning.

In the case of Œm, the conventional technology has a disadvantage that it is difficult to thoroughly clean the corner of the floor or the area adjacent to the wall when only random driving is performed.

Prior Art 2-Korean Patent Publication No. 10-1654014

In the case of a mobile robot that proceeds with the friction between the spinmap and the floor, the forward force is weak, and the bumper must cover the entire top and sides of the mobile robot to prevent climbing the carpet. A corresponding terminal exposed below the body should be formed. The problem to be solved by the present invention is to guide the charging terminal provided in the charging table and the corresponding terminal corresponding to the charging terminal in vertical contact in consideration of the weak forward force of the spinmap described above and the structure of the body that must be in contact in the vertical direction. It is to provide a mobile robot charging station.

In the case of a mobile robot that proceeds with the friction between the spin map and the floor, it is very difficult to proceed in the correct direction. Another problem to be solved by the present invention is the docking direction of the mobile robot by a guide pin inserted into the space between the two spin maps. This is to provide a mobile robot charging station that will be guided.

Another problem to be solved by the present invention is that even if the docking direction of the mobile robot is wrong, the docking direction of the mobile robot automatically proceeds due to the structure of the map location unit that guides the spin map, so that the mobile robot is docked at the correct position. It is to provide a robot charging station.

Another object of the present invention is to provide a mobile robot charging station that improves the life of the mop by distributing a load applied to the mop unit located under the mobile robot during charging.

The problems of the present invention are not limited to the problems mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

Another object of the present invention is to increase the frictional force between the mop and the floor regardless of the change in the water level of the tank for effective mopping and driving of the robot cleaner, and to enable pattern driving that enables meticulous cleaning through accurate driving. .

In order to achieve the above task, the mobile robot charging table according to an embodiment of the present invention guides the movement direction of the mobile robot, and as the mobile robot moves forward, the height of one end of the mobile robot is raised above the reference height. It features a caster guide that falls back.

In addition, the present invention is characterized in that the guide pin positioned on the plate is extended in the front-rear direction and is inserted between the spin maps of the mobile robot to guide the movement of the mobile robot.

In addition, the present invention includes a main body having a power module, a plate coupled to the lower end of the main body, a charging terminal protruding from the upper front of the plate and electrically connected to the power module, and a caster guide disposed at the rear of the charging terminal. do.

The caster guide includes a guide surface guiding the caster. When the entrance direction of the caster is referred to as the front, it includes a first guide surface having an inclined upwardly forward direction. It is connected to the front end of the first guide surface and includes a second guide surface having a forward-downward inclination. It is connected to the front end of the second guide surface, and includes a third guide surface having an upward slope. When viewed from the side, the second guide surface and the third guide surface form a concave portion to dock the caster.

The first guide surface may include a slope of a certain slope, the slope of the slope may gradually decrease, the slope of the slope may gradually increase, the slope of the rear end of the inflection point including the inflection point gradually increases, and The slope may gradually decrease.

The caster guide may further include separation prevention walls disposed on both sides of the guide surface and protruding upward.

The caster guide may further include a stopper connected to the front end of the third guide surface and protruding upward.

When viewed from the top, the caster guide may have a front end narrower than a rear end.

The caster guide may further include a guide pin protruding from the upper center of the plate and extending before/after.

In addition, the present invention guides the movement direction of the main body having the power module, the plate coupled to the lower end of the main body, the charging terminal exposed from the top of the plate to the upper side, and electrically connected to the power module, and the moving robot. And, as the mobile robot moves forward, it includes a caster guide that raises the height of one end of the mobile robot than the reference height and then lowers it again, and the caster guide is disposed at the rear of the charging terminal, and the caster guide It is characterized in that the width of the front end is narrower than the width of the rear end.

The caster guide may include a separation preventing wall disposed on a side surface of the guide surface and protruding upward.

The caster guide may further include a stopper connected to a front end of the third guide surface and protruding upward.

The stopper may extend in a direction perpendicular to the plate.

The stopper may include a forward upward slope.

The stopper may include a rear upward slope.

The height h3 of the top point of the stopper may be higher than the height h1 of the connection portion between the first guide surface and the second guide surface.

The horizontal distance (L2) from the vertical center axis to the caster guide may be farther than the horizontal distance (L1) from the vertical center axis to the charging terminal.

It may further include a guide pin disposed above the center of the plate and protruding upward.

The guide pin may be formed to extend along a vertical central axis of the plate.

The front end of the guide pin may be disposed behind the rear end of the caster guide.

The rear end of the guide pin may have an inclined forward upward inclination.

The front end of the guide pin may have a forward-downward inclination.

In addition, the present invention provides a main body having a power module, a plate coupled to the lower end of the main body, a first charging terminal installed on the plate, exposed to the upper portion of the plate, and a first charging terminal electrically connected to the power module. A second charging terminal and a guide pin disposed behind the charging terminal from the top of the plate and protruding upwardly, the guide pin extends in a first direction, and an extension line of the guide pin is the first It passes between the 1 charging terminal and the second charging terminal.

The caster guide may include a guide surface guiding the caster and a separation prevention wall defining a surface crossing the guide surface at a side end of the guide surface.

The separation prevention wall may include a first separation prevention wall and a second separation prevention wall formed by protruding upward from both side ends of the guide surface.

The present invention may further include a map positioning unit disposed at the top of the plate and behind the caster guide to define a region in which the spin maps of the mobile robot are located.

The map location portion may be defined as a recessed area where the front and rear sides are open and the left and right sides are blocked when viewed from above.

The guide pin may be formed to protrude upward from the mop location portion.

Details of other embodiments are included in the detailed description and drawings.

According to the mobile robot charging station of the present invention, one or more of the following effects are provided.

First, from the side of 　, since it has an arrangement of an upward slope-a downward slope-an upward slope-a stopper, there is an advantage that the terminal can be easily directed to a position where the terminal contacts in the longitudinal direction (vertical center axis direction).

Second, 　The rear of the caster guide, the part where the caster enters, is wide, and the front of the caster guide, the part where the caster is seated, is formed narrowly, so that it can be easily directed to the position where the terminal contacts in the transverse direction (left/right direction). There is also.

Third, there is also an advantage of preventing separation by further including separation prevention walls on both sides of the 　 guide surface.

Fourth, there is also an advantage of further including a guide pin extending in the front and rear direction, so that the terminal is directed to a position where it is more easily contacted.

Fifth, since the charging base and the caster guide are formed by protruding upward of the plate, a part of the load of the mobile robot is applied to the charging terminal when docking, thereby enhancing terminal contact and improving the life of the mop.

Sixth, in the present invention, since the body is formed in a circular shape and the dry module does not protrude to the outside of the body, it is easy to freely rotate at any position in the cleaning area, and the width of the edge data can be kept large, so that the cleaning range is wide. In addition, there is an advantage of performing a mopping operation while collecting relatively large foreign matter.

