U.S. patent application number 13/599376 was filed with the patent office on 2013-03-07 for autonomous cleaning apparatus and method of controlling the same.
This patent application is currently assigned to Samsung Electronics Co., Ltd.. The applicant listed for this patent is Hwi Chan Jang, Hyun Soo Jung, Dong Won Kim, Byoung in Lee. Invention is credited to Hwi Chan Jang, Hyun Soo Jung, Dong Won Kim, Byoung in Lee.
Application Number | 20130056026 13/599376 |
Document ID | / |
Family ID | 46704503 |
Filed Date | 2013-03-07 |
United States Patent
Application |
20130056026 |
Kind Code |
A1 |
Jung; Hyun Soo ; et
al. |
March 7, 2013 |
AUTONOMOUS CLEANING APPARATUS AND METHOD OF CONTROLLING THE
SAME
Abstract
An autonomous cleaning apparatus including a body, a brush unit
which is rotatably installed onto the body to collect dust from a
bottom of the body, and a brush cleaning member including a first
brush cleaning protrusion and a second brush cleaning protrusion
that protrude toward the brush unit to make contact with the brush
unit to remove foreign substances wound around the brush unit.
Inventors: |
Jung; Hyun Soo; (US)
; Lee; Byoung in; (US) ; Jang; Hwi Chan;
(US) ; Kim; Dong Won; (US) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Jung; Hyun Soo
Lee; Byoung in
Jang; Hwi Chan
Kim; Dong Won |
|
|
US
US
US
US |
|
|
Assignee: |
; Samsung Electronics Co.,
Ltd.
Suwon
KR
|
Family ID: |
46704503 |
Appl. No.: |
13/599376 |
Filed: |
August 30, 2012 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61530019 |
Sep 1, 2011 |
|
|
|
Current U.S.
Class: |
134/6 ;
15/21.1 |
Current CPC
Class: |
A47L 2201/028 20130101;
A47L 9/0411 20130101 |
Class at
Publication: |
134/6 ;
15/21.1 |
International
Class: |
A47L 11/00 20060101
A47L011/00; B08B 7/00 20060101 B08B007/00 |
Foreign Application Data
Date |
Code |
Application Number |
Oct 4, 2011 |
KR |
10-2011-0100467 |
Claims
1. An autonomous cleaning apparatus comprising: a body; a brush
unit which is rotatably installed onto the body to collect dust
from a bottom of the body; and a brush cleaning member comprising a
first brush cleaning protrusion and a second brush cleaning
protrusion that protrude toward the brush unit to make contact with
the brush unit to remove foreign substances wound around the brush
unit.
2. The autonomous cleaning apparatus of claim 1, wherein the first
brush cleaning protrusion and the second brush cleaning protrusion
are slanted in an opposite direction to each other such that the
first brush cleaning protrusion removes the foreign substances
wound around the brush unit when the brush unit rotates in a first
direction, while the second brush cleaning protrusion removes the
foreign substances wound around the brush unit when the brush unit
rotates in a second direction.
3. The autonomous cleaning apparatus of claim 2, wherein the
foreign substances wound around the brush unit are removed by the
brush cleaning member while the brush unit is rotating in the first
direction for a dust intake of the autonomous cleaning apparatus
and rotating in the second direction for a dust exhaust of the
autonomous cleaning apparatus.
4. The autonomous cleaning apparatus of claim 2, wherein the
foreign substances wound around the brush unit are removed by the
brush cleaning member while the brush unit is alternately rotating
in the first direction and the second direction.
5. The autonomous cleaning apparatus of claim 1, wherein the first
brush cleaning protrusion is formed with a plurality of brush
cleaning protrusions disposed lengthwise along the brush unit and
the second brush cleaning protrusion is formed with a plurality of
brush cleaning protrusions disposed lengthwise along the brush
unit, and the first and the second brush cleaning protrusion
protrude within a rotation radius of the brush unit.
6. The autonomous cleaning apparatus of claim 1, wherein the first
brush cleaning protrusion and the second brush cleaning protrusion
are integrally formed with each other on an end portion of the
brush cleaning member.
7. The autonomous cleaning apparatus of claim 1, wherein the first
brush cleaning protrusion and the second brush cleaning protrusion
are separately formed on a basal area along a rotation direction of
the brush unit while being spaced apart from each other.
8. The autonomous cleaning apparatus of claim 1, further comprising
a control unit configured to determine whether to remove the
foreign substances wound around the brush unit, and to perform
control such that the foreign substances wound around the brush
unit are removed by the brush cleaning member while the brush unit
is alternately rotating in the first direction and the second
direction.
9. The autonomous cleaning apparatus of claim 8, wherein the
control unit detects an amount of foreign substances wound around
the brush unit based on energy detected by an optical sensor, which
is provided on a wall surface of an opening of the body, and
determines whether to remove the foreign substances based on the
amount of the foreign substances detected.
10. The autonomous cleaning apparatus of claim 8, wherein the
control unit detects an amount of foreign substances wound around
the brush unit based on a load on a motor which operates the brush
unit, and determines whether to remove the foreign substances based
on the amount of the foreign substances detected.
11. The autonomous cleaning apparatus of claim 8, wherein the
control unit determines whether to remove the foreign substances
based on an input by a user.
12. An autonomous cleaning system apparatus, comprising: an
autonomous cleaning apparatus comprising a body and a brush unit,
which is rotatably installed onto the body to collect dust on a
bottom of the body; and a foreign substance removal tool which
comprises a brush cleaning member, which protrudes toward the brush
unit and makes contact with the brush unit to remove foreign
substances wound around the brush unit, and is detachably coupled
to the body while being disposed adjacent to a bottom portion of
the brush unit.
13. The autonomous cleaning system of claim 12, wherein the foreign
substance removal tool comprises a coupling protrusion unit, and is
coupled to the body through a coupling slot unit of the body.
14. The autonomous cleaning system of claim 12, wherein the brush
cleaning member is provided with a first brush cleaning protrusion
and a second brush cleaning protrusion that are slanted in an
opposite direction to each other.
15. The autonomous cleaning system of claim 14, wherein the brush
unit rotates in a first direction or a second direction, or
alternately rotates in the first direction and the second direction
to remove the foreign substances wound around the brush unit using
the brush cleaning member.
16. The autonomous cleaning system of claim 12, further comprising
a control unit configured to recognize whether the foreign
substance removal tool is coupled to the body while being adjacent
to the bottom portion of the brush unit.
17. The autonomous cleaning system of claim 16, wherein the control
unit recognizes, based on an output by a micro switch placed in the
coupling slot unit of the body, whether the foreign substance
removal tool is coupled to the body.
18. The autonomous cleaning system of claim 16, wherein the control
unit recognizes, based on an output by an optical sensor placed in
the coupling slot unit of the body, whether the foreign substance
removal tool is coupled to the body.
19. The autonomous cleaning system of claim 16, wherein the control
unit recognizes, based on an output by a magnetic sensor placed in
the coupling slot unit of the body, whether the foreign substance
removal tool is coupled to the body.
20. The autonomous cleaning system of claim 16, wherein when the
foreign substance removal tool is coupled to the body, the control
unit performs control such that the foreign substances wound around
the brush unit are removed by the brush cleaning member while
alternately rotating the brush unit in the first direction and the
second direction.
21. The autonomous cleaning system of claim 16, wherein the control
unit, in a case when an input by a user is present, performs
control such that the foreign substances wound around the brush
unit are removed by the brush cleaning member while alternately
rotating the brush unit in the first direction and the second
direction.
22. A method of controlling an autonomous cleaning apparatus, the
method comprising: determining whether to remove foreign substances
wound around a brush unit, which is configured to collect dust from
a bottom of the body; and removing the foreign substances wound
around a brush unit, upon determination of whether to remove the
foreign substances, by use of a brush cleaning member while
rotating the brush unit in a first direction and a second direction
alternately, the brush cleaning member comprising a first brush
cleaning protrusion and a second brush cleaning protrusion that
protrude toward the brush unit to make contact with the brush unit
while being slanted in an opposite direction.
23. The method of claim 22, wherein in the determining of whether
to remove the foreign substances wound around the brush unit, an
amount of foreign substances wound around the brush unit is
detected based on energy detected by an optical sensor, which is
provided on a wall surface of an opening of the body, and whether
to remove the foreign substances is determined based on the amount
of the foreign substances detected.
24. The method of claim 22, wherein in the determining of whether
to remove the foreign substances wound around the brush unit, an
amount of foreign substances wound around the brush unit is
detected based on a load on a motor which operates the brush unit,
and whether to remove the foreign substances is determined based on
the amount of the foreign substances detected.
25. The method of claim 22, wherein in the determining of whether
to remove the foreign substances wound around the brush unit,
whether to remove the foreign substances wound around the brush
unit is determined based on an input by a user.
26. A foreign substance removal tool for an autonomous cleaning
apparatus, the foreign substance removal tool comprising: a foreign
substance removal member which is coupled to an opening of the
autonomous cleaning apparatus, the opening formed at a position
corresponding to a brush unit, and is configured to remove foreign
substances wound around the brush unit through interaction with the
brush unit; and a storage unit configured to store the foreign
substances removed from the brush unit.
27. The foreign substance removal tool of claim 26, wherein in a
state that the foreign substance removal member is coupled to the
opening of the autonomous cleaning apparatus, the foreign substance
removal member is disposed within a radius of a rotation of the
brush unit.
28. The autonomous cleaning system of claim 12, further comprising
a maintenance station to dock with the autonomous cleaning
apparatus to charge a battery of the autonomous cleaning apparatus
or to receive dust discharged from the autonomous cleaning
apparatus.
29. The autonomous cleaning system of claim 28, wherein the
maintenance station comprises an opening provided at a position to
communicate with an opening of the autonomous cleaning apparatus to
receive the dust discharged from the opening of the autonomous
cleaning apparatus, and a dust container to store the received dust
from the autonomous cleaning apparatus.
30. The autonomous cleaning system of claim 29, wherein the dust
container of the maintenance station is detachably installed to the
maintenance station.
31. The autonomous cleaning system of claim 28, wherein the
maintenance station further comprises a brush cleaning member,
which protrudes toward the brush unit and makes contact with the
brush unit to remove the foreign substances wound around the brush
unit, when the autonomous cleaning apparatus is docked into the
maintenance station.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the priority benefit of U.S.
Provisional Patent Application No. 61/530,019, filed on Sep. 1,
2011 and Korean Patent Application No. 10-2011-0100467, filed on
Oct. 4, 2011 in the Korean Intellectual Property Office, the
disclosures of which are incorporated herein by reference.
BACKGROUND
[0002] 1. Field
[0003] Embodiments of the present disclosure relate to an
autonomous cleaning apparatus performing a cleaning task on an area
to be cleaned and a method of controlling the same.
[0004] 2. Description of the Related Art
[0005] In general, an autonomous cleaning apparatus is an apparatus
that cleans accumulated dust and other dust from a floor surface by
self-operating on an area which is to be cleaned without a control
of a user. An autonomous cleaning apparatus cleans a designated
area to be cleaned, by controlling a driving apparatus, and
efficiently eliminates dust by controlling a cleaning
apparatus.
[0006] Since the autonomous cleaning apparatus is not maintained
continuously by a user, the autonomous cleaning apparatus is
configured to be self-efficient in performing a cleaning task. For
example, a driving apparatus and a cleaning apparatus may be set to
give feedbacks in electrical signals to maintain a stable cleaning
performance, while a mechanical composition is equipped in order to
maintain a stable cleaning performance.
SUMMARY
[0007] Therefore, it is an aspect of the present disclosure to
provide an autonomous cleaning apparatus with improved structure
and motion of a brush cleaning member to maintain cleaning
performance of the autonomous cleaning apparatus, and a control
method thereof.