The effects of the present invention are not limited to the effects mentioned above, and other effects that are not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a perspective view of a mobile robot system including a mobile robot and a charging station,
2A is a view showing a bottom view of the mobile robot of FIG. 1 and a plan view of a charging station;
2B is a perspective view of the mobile robot of FIG. 1,
2C is a front cross-sectional view of the mobile robot of FIG. 1;
Figure 2d is a bottom view of Figure 1 for explaining the center of gravity and the lowermost end of the spin mop of the present invention.
2E is a plan view of the center of gravity of the present invention as viewed from the top after removing the case from the body in FIG. 1.
3 is a cross-sectional view on the right showing a mobile robot and a charging station combined;
4 is a perspective view of a caster guide,
Figure 5 is a use state diagram showing that the caster moves the caster guide.
6a,b,c,d are cross-sectional views showing various forms of the first guide surface,
7a, b, c are cross-sectional views showing various types of stoppers
8 is a perspective view showing a guide pin.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, and only these embodiments make the disclosure of the present invention complete, and are common knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to those who have, and the invention is only defined by the scope of the claims. The same reference numerals refer to the same components throughout the specification.

Expressions referring to directions such as “front (F)/rear (R)/left (Le)/right (Ri)/up (U)/down (D))” mentioned below are based on the traveling direction of the mobile robot. It was defined as. In the charging station, the direction in which the mobile robot is docked is referred to as front, and the opposite direction to the front is referred to as rear. The direction of the left/right side is determined based on when the charging station is viewed from the top. This is for explaining with reference to the drawings so that the present invention may be clearly understood to the last, and directions may be defined differently depending on where the reference is placed.

For example, a direction parallel to an imaginary line connecting the central axis of the left spin map and the central axis of the right spin map is defined as a left-right direction, perpendicularly intersected with the left-right direction, and parallel with the central axis of the spin maps or an error angle A direction within 5 degrees of is defined as an up-down direction, and a direction perpendicular to the left and right direction and the up-down direction is defined as the front-rear direction. Of course, the front may mean the main traveling direction of the mobile robot or the main traveling direction of the pattern traveling of the mobile robot. Here, the main traveling direction may mean a vector sum value of directions traveling within a predetermined time.

The use of terms such as'first, second, third' in front of the elements mentioned below is only to avoid confusion of the elements to be referred to, and the order, importance, or master-slave relationship between elements, etc. Is irrelevant. For example, an invention including only the second component without the first component may be implemented.

The'mop' mentioned below may be variously applied in terms of materials such as fabric or paper, and may be used repeatedly through washing or disposable.

The present invention can be applied to a vacuum cleaner that a user manually moves or a robot cleaner that runs by himself. Hereinafter, the present embodiment will be described based on a mobile robot.

The mobile robot system of the present invention includes a mobile robot and a charging base for charging the mobile robot. Below. The mobile robot will be described in detail.

2B and 2C, the cleaner 1 according to an embodiment of the present invention includes a body 30 having a control unit. The cleaner 1 includes a mop module 40 that is provided to mop in contact with a floor (a surface to be cleaned). The cleaner 1 includes a sweep module 2000 provided to collect foreign substances on the floor.

The map module 40 is disposed under the body 30 and may support the body 30. The sweep module 2000 is disposed under the body 30 and may support the body 30. In this embodiment, the body 30 is supported by the mop module 40 and the sweep module 2000. The body 30 forms the exterior. The body 30 is arranged to connect the mop module 40 and the sweep module 2000.

The map module 40 may form an exterior. The map module 40 is disposed under the body 30. The map module 40 is disposed behind the sweep module 2000. The mop module 40 provides a driving force for the movement of the cleaner 1. In order to move the cleaner 1, the mop module 40 is preferably disposed on the rear side of the cleaner 1.

At least one mop part 411 may be provided in the mop module 40 to mop the floor while rotating. The map module 40 includes at least one spin map 41, and the spin map 41 rotates clockwise or counterclockwise when viewed from the top. The spinmap 41 is in contact with the floor.

In this embodiment, the map module 40 may include a pair of spin maps 41a and 41b. The pair of spin mops 41a and 41b rotate clockwise or counterclockwise when viewed from the top, and mop the floor through rotation. Among the pair of spin maps (41a, 41b), the spin map placed on the left side when viewed from the front of the vacuum cleaner is defined as the left spin map (41a), and the spin map placed on the right side is defined as the right spin map (41b). do.

The left spin map 41a and the right spin map 41b are rotated around respective rotation axes. The rotation shaft is arranged in the vertical direction. The left spinmap 41a and the right spinmap 41b may be rotated independently.

The left spin mops 41a and the right spin mops 41b include a rotating plate 412 and a spin shaft 414 to which a mop part 411 is attached, respectively. The left spin map 41a and the right spin map 41b each include a water supply receiving portion 413.

The sweep module 2000 may form an exterior. The sweep module 2000 is disposed in front of the mop module 40. In order to prevent foreign substances on the floor from first contacting the mop module 40, the sweep module 2000 is preferably disposed in front of the vacuum cleaner 1 in the traveling direction.

The sweep module 2000 is spaced apart from the map module 40. The sweep module 2000 is disposed in front of the mop module 40 and contacts the floor. The sweep module 2000 collects foreign substances on the floor.

The sweep module 2000 contacts the floor and collects foreign substances located in front of the sweep module 2000 when the cleaner 1 moves. The sweep module 2000 is disposed under the body 30. The left and right widths of the sweep module 2000 are smaller than the left and right widths of the map module 40.

The body 30 includes a case 31 forming an external appearance, and a base 32 disposed under the case 31.

The case 31 forms a side surface and an upper side surface of the body 30. The base 32 forms the bottom surface of the body 30.

In this embodiment, the case 31 is formed in a cylindrical shape with an open bottom surface. When viewed from the top view, the overall shape of the case 31 is formed in a circular shape. Since the plane of the case 31 is formed in a circular shape, it is possible to minimize the radius of rotation during rotation.

The case 31 includes an upper wall 311 having an overall shape in a circular shape, and a side wall 312 integrally formed with the upper wall 311 and extending downward from the edge of the upper wall 311.

A part of the sidewall 312 is formed by opening. The opened portion of the side wall 312 is defined as a water tank insertion port 313, and the water tank 81 is detachably installed through the water tank insertion port 313. The water tank insertion port 313 is disposed at the rear based on the traveling direction of the cleaner. Since the water tank 81 is inserted through the water tank insertion port 313, the water tank insertion port 313 is preferably disposed close to the mop module 40.

The mop module 40 is coupled to the base 32. The sweep module 50 is coupled to the base 32. The controller Co and the battery Bt are disposed in the inner space formed by the case 31 and the base 32. In addition, the mop driving unit 60 is disposed on the body 30. A water supply module is disposed on the body 30.

Referring to FIG. 2D, a point where the spin rotation axis Osa of the left spin map 41a and the lower side of the left spin map 41a intersect is shown, and the spin rotation axis Osb of the right spin map 41b and the right side A point where the lower side surfaces of the spinmap 41b intersect is shown. When viewed from the bottom, the clockwise direction of the rotational directions of the left spinmap 41a is defined as the first forward direction w1f and the counterclockwise direction is defined as the first reverse direction w1r. When viewed from the lower side, the counterclockwise direction of the rotational directions of the right spinmap 41b is defined as the second forward direction w2f and the clockwise direction is defined as the second reverse direction w2r. In addition, when viewed from the lower side,'the acute angle formed by the inclination direction of the lower side of the left spinmap (41a) (40a) with the left-right axis' and'the inclination direction of the lower side of the right spinmap (41b) (40b) are left and right. The acute angle formed with the direction axis' is defined as the inclined angle (Ag1a, Ag1b). The tilt direction angle Ag1a of the left spin maps 41a and 40a and the tilt direction angle Ag1b of the right spin maps 41b and 40b may be the same. In addition, referring to FIG. 6,'the angle formed by the lower side (I) of the left spinmap (41a) (40a) with respect to the virtual horizontal plane (H)' and'left spinmap (with respect to the virtual horizontal plane (H)) 41a) The angle formed by the lower side (I) of (40a) is defined as the inclination angle (Ag2a, Ag2b).

Of course, the right end of the left spin map 41a and the left end of the right spin map 41b may be in contact with each other or may be close to each other. Accordingly, it is possible to reduce the amount of space between the left spin mop 41a and the right spin mop 41b.

When the left spin mob 41a rotates, the point (Pla) that receives the greatest frictional force from the bottom of the lower side of the left spin mob 41a is disposed on the left side from the rotation center Osa of the left spin mob 41a. . A load larger than the other points is transmitted to the ground at the point Pla among the lower side of the left spinmap 41a, so that the greatest frictional force may be generated at the point Pla. In this embodiment, the point Pla is disposed in front of the left side of the rotation center Osa, but in another embodiment, the point Pla may be disposed exactly to the left or rear left of the rotation center Osa. .

When the right spin map 41b rotates, the point Plb that receives the greatest frictional force from the bottom of the lower side of the right spin map 41b is disposed on the right side at the rotation center Osb of the right spin map 41b. . A load greater than another point is transmitted to the ground at a point Plb among the lower side of the right spinmap 41b, so that the greatest frictional force may be generated at the point Plb. In this embodiment, the point Plb is disposed in front of the right side of the rotation center Osb, but in another embodiment, the point Plb may be disposed exactly on the right side or the right rear side based on the rotation center Osb. .

The lower side of the left spin mob 41a and the lower side of the right spin mop 41b are disposed to be inclined, respectively. The inclination angles Ag2a of the left spinmab 41a and the inclination angles Ag2a and Ag2b of the right spinmab 41b form an acute angle. As for the inclination angles (Ag2a, Ag2b), the point (Pla, Plb) where the frictional force is greatest is the point (Pla, Plb), but the lower overall area of the mop part 411 is according to the rotational motion of the left and right spin mops 41a and 41b. It can be set small enough to reach the floor.

The lower side of the left spin mob 41a as a whole forms a downward slope in the left direction. The lower side of the right spin mob 41b as a whole forms a downward slope in the right direction. Referring to FIG. 6, the lower side of the left spinmap 41a forms the lowest point Pla on the left side. The lower side of the left spinmap 41a forms the highest point Pha on the right side. The lower side of the right spinmap 41b forms the lowest point Plb on the right side. The lower side of the right spinmap 41b forms the highest point Phb on the left side.

Depending on the embodiment, it is also possible that the inclination direction angles Ag1a and Ag1b are 0 degrees. In addition, according to an embodiment, when viewed from the lower side, the inclination direction of the lower side of the left spinmap 41a and 120a forms an inclined angle Ag1a in a clockwise direction with respect to the left-right axis, and the right spinmap The inclination direction of the lower side of the (41b) (120b) may be implemented to form an inclined angle Ag1b in a counterclockwise direction with respect to the left and right axis. In this embodiment, when viewed from the lower side, the inclination direction of the lower side of the left spinmap 41a, 120a forms an inclined angle Ag1a in a counterclockwise direction with respect to the left-right axis, and the right spinmap ( 41b) The inclined direction of the lower side of 120b forms an inclined angle Ag1b in a clockwise direction with respect to the left-right axis.

The movement of the cleaner 1 is implemented by a friction force with the ground generated by the mop module 40.

The mop module 40 may generate a'forward moving friction force' to move the body 30 forward, or a'backward moving friction force' to move the body rearward. The map module 40 may generate a'left moment friction force' to rotate the body 30 left or a'right moment friction force' to rotate the body 30 right. The mop module 40 may generate a frictional force obtained by combining any one of a forward moving friction force and a rear moving friction force, and any one of a leftward moment friction force and a rightward moment friction force.

In order for the mop module 40 to generate a forward moving friction force, the left spin mob 41a is rotated in the first forward direction (w1f) at a predetermined rpm (R1) and the right spin mop 41b is rotated in the second forward direction (w2f). It can be rotated at rpm (R1).

In order for the mop module 40 to generate a backward moving friction force, the left spin mob 41a is rotated in the first reverse direction (w1r) at a predetermined rpm (R2) and the right spin mop 41b is rotated in the second reverse direction (w2r). It can be rotated at rpm (R2).

In order for the mop module 40 to generate a right-facing moment friction force, the left spin mob 41a is rotated at a predetermined rpm (R3) in the first forward direction (w1f), and the right spin mop 41b is rotated in the i second reverse direction (w2r). ), or ii stop without rotation, or iii rotate in the second forward direction (w2f) at an rpm (R4) less than rpm (R3).

In order for the mop module 40 to generate a left-facing moment friction force, the right spin mob 41b is rotated at a predetermined rpm (R5) in the second forward direction (w2f), and the left spin mop 41a is rotated in the i first reverse direction (w1r). ), or ii, it can be stopped without rotation, or iii, in the first forward direction (w1f), rotated at an rpm (R6) less than rpm (R5).

Hereinafter, the arrangement of each component for stable driving regardless of the water level in the water tank 81 will be described while improving the frictional force of the spin mops 41 disposed to the left and right, improving stability in the left and right directions and in the front and rear directions.

2D and 2E, in order to expand the frictional force of the spinmap 41 and limit the occurrence of eccentricity in one direction when the mobile robot rotates, the mob motor 61 and the battery Bt ) May be disposed on the top of the spinmap 41.

Specifically, the left mop motor 61a may be disposed on the left spin mob 41a, and the right mop motor 61b may be disposed on the right spin mob 41b. That is, at least a part of the left mop motor 61a may vertically overlap with the left spin mob 41a. Preferably, the entire left mop motor 61a may be vertically overlapped with the left spin mob 41a. At least a portion of the right mop motor 61b may vertically overlap with the right spin mob 41b. Preferably, the whole of the right mop motor 61b may vertically overlap with the right spin mop 41b.

More specifically, the left mop motor 61a and the right mop motor 61b are a virtual central horizontal line connecting the spin rotation axis Osa of the left spin mob 41a and the spin rotation axis Osb of the right spin mop 41b. It can be arranged to be vertically overlapped with (HL). Preferably, the center of gravity (MCa) of the left mop motor 61a and the center of gravity (MCb) of the right mop motor 61b are between the spin rotation axis Osa of the left spin mob 41a and the right spin mop 41b. It may be disposed to vertically overlap with the virtual central horizontal line HL connecting the spin rotation axis Osb. Alternatively, the geometric center of the left mop motor 61a and the geometric center of the right mop motor 61b connect the spin rotation axis Osa of the left spinmab 41a and the spin rotation axis Osb of the right spinmab 41b. It may be disposed to be vertically overlapped with the virtual central horizontal line HL. Of course, the left mop motor 61a and the right mop motor 61b are arranged symmetrically with respect to the robot vertical line Po.

Since the center of gravity (MCa) of the left mop motor 61a and the center of gravity (MCb) of the right mop motor 61b do not deviate from the top of each spin mop 41 and are arranged to be symmetrical to each other, the spin mop 41 While improving friction, driving performance and left and right balance can be maintained.