[0008] Additional aspects of the present disclosure will be set
forth in part in the description which follows and, in part, will
be apparent from the description, or may be learned by
practice.
[0009] In accordance with one aspect of the present disclosure, an
autonomous cleaning apparatus includes a body, a brush unit and a
brush cleaning member. The brush unit is rotatably installed onto
the body to collect dust from a bottom of the body. The brush
cleaning member includes a first brush cleaning protrusion and a
second brush cleaning protrusion that protrude toward the brush
unit to make contact with the brush unit to remove foreign
substances wound around the brush unit.
[0010] The first brush cleaning protrusion and the second brush
cleaning protrusion are slanted in an opposite direction to each
other such that the first brush cleaning protrusion removes foreign
substances wound around the brush unit when the brush unit rotates
in a first direction, while the second brush cleaning protrusion
removes foreign substances wound around the brush unit when the
brush unit rotates in a second direction.
[0011] Foreign substances wound around the brush unit are removed
by the brush cleaning member while the brush unit is rotating in
the first direction for a dust intake of the autonomous cleaning
apparatus and rotating in the second direction for a dust exhaust
of the autonomous cleaning apparatus.
[0012] Foreign substances wound around the brush unit are removed
by the brush cleaning member while the brush unit is alternately
rotating in the first direction and the second direction.
[0013] The first brush cleaning protrusion is formed with a
plurality of brush cleaning protrusions disposed lengthwise along
the brush unit and the second brush cleaning protrusion is formed
with a plurality of second brush cleaning protrusions disposed
lengthwise along the brush unit, and the first and the second
cleaning protrusions protrude within a radius of rotation of the
brush unit.
[0014] The first brush cleaning protrusion and the second brush
cleaning protrusion are integrally formed with each other on an end
portion of the brush cleaning member.
[0015] The autonomous cleaning apparatus further includes a control
unit configured to determine whether to remove the foreign
substances wound around the brush unit, and to perform control such
that the foreign substances wound around the brush unit are removed
by the brush cleaning member while the brush unit is alternately
rotating in the first direction and the second direction.
[0016] The control unit detects an amount of foreign substances
wound around the brush unit based on energy detected by an optical
sensor, which is provided on a wall surface of an opening of the
body, and determines whether to remove the foreign substances based
on the amount of the foreign substances detected.
[0017] The control unit detects an amount of foreign substances
wound around the brush unit based on a load on a motor which
operates the brush unit, and determines whether to remove the
foreign substances based on the amount of the foreign substances
detected.
[0018] The control unit determines whether to remove the foreign
substances based on an input by a user.
[0019] In accordance with another aspect of the present disclosure,
an autonomous cleaning system apparatus includes a body, an
autonomous cleaning apparatus and a foreign substance removal tool.
The autonomous cleaning apparatus includes a brush unit, which is
rotatably installed onto the body to collect dust on a bottom of
the body. The foreign substance removal tool includes a brush
cleaning member, which protrudes toward the brush unit and makes
contact with the brush unit to remove foreign substances wound
around the brush unit, and is detachably coupled to the body while
being disposed adjacent to a bottom portion of the brush unit.
[0020] The foreign substance removal tool includes a coupling
protrusion unit, and is coupled to the body through a coupling slot
unit of the body.
[0021] The brush cleaning member is provided with a first brush
cleaning protrusion and a second brush cleaning protrusion that are
slanted in an opposite direction to each other.
[0022] The brush unit rotates in a single direction, or rotates in
a first direction and a second direction, alternately, to remove
foreign substances wound around the brush unit using the brush
cleaning member.
[0023] The autonomous cleaning system further includes a control
unit configured to recognize whether the foreign substance removal
tool is coupled to the body while being adjacent to the bottom
portion of the brush unit.
[0024] The control unit recognizes, based on an output by a micro
switch placed in the coupling slot unit of the body, whether the
foreign substance removal tool is coupled to the body.
[0025] The control unit recognizes, based on an output by an
optical sensor placed in the coupling slot unit of the body,
whether the foreign substance removal tool is coupled to the
body.
[0026] The control unit recognizes, based on an output by a
magnetic sensor placed in the coupling slot unit of the body,
whether the foreign substance removal tool is coupled to the
body.
[0027] The control unit, in a case when the foreign substance
removal tool is coupled to the body, performs control such that
foreign substances wound around the brush unit are removed by the
brush cleaning member while alternately rotating the brush unit in
the first direction and the second direction.
[0028] The control unit, in a case when an input by a user is
present, performs control such that foreign substances wound around
the brush unit are removed by the brush cleaning member while
alternately rotating the brush unit in the first direction and the
second direction.
[0029] In accordance with another aspect of the present disclosure,
a method of controlling an autonomous cleaning apparatus is as
follows. It is determined whether to remove foreign substances
wound around a brush unit, which is configured to collect dust from
a bottom of the body. The foreign substances wound around a brush
unit are removed, upon determination of whether to remove the
foreign substances, by use of a brush cleaning member while
rotating the brush unit in a first direction and a second direction
alternately, in which the brush cleaning member includes a first
brush cleaning protrusion and a second brush cleaning protrusion
that protrude toward the brush unit to make contact with the brush
unit while being slanted in an opposite direction.
[0030] In the determining of whether to remove the foreign
substances wound around the brush unit, an amount of foreign
substances wound around the brush unit is detected based on energy
detected by an optical sensor, which is provided on a wall surface
of an opening of the body, and whether to remove the foreign
substances is determined based on the amount of the foreign
substances detected.
[0031] In the determining of whether to remove the foreign
substances wound around the brush unit, an amount of foreign
substances wound around the brush unit is detected based on a load
on a motor which operates the brush unit, and whether to remove the
foreign substances is determined based on the amount of the foreign
substances detected.