Hereinafter, the spin rotation axis Osa of the left spin map 41a is referred to as the left spin rotation axis Osa, and the spin rotation axis Osb of the right spin map 41b is referred to as the right spin rotation axis Osb.

Since the water tank 81 is disposed behind the central horizontal line HL, and the amount of water in the water tank 81 is variable, in order to maintain a stable front and rear balance regardless of the water level of the water tank 81, the left mop motor 61a May be arranged to be skewed to the left from the left spin rotation axis Osa. The left mop motor 61a may be arranged to be skewed toward the left front direction from the left spin rotation axis Osa. Preferably, the geometric center of the left mop motor 61a or the center of gravity MCa of the left mop motor 61a is arranged to be skewed to the left from the left spin rotation axis Osa, or the geometric center of the left mop motor 61a Alternatively, the center of gravity MCa of the left mop motor 61a may be arranged to be skewed toward the left front direction from the left spin rotation axis Osa.

The right mop motor 61b may be disposed to be skewed in the right direction from the right spin rotation axis Osb. The right mop motor 61b may be arranged to be skewed toward the right forward direction from the right spin rotation axis Osb. Preferably, the geometric center of the right mop motor 61b or the center of gravity (MCb) of the right mop motor 61b is arranged to be skewed in the right direction from the right spin rotation axis Osb, or the geometric center of the right mop motor 61b Alternatively, the center of gravity MCb of the right mop motor 61b may be arranged to be skewed toward the right front direction from the right spin rotation axis Osb.

Since the left mop motor 61a and the right mop motor 61b apply pressure at a position that is skewed forward and outward from the center of each spin mob 41, the pressure is concentrated in the front and outside of each spin mop 41, The driving performance is improved by the rotational force of the spinmap 41.

The left spin rotation shaft Osa and the right spin rotation shaft Osb are disposed behind the center of the body 30. The center horizontal line HL is disposed behind the geometric center Tc of the body 30 and the center of gravity WC of the mobile robot. The left spin rotation axis Osa and the right spin rotation axis Osb are disposed at the same distance from the vertical line Po of the robot.

The left main joint 65a may be disposed on the left spin map 41a, and the right main joint 65b may be disposed on the right spin map 41b.

In this embodiment, a single battery Bt is installed. At least a portion of the battery Bt is disposed on the left spinmap 41a and the right spinmap 41b. A relatively heavy battery Bt is disposed on the spin map 41 to improve friction of the spin map 41 and reduce eccentricity caused by rotation of the mobile robot.

Specifically, a left part of the battery Bt may be vertically overlapped with the left spinmab 41a, and a right part of the battery Bt may be disposed to vertically overlap with the right spinmab 41b. The battery Bt may be disposed to vertically overlap the central horizontal line HL, and may be disposed to vertically overlap the robot vertical line Po.

More specifically, the center of gravity BC of the battery Bt or the geometric center of the battery Bt may be disposed on the robot vertical line Po, and may be disposed on the central horizontal line HL. Of course, the center of gravity (BC) of the battery (Bt) or the geometric center of the battery (Bt) is disposed on the robot vertical line (Po), is disposed in front of the center horizontal line (HL), and the geometric center of the body 30 ( Tc) can be disposed behind.

The center of gravity BC of the battery Bt or the geometric center of the battery Bt may be disposed in front of the water tank 81 or the center of gravity PC of the water tank 81. The center of gravity BC of the battery Bt or the geometric center of the battery Bt may be located behind the center of gravity SC of the sweep module 2000.

Since one battery Bt is disposed in the middle between the left spinmap 41a and the right spinmap 41b, and is disposed on the center horizontal line HL and the robot vertical line Po, the heavy battery Bt spins When the mops 41 rotate, the center is held, and weight is applied to the spin mops 41 to improve frictional force on the spin mops 41.

The battery Bt may be disposed at the same height (lower height) or on the same plane as the left mop motor 61a and the right mop motor 61b. The battery Bt may be disposed between the left mop motor 61a and the right mop motor 61b. The battery Bt is disposed in an empty space between the left mop motor 61a and the right mop motor 61b.

At least a portion of the water tank 81 is disposed on the left spin mob 41a and the right spin mob 41b. The water tank 81 may be disposed behind the central horizontal line HL, and may be disposed to vertically overlap the vertical line Po of the robot.

More specifically, the center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed on the robot vertical line Po, and may be positioned in front of the center horizontal line HL. Of course, the center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 may be disposed on the vertical line Po of the robot, and may be disposed behind the horizontal line HL. Here, that the center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 is disposed behind the central horizontal line (HL) is the center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 This means that the central horizontal line HL is positioned to be vertically overlapped with an area skewed rearward. Of course, the center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 is positioned to be vertically overlapped with the body 30 without departing from the body 30.

The center of gravity PC of the water tank 81 or the geometric center of the water tank 81 may be disposed behind the center of gravity BC of the battery Bt. The center of gravity (PC) of the water tank 81 or the geometric center of the water tank 81 may be located behind the center of gravity (SC) of the sweep module 2000.

The water tank 81 may be disposed at the same height (lower height) or on the same plane as the left mop motor 61a and the right mop motor 61b. The water tank 81 may be arranged so as to be biased to the rear in the space between the left mop motor 61a and the right mop motor 61b.

The sweep module 2000 is disposed in front of the spin mops 41, the battery Bt, the water tank 81, the mop driving unit 60 and the right mop motor 61b and the left mop motor 61a in the body.

The center of gravity SC of the sweep module 2000 or the geometric center of the sweep module 2000 may be positioned on the vertical line Po of the robot and may be disposed in front of the geometric center Tc of the body 30. The body 30 may have a circular shape when viewed from the top, and the base 32 may have a circular shape. The geometric center Tc of the body 30 means the center when the body 30 is circular. Specifically, when viewed from the top, the body 30 has a circular shape with a radius error of less than 3%.

Specifically, the center of gravity (SC) of the sweep module (2000) or the geometric center of the sweep module (2000) is located on the vertical line (Po) of the robot, and the center of gravity (BC) of the battery (Bt), the water tank (81). The center of gravity (PC), the center of gravity (MCa) of the left mop motor 61a, the center of gravity (MCb) of the right mop motor (61b), may be disposed in front of the center of gravity (WC) of the mobile robot.

Preferably, the center of gravity SC of the sweep module 2000 or the geometric center of the sweep module 2000 is located in front of the front end of the central horizontal line HL and the spinmaps 41.

As described above, the sweep module 2000 may include a dust housing 2100 having a storage space 2104, an edge data 2200, and a sweep motor 2330.

The edge data 2200 is rotatably installed in the sweep module 2000 and disposed behind the storage space 2104, so that the edge data 2200 does not protrude outward from the body, and the left and right spinmaps 41b ( 41) to be able to maintain a suitable length to cover.

The rotation axis of the edge data 2200 is disposed parallel to the center horizontal line HL, and the center of the edge data 2200 is located on the virtual robot vertical line Po. Accordingly, large foreign matter flowing into the spinmaps 41 is effectively removed by the edge data 2200. The rotation axis of the edge data 2200 is located in front of the geometric center Tc of the body 30. The length of the edge data 2200 is preferably longer than the distance of the left spin rotation axis Osb to the right spin rotation axis Osb. The axis of rotation of the edge data 2200 may be disposed adjacent to the front end of the spin map 41.