[0032] In the determining of whether to remove the foreign
substances wound around the brush unit, whether to remove the
foreign substances wound around the brush unit is determined based
on an input by a user.
[0033] In accordance with another aspect of the present disclosure,
a foreign substance removal tool for an autonomous cleaning
apparatus includes a foreign substance removal member and a storage
unit. The foreign substance removal member is coupled to an opening
of the autonomous cleaning apparatus to remove foreign substances
wound around the brush unit through interaction with the brush
unit. The opening is formed at a position corresponding to a brush
unit. The storage unit is configured to store the foreign
substances removed from the brush unit.
[0034] In a state that the foreign substance removal member is
coupled to the opening of the autonomous cleaning apparatus, the
foreign substance removal member is disposed within a radius of a
rotation of the brush unit.
[0035] According to an embodiment of the present disclosure,
foreign substances wound around a brush unit of an autonomous
cleaning apparatus are efficiently removed, thereby maintaining a
stable cleaning performance of the autonomous cleaning
apparatus.
BRIEF DESCRIPTION OF THE DRAWINGS
[0036] These and/or other aspects of the present disclosure will
become apparent and more readily appreciated from the following
description of embodiments, taken in conjunction with the
accompanying drawings of which:
[0037] FIG. 1 is a view schematically illustrating a cleaning
system according to an embodiment of the present disclosure.
[0038] FIG. 2 is a cross-sectional view schematically illustrating
an autonomous cleaning apparatus according to an embodiment of the
present disclosure.
[0039] FIG. 3 is a view schematically illustrating a bottom portion
of the autonomous cleaning apparatus according to an embodiment of
the present disclosure.
[0040] FIG. 4 is a view schematically illustrating a brush unit and
a brush cleaning member according to an embodiment of the present
disclosure.
[0041] FIGS. 5 and 6 are views schematically illustrating a brush
cleaning member according to an embodiment of the present
disclosure.
[0042] FIGS. 7 to 9 are views schematically illustrating a cleaning
motion according to the first direction of rotation of the brush
unit of an embodiment of the present disclosure.
[0043] FIGS. 10 to 12 are views schematically illustrating a
cleaning motion according to the second direction of rotation of
the brush unit of an embodiment of the present disclosure.
[0044] FIG. 13 is a view schematically illustrating a foreign
substance removal tool according to an embodiment of the present
disclosure.
[0045] FIG. 14 is a flow chart schematically illustrating a method
of controlling the autonomous cleaning apparatus according to an
embodiment of the present disclosure.
DETAILED DESCRIPTION
[0046] Reference will now be made in detail to embodiments of the
present disclosure, examples of which are illustrated in the
accompanying drawings, wherein like reference numerals refer to
like elements throughout.
[0047] FIG. 1 is a view schematically illustrating a cleaning
system according to an embodiment of the present disclosure.
[0048] Referring to FIG. 1, a cleaning system 10 includes an
autonomous cleaning apparatus 20 and a maintenance station 60. The
autonomous cleaning apparatus 20 is an apparatus which executes
various cleaning tasks while operating autonomously, and the
maintenance station 60 is an apparatus, which is a type of a
maintenance apparatus, to charge a battery of the autonomous
cleaning apparatus 20, or to empty a dust container of the
autonomous cleaning apparatus 20.
[0049] The maintenance station 60 includes a housing 61 and a
platform 62.
[0050] The platform 62 supports the autonomous cleaning apparatus
20 when the autonomous cleaning apparatus 20 docks into the
maintenance station 60. The platform 62 is slantingly provided such
that the autonomous cleaning apparatus 20 easily climbs up and down
on the platform 62.
[0051] A second opening 62a is formed through the platform 62. The
second opening 62a of the platform 62 is provided at a position
where the second opening 62a of the platform 62 communicates with a
first opening 21a of the autonomous cleaning apparatus 20.
Accordingly, the dust discharged through the first opening 21a of
the autonomous cleaning apparatus 20 is introduced to the second
opening 62a of the platform 62. The dust introduced into the second
opening 62a of the platform 62 is stored in a second dust container
(not shown) at the maintenance station 60. The second dust
container may be detachably installed to the maintenance
station.
[0052] The platform 62 may include a brush cleaning member, which
protrudes toward the brush unit 41 and makes contact with the brush
unit 41 to remove foreign substances wound around the brush unit
41, when the autonomous cleaning apparatus 20 is docked into the
maintenance station 60. The brush cleaning member may be installed
in the second opening 62a or adjacent to the second opening
62a.
[0053] FIG. 2 is a cross-sectional view schematically illustrating
the autonomous cleaning according to an embodiment of the present
disclosure. FIG. 3 is a view schematically illustrating a bottom
portion of the autonomous cleaning apparatus according to an
embodiment of the present disclosure.
[0054] Referring to FIGS. 1 to 3, the autonomous cleaning apparatus
20 includes a body 21, a driving apparatus 30, a cleaning apparatus
40, various sensors 50, and a control unit 24.
[0055] The body 21 is provided in various shapes. For an example,
the body 21 may be provided in the form of a cylinder. If the body
21 having a cylindrical form rotates, the body 21 has a constant
rotation radius, and thus avoids contact with a surrounding
obstacle, as well as changes a direction easily. In addition, the
body 21 having a cylindrical form prevents from being stuck during
a course of a driving because of a surrounding obstacle.
[0056] The driving apparatus 30, the cleaning apparatus 40, various
sensors 50, the display 23, and the control unit 24 may be provided
on the body 21.
[0057] The driving apparatus 30 enables the body 21 to operate on
an area to be cleaned. The driving apparatus 30 includes a left
driving wheel 31a, a right driving wheel 31b, and a caster 32. The
left driving wheel 31a and the right driving wheel 31b are
installed on a center portion of the bottom of the body 21, and the
caster 32 is installed on a front portion of the bottom of the body
21 so that the autonomous cleaning apparatus 20 maintains a stable
position.