Both ends of the sweep module 2000 may further include left casters 58a and right casters 58b in contact with the floor. The left caster 58a and the right caster 58b are rolled in contact with the floor, and can move up and down by an elastic force. The left caster 58a and the right caster 58b support the sweep module 2000 and support a part of the body. The left caster 58a and the right caster 58b protrude from the bottom to the bottom of the dust housing 2100.

The left caster 58a and the right caster 58b are disposed on a line parallel to the center horizontal line HL, and may be disposed in front of the center horizontal line HL and the edge data 2200. The virtual line connecting the left caster 58a and the right caster 58b may be disposed in front of the center horizontal line HL, the edge data 2200, and the geometric center Tc of the body 30. Of course, the left caster 58a and the right caster 58b may be provided to be symmetrically left and right based on the vertical line Po of the robot. The left caster 58a and the right caster 58b may be disposed to be spaced apart by the same distance from the vertical line Po of the robot.

In a virtual rectangle connecting the left caster 58a, the right caster 58b, the right spin rotation axis Osb and the left spin rotation axis Osa in order, the geometric center of the body 30 (Tc), The center of gravity (WC), the center of gravity (SC) of the sweep module (2000), and the center of gravity (BC) of the battery (Bt) are arranged, and the battery (Bt) having a relatively heavy weight, the left spin axis of rotation (Osa), and Since the right spin rotation axis Osb is arranged close to the center horizontal line HL, the main load of the mobile robot is applied to the spinmaps 41, and the remaining minor loads are applied to the left caster 58a and the right caster 58b. It will be.

The sweep motor 2330 is positioned on the robot vertical line Po, or when the sweep motor 2330 is disposed on one side based on the robot vertical line Po, the pump 85 is disposed on the other side (refer to FIG. 19) to sweep The combined center of gravity of the motor 2330 and the pump 85 may be disposed on the vertical line Po of the robot.

Therefore, the center of gravity of the moving robot, which is skewed forward, is maintained regardless of the water level of the water tank 81 disposed at the rear, thereby increasing the frictional force on the spin mop 41, while being close to the geometric center Tc of the body 30. Since the center of gravity (WC) of the mobile robot can be located at the position, stable driving is possible.

The center of gravity COC of the controller Co or the geometric center of the controller Co may be disposed in front of the geometric center Tc and the central horizontal line HL of the body 30. At least 50% or more of the controller Co may be disposed to vertically overlap the sweep module 2000.

The center of gravity (WC) of the mobile robot is located on the vertical line (Po) of the robot, is located in front of the horizontal line (HL), is located in front of the center of gravity (BC) of the battery (Bt), and the water tank (81) It is located in front of the center of gravity (PC) of, and may be disposed behind the center of gravity (SC) of the sweep module 2000, and may be disposed behind the left caster 58a and the right caster 58b.

Each component is arranged symmetrically based on the robot vertical line (Po), or is arranged in consideration of each other's weight, so that the center of gravity (WC) of the mobile robot is positioned on the robot vertical line (Po). When the center of gravity (WC) of the mobile robot is located on the vertical line (Po) of the robot, there is an advantage of improving the stability in the left and right directions.

The caster 58 is disposed under the mobile robot and partially supports the load of the mobile robot. The casters 58 may be disposed in front of the mobile robot. Casters 58 may be disposed on both sides of the front. Casters 58 may be disposed in front of the map module. The caster 58 may be disposed in front of the sweep module. The caster can move the mobile robot including the wheel.

A part of each spinmap 41 may be vertically overlapped with the body 30, and another part may be exposed to the outside of the body 30.

It is preferable that the ratio of the area in which each spinmap 41 vertically overlaps the body 30 is 85% to 95% of each spinmap. Specifically, an angle between a line connecting the right end of the body and the right end of the right spinmab 41b and a vertical line connected in parallel with the center vertical line Po at the right end of the body may be 0 degrees to 5 degrees. .

The length of the area exposed to the outside of the body of each spinmap 41 is preferably 1/2 to 1/7 of the radius of each spinmap 41. The length of the area exposed to the outside of the body of each spin map 41 may mean a distance from one end exposed to the outside of the body of each spin map 41 to a rotation axis of each spin map 41.

The distance between the geometric center TC at the end of the area exposed to the outside of the body of each spinmap 41 may be greater than the average radius of the body.

Considering the relationship with the sweep module, the position at which each spinmap is exposed is between the lateral side and the rear side of the body 30. That is, when each of the quadrants is sequentially positioned in a clockwise direction as viewed from below, a position at which each spinmap is exposed may be a 2/4 division or a 3/4 division of the body 30.

A mobile robot charging base 2 including a caster guide 24 will be described with reference to FIGS. 1 and 2A.

The mobile robot is docked by entering the charging platform 2 along the first guide line A1 (dashed-dotted line) of FIG. 2.

The charging base 2 may include a main body 21 having a power module, and a plate 22 coupled to the lower end of the main body 21. A mobile robot may be docked on the top of the plate 22.

The plate 22 may include a caster guide 24 to guide a caster provided at the front lower end of the mobile robot. The plate 22 guides the mobile robot to the docking area through the caster guide 24 and guides the charging terminal 23 and the corresponding terminal 23' to be vertically overlapped.

<Charging stand body>

In the process of describing the charging station, the direction is based on the directions of FIGS. 1 and 2, the direction in which the two charging terminals 23 are connected is defined as the left-right direction (LeRi), and the direction orthogonal to the left-right direction is defined as It is defined as the direction (FR), and the direction orthogonal to the left and right and front and rear directions is defined as the vertical direction (UD).

The charging station body 21 may be coupled to the front end of the plate 22 and protrude upward to form a wall. In this case, the mobile robot can function as a wall to prevent separation when moving further away from the proper docking area on the plate 22.

The main body 21 may have a power module therein. The power module may be electrically connected to an external power source to receive external electricity. The power module may be electrically connected to the charging terminal 23 to supply the supplied electricity to the charging terminal 23.

The plate 22 may have a circular shape. The plate 22 may have a shape similar to that of the mobile robot. However, the shape of the plate 22 is not limited thereto, and includes a simple change to a polygonal shape or the like based on a person skilled in the art.

On the upper surface of the plate 22, a space in which the mobile robot is located, a caster guide 24 for guiding the mobile robot, and a charging terminal 23 may be disposed. Of course, a guide pin 25 may be disposed on the upper surface of the plate 22.

The mobile robot is docked on the top of the plate 22. Referring to FIG. 1, the mobile robot is docked on a circular flat surface, which is referred to as a docking area or a map location unit 226.

The map positioning unit 226 is disposed behind the caster guide 24 from the top of the plate 22 to define a region in which the spin maps of the mobile robot are located. The map location part 226 may be disposed behind the charging terminal 23 at the top of the plate 22.

The map location portion 226 may be defined as a recessed area where the front and rear sides are open and the left and right sides are closed when viewed from the top. A caster guide 24 is positioned at the front end of the map positioning unit 226.

An entry slope 227 may be formed at the rear end of the map positioning unit 226 to facilitate entry of the mobile robot. The entrance inclined surface 227 is formed at the rear end of the plate 22 to be inclined upwardly forward. The length of the entrance slope 227 may be equal to or greater than the sum of the diameters of the two spinmaps 41.

The mobile robot may climb the entrance slope 227 and head toward the docking area 226. The entrance inclined surface 227 may be formed over the trailing edge of the plate 22.