[0058] The left driving wheel 31a and the right driving wheel 31b
are controlled such that the autonomous cleaning apparatus moves
forward and backward, or changes a direction. For example, the left
driving wheel 31a and the right driving wheel 31b are equally
controlled such that the autonomous cleaning apparatus 20 moves
forward or backward; the left driving wheel 31a and the right
driving wheel 31b are controlled differently such that the
autonomous cleaning apparatus 20 changes a direction.
[0059] Each of the left driving wheel 31a, the right driving wheel
31b, and the caster 32 is implemented as a single assembly, and
detachably installed to the body 21.
[0060] The cleaning apparatus 40 is configured to clean the bottom
and the surroundings of the body 21. The cleaning apparatus 40
includes a brush unit 41, a side brush 45, and a first dust
container 43.
[0061] The brush unit 41 may be installed at the first opening 21a
formed on a bottom portion of the body 21. For example, the brush
unit 41 may be provided at a position deviated from the central
portion of the body 21. That is, the brush unit 41 may be provided
at a position adjacent to the left driving wheel 31a and the right
driving wheel 31b but towards a rear (R) of the body 21.
[0062] The brush unit 41 collects the dust accumulated on the
bottom of the body 21 into the first dust container 43. The brush
unit 41 includes a roller 41a which is rotatably provided at the
first opening 21a, and a brush 41b which is installed on an outer
portion of the roller 41a. When the roller 41a rotates, the brush
41b, which includes elastic material, stirs the dust collected on
the bottom. By such a motion, the dust accumulated on the bottom
passes through the first opening 21a and then stored into the first
dust container 43.
[0063] The brush unit 41 is controlled to move on a constant
rotation velocity to maintain a cleaning performance at a stable
manner. However, depends on the condition of the surface to be
cleaned, the rotation velocity of the brush unit 41 may vary. For
example, the rotation velocity of the brush unit 41, when an uneven
surface is to be cleaned, such as a carpet, may be reduced compared
to when an even surface is to be cleaned. At this time, more
current may be provided to maintain a constant rotation velocity of
the brush unit 41.
[0064] The side brush 45 may be rotatably installed on a bottom
portion of the body 21. The side brush 45 may be provided at a
position away from the central portion of the body 21, toward a
front (F) of the body 21.
[0065] The side brush 45 moves the dust collected around the body
21 to the brush unit 41. The side brush 45 expands a cleaning range
on the bottom of the body 21 and a surrounding surface of the body
21. The dust moved to the brush unit 41, as described above, may be
stored in the first dust container 43 through the first opening
21a.
[0066] The first dust container 43 may be installed on a rear
portion of the body 21. An inlet 43' of the first dust container 43
is connected through the first opening 21a of the body 21, and dust
is introduced to the first dust container 43 via the inlet 43'.
[0067] The first dust container 43 is divided into a large dust
container 43a and a small dust container 43b. The brush unit 41
collects large-size dust into the large dust container 43a via the
first inlet 43a', and an air blower unit 22 intakes and stores
small-size, floating foreign substances, such as hair, into the
small dust container 43b via a second inlet 43b'. In particular, a
brush cleaning member 42 is provided at an adjacent portion to the
second inlet 43b' and the brush cleaning member 42 filters out the
foreign substances wound around the brush unit 41, and the foreign
substances are stored in the small dust container 43b via the
second inlet 43b' by suction force of the air blower unit 22.
[0068] A dust detection unit 44 is installed inside the first dust
container 43 to detect the amount of the dust in the first dust
container 43. The dust detection unit 44 includes an optical sensor
including a light-emitting sensor 44a and a light-receiving sensor
44b. However, those of skill in the art will understand that
alternative configurations of the present disclosure could employ
another types of sensors to detect the amount of the dust.
[0069] FIG. 4 is a view schematically illustrating a brush unit and
a brush cleaning member according to an embodiment of the present
disclosure.
[0070] Referring to FIG. 4, the brush cleaning member 42 includes a
first brush cleaning protrusion 42a and a second brush cleaning
protrusion 42b that are protruded and slanted in an opposite
direction to one another.
[0071] The first brush cleaning protrusion 42a, when the brush unit
41 rotates toward a first direction (P), makes contact with the
brush 41b to remove foreign substances wound around the brush 41b
effectively. The second brush cleaning protrusion 42b, when the
brush unit 41 rotates toward a second direction (Q), makes contact
with the brush 41b to remove foreign substances wound around the
brush 41b effectively. Here, an example of foreign substances may
be hair that winds around the brush unit 41 while an autonomous
cleaning apparatus 20 moves for cleaning.
[0072] In addition, in a case when a brush unit 41 alternately
rotates in the first direction and the second direction, the first
brush cleaning protrusions 42a and the second brush cleaning
protrusions 42b take turns in making contact with the brush 41b and
removing foreign substances wound around the brush 41b.
[0073] The brush cleaning member 42 which includes a first brush
cleaning protrusion 42a and a second brush cleaning protrusion 42b
may be formed in plurality lengthwise along the brush unit 41. The
brush cleaning member 42 may also be formed at least in one row
lengthwise along the brush unit 41.
[0074] FIGS. 5 and 6 are views schematically illustrating a brush
cleaning member according to an embodiment of the present
disclosure.
[0075] Referring to FIG. 5, the first brush cleaning protrusion 42a
and the second brush cleaning protrusion 42b protrude within a
radius of rotation of the brush unit 41 to easily remove dust by
making contact with the brush 41b of the brush unit 41.
[0076] As illustrated on FIG. 5, the first brush cleaning
protrusion 42a and the second brush cleaning protrusion 42b may be
integrally formed with each other on an edge of the brush cleaning
member 42. In such case, the brush cleaning member 42 is provided
at an adjacent portion to the second inlet 43b' while protruding
toward the brush unit 41. The dust removed from the brush unit 41
is stored in the small dust container 43b by a suction force of the
air blower unit 22.