A mop guide 221 protruding upward and guiding the mop may be formed at the side or/and front of the plate 22. The mop guide 221 is connected to both ends of the entrance inclined surface 227 formed at the rear of the plate 22.

Two mop guides 221 are disposed, and each mop guide 221 is connected to a left end of the entrance slope 227 and a right end of the entrance slope 227.

The mop guide 221 may be formed on at least a portion of the circumference of the docking area 226 together with the entrance inclined surface 227. An inclined portion may be formed around the rear of the docking area 226, and the mop guide 221 may be formed at an end of the inclined portion. The mop guide 221 prevents the mobile robot from leaving the docking area 226 and guides the caster to the caster guide 24.

The mop guide 221 may have a curvature and may be formed to protrude from the upper surface of the plate 22. The height of the rear of the mop guide 221 may be lower than the height of the front of the mop guide 221. The height of the mop guide 221 may be formed to be inclined upward from the rear to the full length.

The mop guide 221 may have a wide rear and narrow front. The mop guide 221 may be formed on a part of the side surface and a part of the front surface along the circumference of the circular plate 22. The mop guide 221 may be formed in an arc shape.

Two mop guides 221 are disposed to be spaced apart in the left and right direction, and a distance between the two mop guides 221 may be located farther than a distance between the two caster guides 24. Two caster guides 24 may be disposed between the two mop guides 221.

Therefore, when the mobile robot enters outside the docking area 226, the caster can be guided to the caster guide 24 located in front of the inside.

<Charging terminal>

The charging terminal 23 is a device that is electrically connected to the mobile robot to charge a battery disposed inside the mobile robot, and is exposed from the top surface of the plate 22 of the charging base 2 to the top.

It is electrically connected to the power module of the charging station. The charging terminal 23 may be disposed in front of the plate 22. The charging terminals 23 may be disposed in a left/right pair around the vertical central axis Ay. Preferably, the pair of charging terminals 23 are arranged symmetrically with respect to the vertical central axis Ay. The vertical central axis Ay is a line that is parallel to the front-rear direction and passes through the center of the charging station 2. The charging terminal 23 may include a first charging terminal 23a and a second charging terminal 23b.

The mobile robot includes a corresponding terminal 23' corresponding to the charging terminal 23 of the charging station. The corresponding terminal 23 ′ of the mobile robot may be exposed under the body 3 to be electrically connected to the charging terminal 23 of the charging station. The charging terminal 23 ′ of the mobile robot may be disposed at the front end of the body 3.

<Shape of caster guide>

The shape of the caster guide 24 will be described with reference to FIG. 4.

The caster guide 24 guides the moving direction of the moving robot, and as the moving robot moves forward, the caster guide 24 may have a structure in which the height of one end of the moving robot is raised higher than a reference height and then lowered again. Here, the reference height means the height of the map location part 226.

The caster guide 24 may be configured as a part of the upper surface of the plate 22 or may be coupled to the upper surface of the plate 22 as a separate member. The caster guide 24 is disposed at the rear of the charging terminal 23, and is positioned in front of the map position part 226.

The caster guide 24 is located in front of a guide surface 241 that can be rolled by contacting the caster at an upper portion, a separation prevention wall 242 located on the side of the guide surface 241 and the guide surface 241 It may include a stopper (2417). The caster guide 24 may be formed in a pair on the left/right around the vertical central axis Ay. A pair of caster guides 24 are arranged symmetrically with respect to the vertical central axis Ay.

<The guide surface is horizontal>

On the guide surface 241, the caster rolls from rear to front. The guide surface 241 may form a horizontal surface in a horizontal cross section or a surface having an angle of less than 5 degrees from the horizontal.

The left/right guide surfaces 241 may have a low center and high both sides in a lateral cross section. As another example, the left/right guide surfaces 241 may have a downward inclination sailing about a vertical center axis in a horizontal cross section. In the left and right cross section, the left guide surface 241 may be inclined downward in the right direction, and the right guide surface 241 may be inclined downward in the left direction.

Accordingly, the caster receives a force that is directed toward the vertical center axis while climbing the guide surface 241, and as a result, it is located at the center of the plate 22 to enter and exit.

The left/right guide surfaces 241 may have an upward inclination sailing about a vertical central axis in a cross section in a left and right direction. In the left and right cross section, the left guide surface 241 may be inclined upward in the right direction, and the right guide surface 241 may be inclined upward in the left direction.

Accordingly, the caster climbs the guide surface 241 and receives a force directed in the direction opposite to the vertical central axis, and as a result, it is located in the center of the plate 22 to enter and exit.

Each guide surface 241 may include a first guide surface 2411 and a second guide surface 2412. In addition, each guide surface 241 may include a first guide surface 2411, a second guide surface 2412, and a third guide surface 2413.

The first guide surface 2411 has an inclination of an upward direction in the front and rear cross sections. The rear end of the first guide surface 2411 is connected to the plate 22, and the front end is connected to the rear end of the second guide surface 2412 to be described later.

The slope formed by the extension line of the rear end and the front end of the first guide surface 2411 is lower than the slope formed by the lowermost end of the mobile robot and the lower front corner of the mobile robot. Therefore, before the front lower edge of the mobile robot collides with the first guide surface 2411, the caster may arrive at the first guide surface 2411 and climb the slope.

The caster rolls on the top of the plate 22 to advance. The caster first meets the rear end of the first guide surface 2411 and rolls up the slope of the first guide surface 2411. The first guide surface 2411 may have a wide rear and narrow front.

The inclination of the first guide surface 2411 may be set between 1° and 10° in consideration of the weak advance force of the mobile robot.

The shape of the first guide surface 2411 will be described for each embodiment with reference to FIGS. 7A to 7D.

7A illustrates a first embodiment, and when viewed from the right side, the first guide surface 2411a may form an inclination of a certain inclination. A round may be formed at a connection portion between the rear end of the first guide surface 2411a and the plate 22. A round may be formed at a connection portion between the front end of the first guide surface 2411a and the rear end of the second guide surface 2412.

7B shows a second embodiment, and when viewed from the right side, the first guide surface 2411b may form an inclination whose inclination gradually decreases. A round may be formed at a connection portion between the rear end of the first guide surface 2411b and the plate 22. In the case of forming a slope in which the slope of the first guide surface 2411b gradually decreases, since the slope change is the most rapid at the rear end of the first guide surface 2411b, the time when the caster enters the caster guide 24 It can be clearly detected.

7C illustrates a third embodiment, and when viewed from the right side, the first guide surface 2411c may form an inclination whose inclination gradually increases. A round may be formed at a connection portion between the front end of the first guide surface 2411c and the rear end of the second guide surface 2412. When the inclination of the first guide surface 2411c gradually increases, the gradient change is gentle at the rear end of the first guide surface 2411c, so that the first guide surface 2411c can be gradually entered. On the other hand, since the first guide surface 2411c has the most rapid change in inclination at the connection portion with the second guide surface 2412, it is possible to clearly detect a time point at which the second guide surface 2412 enters.

7D is a fourth embodiment, when viewed from the right side, the first guide surfaces 2411d and e may include an inflection point 2415, and the inflection point 2415 is preferably located in the middle of the first guide surface. can do. However, the present disclosure is not limited thereto, and the position of the inflection point 2415 may be changed to such an extent that a person skilled in the art can easily do so.