[0077] Referring to FIG. 6, the first brush cleaning protrusion 42a
and the second brush cleaning protrusion 42b are formed on the same
basal area along a rotating direction of the brush unit 41 while
being spaced apart from each other. At this time, the first brush
cleaning protrusion 42a may be provided at an adjacent portion of
the second inlet 43b', and the second brush cleaning protrusions
42b may be provided on the same basal area on which the first brush
cleaning protrusion 42a is provided. Alternatively, the second
brush cleaning protrusion 42b may be provided at an adjacent
portion of the second inlet 43b', and the first brush cleaning
protrusion 42a may be provided on the same basal area on which the
second brush cleaning protrusion 42b is provided.
[0078] In a case when the first brush cleaning protrusion 42a and
the second brush cleaning protrusion 42b are formed while being
spaced apart from each other, the first brush cleaning protrusion
42a may protrude while being slanted toward the first direction of
rotation of the brush unit 41, and the second brush cleaning
protrusions 42b may protrude while being slanted toward the second
direction of rotation of the brush unit 41. Meanwhile, a protrusion
direction of each of the brush cleaning protrusions 42a and 42b is
not limited hereto. Accordingly, the extension direction of the
brush cleaning protrusions 42a and 42b may be set in a direction
that the foreign substances wound around the brush 41b are easily
removed in relation to each rotating direction of the brush unit
41.
[0079] FIGS. 7 to 9 are views schematically illustrating a cleaning
motion according to the first direction of rotation of the brush
unit of an embodiment of the present disclosure.
[0080] Referring to FIGS. 7 to 9, the first brush cleaning
protrusion 42a and the second brush cleaning protrusion 42b
protrude within a radius of rotation of the brush unit 41. In a
case when the autonomous cleaning apparatus 20 intakes dust, the
brush unit 41 rotates in the first direction (P) while the brush
41b stirs the dust accumulated on the floor. The accumulated dust
collected as a result of such motion is stored in the first dust
container 43 via the first inlet 43a'.
[0081] However, foreign substances in accumulated dust disrupts a
rotation of the brush unit 41 while wound around the brush 41b
which is formed of elastic material, and reduces a cleaning
performance of the autonomous cleaning apparatus 20.
[0082] At this time, the foreign substances wound around the brush
41b, while rotating along with the brush 41b, may be removed by use
of the first brush cleaning protrusion 42a. In detail, as the brush
unit 41 rotates toward the first direction, the foreign substances
such as hair wound around the brush 41b of the brush unit 41 may
move to be adjacent to the first brush cleaning protrusion 42a. As
the brush 41b of the brush unit 41 makes contact with the first
brush cleaning protrusion 42a, the foreign substances wound around
the brush 41b are removed by the brush unit 41, and while the
autonomous cleaning apparatus 20 moves for cleaning, the foreign
substances removed from the brush unit 41 by the first brush
cleaning protrusion 42a may be stored in the small dust container
43b via the second inlet 43b'.
[0083] FIGS. 10 to 12 are views schematically illustrating a
cleaning motion according to the second direction of rotation of
the brush unit of an embodiment of the present disclosure.
[0084] Referring to FIGS. 10 to FIG. 12, as the brush unit 41 of
the autonomous cleaning apparatus 20 rotates in the second
direction 2 (Q), foreign substances may be removed by use of the
second brush cleaning protrusion 42b. That is, as the brush unit 41
rotates in the second direction, the foreign substances wound
around the brush unit 41 may move to be adjacent to the second
brush cleaning protrusion 42b. As the brush 41b makes contact with
the second brush cleaning protrusion 42b, the foreign substances
wound around the brush 41b are removed from the brush unit 41, and
the foreign substances removed may be stored in the small dust
container 43b via the second inlet 43b'.
[0085] Here, the autonomous apparatus 20 may intake dust while
moving for cleaning, and the dust may be exhausted at the
maintenance station 60 while operating.
[0086] That is, in a case when the autonomous cleaning apparatus 20
is docked to the maintenance station 60 and exhausts the stored
dust in dust containers 43a and 43b to the maintenance station 60,
the brush unit 41 of the autonomous apparatus 20 rotates in the
second direction. Also at this time, foreign substances wound
around the brush unit 41b may be removed from the brush unit 41 by
use of the second cleaning protrusion 42b, and the removed foreign
substances may be exhausted to the dust container of the
maintenance station 60.
[0087] Meanwhile, different from the above case, even when the
autonomous cleaning apparatus 20 is not docked into the maintenance
station 60, foreign substances wound around the brush unit 41b may
be removed from the brush unit 41 by the second cleaning protrusion
42b while the brush unit 31 is rotating in the second direction. At
this time, the autonomous cleaning apparatus 20 may be in a
stationary status, or in a status of repeatedly moving forward and
backward.
[0088] The brush unit 41 alternately rotates in the first direction
and the second direction, thereby maximizing a performance in
removing foreign substances. That is, the brush unit 41 of the
autonomous cleaning apparatus 20 may change a direction of a
rotation of the brush unit 41 at least once in removing foreign
substances wound around the brush unit 41. Since the dust that the
autonomous cleaning apparatus 20 intakes is being stored into the
large dust container 43a by passing through the brush unit 41 and
then the first inlet 43a' of the autonomous cleaning apparatus 20,
foreign substances may be wound around the brush unit 41 of the
autonomous cleaning apparatus 20. At this time, by changing a
rotation direction of the brush unit 41 of the autonomous cleaning
apparatus 20, the foreign substances wound around the brush unit 41
of the autonomous cleaning apparatus 20 may be removed. Afterwards,
the brush unit 41 of the autonomous cleaning apparatus 20 may
change a direction of a rotation again toward an original
direction. In this manner, the brush unit 40 of the autonomous
cleaning apparatus 20 may remove foreign substances wound around
the brush unit 41 while alternating the rotation direction at least
once.