The slope of the inclination of the rear end 2411d of the inflection point may gradually increase, and the inclination of the front end 2411e of the inflection point may gradually decrease. When the first guide surface is viewed from the side, an S-shaped slope can be formed. At this time, the rear end 2411d of the first guide surface has a gentle change in inclination, so the caster can easily enter the first guide surface 2411d, and the front end 2411e and the second guide surface ( Since the change in inclination of the connection portion at the rear end of 2412) is gentle, the caster can easily enter the second guide surface 2412, thereby minimizing reaction force applied to the cast.

The second guide surface 2412 may be formed in an inclined forward-downward direction in a cross section in the front-rear direction. The caster may go downward along the second guide surface 2412. The corresponding terminal 23 ′ provided on the body 3 contacts the charging terminal 23 of the charging station as the mobile robot lifts the front end of the robot while heading toward the front end of the second guide surface 2412 and then descends again.

The third guide surface 2413 may be formed in an inclined forward and upward in a cross section in the front and rear direction. The rear end of the third guide surface 2413 is connected to the front end of the second guide surface 2412. The connection point between the second guide surface 2412 and the third guide surface 2413 is a stable position, and the caster can be seated. Preferably, the corresponding terminal 23 ′ and the charging terminal 23 may contact before the caster reaches the third guide surface 2413.

<Relationship with charging terminal>

The height of the guide surface formed by the caster guide will be described with reference to FIG. 6.

The height h1 of the connection portion between the first guide surface and the second guide surface may be higher than the height h2 of the connection portion between the second guide surface and the third guide surface. Since the height (h1) of the connection portion between the first guide surface and the second guide surface is formed higher than the height (h2) of the connection portion between the second guide surface and the third guide surface, the corresponding terminal 23' is used as the charging terminal 23. When approaching, you can access from the top.

The height h2 of the connection portion between the second guide surface and the third guide surface may be lower than the height h4 of the charging terminal. In more detail, the height h4 of the charging terminal may be the height of the metal terminal disposed on the charging terminal 23. At this time, before the caster arrives at the connection portion of the second guide surface 2412 and the third guide surface 2413, the corresponding terminal 23' and the charging terminal 23 first contact and overlap vertically. There is an effect that a part of the load is applied to the overlapped charging terminals 23 to further strengthen the contact between the terminals. In addition, a part of the load applied to the mop is distributed to the charging terminal 23 to further increase the life of the mop. In addition, a part of the load applied to the caster is distributed to the charging terminal 23, thereby further increasing the life of the caster. In addition, when the caster is equipped with a Cliff sensor, a wheel drop phenomenon of the caster occurs, and the creep sensor detects it, so that it can be confirmed that the mobile robot is properly docked to the charging base 2.

The caster guide 24 further includes a separation prevention wall 242 defining a surface crossing the guide surface 241 at the side end of the guide surface 241. The separation preventing wall may be disposed at the left and right ends of the guide surface 241 and extend in the front and rear direction, and may define a surface having a height in the upward direction.

Specifically, the separation preventing wall 242 is formed to protrude upward from the left and right ends of the guide surface 241.

The separation preventing wall 242 may be formed on at least one or more side ends of the first guide surface 2411c to the third guide surface 2413. The separation prevention wall 242 serves to prevent the caster moving the guide surface from leaving the guide surface.

The separation prevention wall 242 includes a first separation prevention wall 242a protruding upward from the left end of the guide surface 241, and a second separation prevention wall 242a protruding upward from the right end of the guide surface 241 It includes a barrier wall (242b). The separation distance between the first separation prevention wall 242a and the second separation prevention wall 242b may decrease from the rear to the front.

<stopper>

The stopper 2417 will be described with reference to FIGS. 4 and 7A to 7D.

The stopper 2417 is disposed in front of the caster guide 24 and functions to prevent the caster from passing through the caster guide 24 and being separated. The stopper 2417 is connected to the front end of the third guide surface 2413 and protrudes upward. The stopper 2417 may be integrally formed with the first guide surface 2411c to the third guide surface 2413.

Of course, depending on the embodiment, the stopper 2417 may be omitted and the third guide surface 2413 may serve as the stopper 2417.

The height h3 of the top point of the stopper may be higher than the height h1 of the connection portion between the first guide surface and the second guide surface. According to the energy conservation law, if the height (h1) of the connection portion between the first guide surface and the second guide surface is higher than the height (h3) of the top point of the stopper, a problem arises that the caster may pass through the stopper 2417 and escape. . Accordingly, the height h3 of the top point of the stopper is formed to have a higher height h1 of the connection portion between the first guide surface and the second guide surface to prevent the caster from being separated. (m*g*h1 <m*g*h3)

The shape of the stopper 2417 will be described with reference to FIGS. 7A to 7C.

When viewed from the right side, referring to FIG. 7A, the stopper 2417 may have a surface perpendicular to the ground.

Alternatively, when viewed from the right side, referring to FIG. 7B, the stopper 2417 may be formed to include a forward upward slope. The mobile robot may advance more than the front end of the third guide surface 2413 due to inertia force or excessive propulsion force. At this time, it is allowed to move forward to some extent to prevent damage to the caster, and when the inertia force or the like is lost, it can be retracted and settled on the connection portion between the second guide surface 2412 and the third guide surface 2413.

Alternatively, when viewed from the right side, referring to FIG. 7C, the stopper 2417 may be formed to include a rear upward slope. When it is necessary to limit the front end of the third guide surface 2413 so as not to pass, the forward limit line of the mobile robot may be determined by having an upward inclination.

<warmight halo>

Referring to FIG. 2, when the caster guide 24 is viewed from the top, the width L3 of the front end of the caster guide 24 may be formed to be narrower than the width L4 of the rear end. The shape of the caster guide 24 viewed from the top may be formed as a front narrow halo. The width of the rear end of the first guide may be wider than the width of the front end of the third guide.

The width of the connection portion between the second guide surface 2412 and the third guide surface 2413 may be formed to be narrower than the width of the metal terminal plus the width of the caster. If the width of the connection between the second guide surface 2412 and the third guide surface 2413 is wider than the width of the metal terminal plus the width of the caster, the charging terminal 23 and the corresponding terminal according to the position where the caster is seated (23') may not be in contact. Therefore, the width of the connecting portion between the second guide surface 2412 and the third guide surface 2413 is formed narrower than that of the width of the metal terminal plus the width of the caster, so that the caster is formed between the second guide surface 2412 and the third guide surface 2413. Electrical connection between the charging terminal 23 and the corresponding terminal 23' can be maintained no matter where the connection portion of the guide surface 2413 is located.

<Position of caster guide>

The caster guide 24 is located in front of the plate 22. A pair of caster guides may be arranged on either side of the vertical center axis (Ay).

The caster guide 24 may be located behind the charging terminal 23. In the mobile robot, the corresponding terminal 23 ′ may be disposed in front of the mobile robot, and the caster may be disposed at the rear side of the corresponding terminal 23 ′. To correspond to this, the charging terminal 23 may be disposed in front of the plate 22, and the caster guide 24 may be disposed at the rear side of the charging end 23 itself.

Based on the vertical center axis Ay, the distance L2 from the vertical center axis to the center of the caster guide 24 may be longer than the distance L1 from the vertical center axis to the charging terminal 23.