[0089] Referring to FIGS. 7 to 12, the brush cleaning member 42
extended and protruded from the body 21 makes contact with the
brush unit 41. The brush unit member 42 is formed lengthwise along
the brush unit 42, and removes foreign substances wound around the
brush unit 41. The first brush cleaning protrusion 42a and the
second brush cleaning protrusion 42b protrude to pick up foreign
substances such as hair, and remove the collected foreign
substances around the brush unit 41 by following a direction of a
rotation of the brush unit 41. That is, as the brush 41b of the
brush unit 41 makes contact with the first brush cleaning
protrusion 42a and the second brush cleaning protrusion 42b when
the brush unit 41 rotates in the first direction P or the second
direction Q, foreign substances are picked up. Afterwards, the
foreign substances move from a lower portion to a upper portion of
the brush cleaning protrusions 42a and 42b when the brush 41b of
the brush unit 41 rotates, and during such process, foreign
substances are removed from the brush 41b of the brush unit 41.
[0090] Each of the brush unit 41, the side brush 45, and the first
dust container 43 may be formed as a single assembly, and may be
detachably installed on the body 21.
[0091] FIG. 13 is a view schematically illustrating a foreign
substance removal tool according to an embodiment of the present
disclosure.
[0092] Referring to FIG. 13, a foreign substance removal tool 46
may be formed as a single assembly, and may be detachably installed
on the body 21.
[0093] In a same way, the brush unit 41 may be also detachably
provided on the body 21. In detail, the brush unit 41 includes a
roller 41a and coupling protrusion units 41c coupled to both ends
of the roller 41a. The coupling protrusion unit 41c protrudes
outward from both ends of the roller 41a. The body 21 includes a
coupling slot unit 21c to which the coupling protrusion unit 41c is
coupled.
[0094] The foreign substance removal tool 46 includes a coupling
protrusion unit which is coupled to a coupling slot unit of the
body 21 such that the foreign substance removal tool 46 is coupled
to the body 21. As illustrated on FIG. 13, when the brush unit 41
is coupled to the body 21, the foreign substance removal tool 46 is
coupled to a lower portion of a brush unit while being adjacent to
the body 21. Meanwhile, the foreign substance removal tool 46 may
cover the opening 21a of the autonomous cleaning unit 20 while
forming the same curvature as a rotating radius of the brush unit
41. Accordingly, the foreign substances removed from the brush unit
41 are prevented from being exhausted to an outside of the
autonomous cleaning apparatus 20.
[0095] The foreign substance removal tool 46 is provided with a
brush cleaning member 46c that protrudes toward a predetermined
direction. By making contact with the brush unit 41 being rotating,
the foreign substance removal tool 46 removes foreign substances
wound around the brush unit 41. In addition, the brush cleaning
member 46c may be provided with a first brush cleaning protrusion
46a and a second brush cleaning protrusion 46b which slantingly
protrude in an opposite direction to each other.
[0096] In a case when the foreign substance removal tool 46 is
coupled to the body 21 while being adjacent to a lower portion of
the brush unit 41, the brush unit 41 may rotate in a first
direction P or second direction Q, or alternately rotate in the
first direction P and the second direction Q to remove foreign
substances wound around the brush unit 41 by use of the brush
cleaning member 46c.
[0097] Here, the brush cleaning member 46c, which is provided on
the foreign substance removal tool 46, may be adjacent to a
coupling position of the foreign substance removal tool 46 and the
body 21 while protruding toward the brush unit 41. Alternatively,
the brush cleaning member 46c may be formed in the center portion
of the foreign substance removal tool 46 lengthwise along the brush
unit 41. In addition, the first brush cleaning protrusion 46a and
the second brush cleaning protrusion 46b may be integrally formed
with each other on an end portion of the brush cleaning member 46c,
or may be separately formed on a basal area while being spaced
apart from each other.
[0098] In a case when the first brush cleaning protrusion 46a and
the second brush cleaning protrusion 46b are separately formed
while being spaced apart from each other, the first brush cleaning
protrusion 46a is diagonally slanted toward the first direction P
of rotation of the brush unit 41, and the second brush cleaning
protrusion 46b diagonally slanted toward the second direction Q of
rotation of the brush unit 41.
[0099] Referring to FIGS. 1 to 3, a control unit 24 determines
whether to remove foreign substances wound around the brush unit
41, and if it is determined to remove foreign substances, the
control unit 24 may autonomously execute a foreign substance
removal mode. The foreign substance removal mode represents a
motion to remove foreign substances wound around the brush unit 41
by use of the brush cleaning member 42 while the brush unit 41
repeatedly rotates in the first direction or the second direction,
or the brush unit 41 repeatedly alternates rotating in the first
direction and the second direction. For example, according to a
foreign substance removal mode, the control unit 24 may rotate the
brush unit 41 to the first direction and the second direction
alternately to remove foreign substances wound around the brush
unit 41.
[0100] Meanwhile, the control unit 24, after determining whether to
remove foreign substances, may control the display 23 to display
information about the determination, and also to display an
execution status of a foreign substance removal mode.
[0101] In a case when the autonomous cleaning apparatus 20 provides
a user with information after determining whether to remove foreign
substances, or in a case when a user determines to remove foreign
substances, a user may proceed to a foreign substance removal mode
by installing the foreign substance removal tool 46 on the bottom
portion of the autonomous cleaning apparatus 20. At this time, the
user may remove foreign substances by use of the foreign substance
removal tool 46 installed on the bottom portion of the autonomous
cleaning apparatus 20 without having to separate the brush from the
autonomous cleaning apparatus 20.
[0102] In a case a suction force of the autonomous cleaning
apparatus 20 is not provided, the autonomous cleaning apparatus 20
may store the foreign substances, which are removed from the brush
unit 41 by the brush cleaning protrusion along with rotation of the
brush unit, in a storage (not shown) in the foreign substance
removal tool 46. The brush cleaning protrusion may be provided in a
radius of rotation of the brush or may be installed on the foreign
substance removal tool 46.