When the mobile robot is circular, the center position where the caster is seated in the caster guide 24 and the metal terminal of the charging terminal 23 may be arranged on the same circle. In the caster guide 24, the connection portion between the second guide surface 2412 and the third guide surface 2413 and the metal terminal of the charging terminal 23 may be disposed on the same circle. Accordingly, when the caster is seated, the charging terminal 23 and the corresponding terminal 23 ′ may be vertically overlapped, contacted and electrically connected.

<Guide pin>

The guide pin 25 is a component disposed at the upper center of the plate 22 and inserted between the two spin maps to guide the mobile robot.

The guide pin 25 is disposed in the upper center of the plate 22. The guide pin 25 may be disposed in the docking area (map location portion 226. Specifically, the guide pin 25 is rearward from the charging terminal 23 and the caster guide 24 at the top of the plate 22). Is placed in

More specifically, the guide pin 25 extends in a first direction (front and rear direction), and the extension line of the guide pin 25 is between the first charging terminal and the second charging terminal (between a pair of charging terminals 23). ). The guide pin 25 is located on the vertical central axis Ay.

The guide pin 25 is formed to protrude upward. The guide pin 25 may be formed integrally with the plate 22, and may be formed separately and combined.

The guide pin 25 may be formed to extend along a vertical central axis from the upper center of the plate 22. The two spinmaps or rotating plates may be adjacent to both sides of the guide pin 25.

The front end 251 of the guide pin may be disposed behind the rear end of the caster guide 24. Accordingly, the spinmap 41 may reach the guide pin 25 before the caster reaches the caster guide 24.

The rear end 253 of the guide pin may be inclined with a forward upward inclination. Accordingly, from the lower side of the spin mob, it contacts the front end 251 of the guide pin, and the guide pin 25 can be smoothly inserted between the spin mops of the entering mobile robot.

The front end 251 of the guide pin may have a forward-downward inclination. Accordingly, the guide pin 25 may be smoothly inserted between the spin maps of the moving robot in contact with the rear end 253 of the guide pin from the lower side of the spin map.

In the above, preferred embodiments of the present invention have been shown and described, but the present invention is not limited to the specific embodiments described above, and without departing from the gist of the present invention claimed in the claims, Various modifications may be possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or prospect of the present invention.

1: mobile robot 2: mobile robot charging station
21: main body 22: plate
23: charging terminal 23': corresponding terminal
24: caster guide 25: guide pin
241: guide surface 2411: first guide surface
2412: second guide surface 2413: third guide surface
242: separation barrier 2417: stopper
2415: inflection point 251: guide pin shear
252: guide pin stop 253: guide pin rear end
H1: Height of the connection between the first and second guide surfaces
H2: Height of the connection between the second and third guide surfaces
H3: The height of the top of the stopper
H4: height of charging terminal
L1: Horizontal distance from the vertical center axis to the charging terminal
L2: Horizontal distance from the vertical center axis to the caster guide
L3: Front end width of caster guide
L4: Width of the rear end of the caster guide

Claims (29)

A main body having a power module;
A plate coupled to the lower end of the body;
A charging terminal exposed from an upper surface of the plate to an upper portion and electrically connected to the power module; And
It includes a caster guide that guides the movement direction of the mobile robot, and raises the height of one end of the mobile robot above the reference height and then lowers it again as the mobile robot moves forward,
The caster guide is disposed behind the charging terminal, and the caster guide has a front end narrower than a rear end. The method of claim 1,
The caster guide includes a guide surface for guiding the caster,
The guide surface,
A first guide surface disposed behind the guide surface and having a forwardly upward slope;
A second guide surface connected to a front end of the first guide surface and having a forward-downward inclination;
A third guide surface connected to a front end of the second guide part and having a forwardly upward slope;
Mobile robot charging base comprising a. The method of claim 2,
The first guide surface includes a slope of a constant inclination, mobile robot charging base. The method of claim 2,
The first guide surface is a mobile robot charging station whose slope gradually decreases. The method of claim 2,
The first guide surface is a mobile robot charging base whose inclination gradually increases. The method of claim 5,
The first guide surface further includes an inflection point disposed on the slope,
The inclination of the slope at the rear end of the inflection point gradually increases, and the slope of the slope at the front end of the inflection point gradually decreases. The method of claim 2,
A mobile robot charging station having a height h1 of the connection portion between the first guide surface and the second guide surface is higher than the height h2 of the connection portion between the second guide surface and the third guide surface. The method of claim 2,
A mobile robot charging base having a height h2 of a connection portion between the second guide surface and the third guide surface lower than the height h4 of the charging terminal. The method of claim 2,
The caster guide,
A mobile robot charging base comprising a separation prevention wall disposed on the side of the guide surface and protruding upward. The method of claim 2,
The caster guide,
A stopper connected to the front end of the third guide surface and protruding upward
Mobile robot charging base further comprising a. The method of claim 10,
The stopper is a mobile robot charging station extending in a direction perpendicular to the plate. The method of claim 10,
The stopper is a mobile robot charging base including a forward upward inclination. The method of claim 10,
The stopper is a mobile robot charging base including a rear upward slope The method of claim 10,
The height of the top point of the stopper is higher than the height of the connecting portion between the first guide surface and the second guide surface. The method of claim 1,
Mobile robot charging base with a far horizontal distance from the vertical center axis to the caster guide than the horizontal distance from the vertical center axis to the charging terminal. The method of claim 1,
The mobile robot charging base further comprises a guide pin disposed at the upper center of the plate and protruding upward. The method of claim 16,
The guide pin is a mobile robot charging station formed to extend along a vertical central axis of the plate. The method of claim 16,
The front end of the guide pin is a mobile robot charging base disposed behind the rear end of the caster guide. The method of claim 16,
The rear end of the guide pin is a mobile robot charging station that has a forward upward inclination. The method of claim 16,
The front end of the guide pin is a mobile robot charging station with a forward downward slope
A main body having a power module;
A plate coupled to the lower end of the body;
A first charging terminal and a second charging terminal installed on the plate, exposed to the top of the plate, and electrically connected to the power module; And
It is disposed at the top of the plate to the rear of the charging terminal, and includes a guide pin formed to protrude upward,
The guide pin extends in the first direction,
The extension line of the guide pin is a mobile robot charging station passing between the first charging terminal and the second charging terminal.
The method of claim 21,
Guide the caster of the mobile robot, further comprising a caster guide disposed on the plate between the guide pin and the charging terminal,
The caster guide,
A guide surface guiding the caster,
Mobile robot charging base comprising a separation prevention wall defining a surface crossing the guide surface at a side end of the guide surface. The method of claim 22,
The guide surface is a mobile robot charging platform whose front end is narrower than the rear end. The method of claim 22,
The separation prevention wall,
A mobile robot charging base comprising a first separation prevention wall and a second separation prevention wall formed by protruding upward from both side ends of the guide surface.
The method of claim 22,
A mobile robot charging base further comprising a map positioning unit disposed at the top of the plate and behind the caster guide to define a region in which spin maps of the mobile robot are located. The method of claim 25,
The mobile robot charging station is defined as a recessed area in which the front and rear sides are open and the left and right sides are blocked when viewed from the top. The method of claim 25,
The guide pin is a mobile robot charging base formed to protrude upward from the mop location. The method of claim 1,
Mobile robot charging base further comprising a mop guide protruding upward from the plate to guide the mop. The method of claim 28,
The mop guide is formed on a part of the side surface of the plate and a part of the front surface of the plate along the circumference of the plate,
Mobile robot charging base with curvature.

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