[0103] As an example of a method for determining whether to remove
foreign substances, the control unit 24, based on the amount of
energy detected by an optical sensor installed on a wall of an
opening 21a of the body 21, may detect the amount of foreign
substances wound around a brush unit 41 and determines whether to
remove the foreign substances based on the detected amount of
foreign substances.
[0104] The optical sensor may include a light-emitting sensor 44a
and a light-receiving sensor 44b. The optical sensor may be
disposed such that a signal emitted from the light-emitting sensor
44a is directly transmitted to the light-receiving sensor 44b.
[0105] The light-emitting sensor 44a and the light-receiving sensor
44b may be implemented using a photo diode or a photo transistor.
In such case, according to the amount of energy detected by the
photo diode or the photo transistor, the amount of foreign
substances wound around the brush 41b is determined. That is, if
foreign substances are accumulated, the amount of energy detected
by a photo diode or a photo transistor may be reduced
significantly. After comparing the amount of energy detected to a
pre-established standard value and found that the amount of energy
is less than a predetermined value, it is determined that foreign
substances are to be removed. That is, the light-emitting sensor
44a and the light-receiving sensor 44b, which includes a photo
diode or a photo transistor, are affected by an external
disturbance. Therefore, a structure, such as an optical guide or a
slit that guides signals from a light-emitting sensor 44a and a
light-receiving sensor 44b, detects the presence of dust more
accurately.
[0106] As another example of method for determining whether to
remove foreign substances, a control unit 24 determines the amount
of foreign substances wound around the brush unit 41 based on loads
on the motor which operates the brush unit 41 and determines
whether to remove the foreign substances wound around a brush unit
41 based on the amount of the foreign substances detected.
[0107] In detail, in a case when the amount of foreign substances
wound around the brush unit 41 increases, a rotating speed of the
brush unit 41 decreases while loads on a motor increase. If the
load of the motor increases, the amount of current provided to the
motor increases. Accordingly, a control unit 24 detects the load
applied to the motor based on the amount of currents provided to
the motor. Therefore, in a case when the load on the motor
increase, the control unit 24 determines whether to remove foreign
substances wound around the brush unit 41. That is, a predetermined
value is compared with the amount of current provided to the motor,
and if the amount of current provided to the motor is less than a
predetermined value, the control unit 24 determines not to remove
foreign substances, and if the amount of currents provided to a
motor is greater than a predetermined value, the control determine
to remove foreign substances.
[0108] Meanwhile, the control unit 24 may determine, based on the
input by a user, that whether foreign substances to be removed. An
input by a user may take place via a switch which is provided on
the body 21 of the autonomous cleaning apparatus 20. In addition,
an input by a user may take place via a remote control apparatus
which interacts with the autonomous cleaning apparatus 20. That is,
a user, via a switch which is provided on a remote control
apparatus, may input a foreign substance removal mode to control
the autonomous cleaning apparatus 20 to execute a foreign substance
removal mode. In addition, a user may input a command in order for
the autonomous cleaning apparatus 20 to execute a foreign substance
removal mode during a particular period of time at regular time
intervals. The control unit 24, based on the input made by a user,
may execute a foreign substance removal mode, and display an
indicator on the display 23 when the foreign substance removal mode
is completed.
[0109] When a foreign substance removal mode is executed, the brush
unit 41 rotates in the first direction P, and foreign substances
wound around the brush 41b of the brush unit 41 such as hair move
to be adjacent to the first brush cleaning protrusion 42a. As the
first brush cleaning protrusion 42a make contact with the brush 41b
of the brush unit 41, foreign substances wound around the brush 41b
are removed from the brush unit 41.
[0110] Meanwhile, as the brush unit 41 rotates in the second
direction Q, and foreign substances wound around the brush 41b of
the brush unit 41 such as hair move to be adjacent to the second
brush cleaning protrusion 42b. As the second brush cleaning
protrusion 42b makes contact with the brush 41b of the brush unit
41, foreign substances wound around the brush 41b are removed from
the brush unit 41.
[0111] The foreign substance removal mode may be executed while
repeatedly rotating the brush unit 41 in the first direction P or
the second direction Q, or repeatedly changing a rotational
direction of the brush unit 41 between the first direction P and
the second direction Q. In addition, the foreign substance removal
mode may be executed while the autonomous cleaning apparatus 20 is
in a stationary status, or in a status of the autonomous cleaning
apparatus 20 repeatedly moving forward and backward.
[0112] If the autonomous cleaning apparatus 20 determines that
foreign substances to be removed, the autonomous cleaning apparatus
20 moves onto the maintenance station 60 and enter a foreign
substance removal mode while the autonomous cleaning apparatus 20
is in a stationary status. The autonomous cleaning apparatus 20 may
use its suction force or a suction force of the maintenance station
60. As the autonomous cleaning apparatus 20 enters a foreign
substance removal mode, an air blower unit inside the housing 61 of
the maintenance station 60 (not shown) operates, and the
maintenance station 60 intakes foreign substances, which are
filtered from the autonomous cleaning apparatus 20.
[0113] Meanwhile, the control unit 24 may recognize the foreign
substance removal tool 46 being coupled to a lower portion of the
brush unit 41. The control unit 24 may use a micro switch, an
optical sensor, or a magnetic sensor in recognizing the foreign
substance removal tool 46 being coupled to a lower portion of the
brush unit 41.
[0114] The micro switch is a microscopic switch that may supply and
shut off a relatively large amount of current by using a small
force, and may be disposed at the coupling slot unit 21c of the
body 21. By a force generated when the coupling protrusion unit 41c
of the foreign substance removal tool 46 is coupled to the coupling
slot unit 21c of the body 21, a traveling contact is instantly
changed for a current to flow through. The control unit 24, based
on the current flowing through, may recognize the foreign substance
removal tool 46 being coupled to a lower portion of the brush unit
41.
[0115] In a case when an infrared light sensor is used as an
example of an optical sensor, an infrared light sensor is disposed
at a coupling slot unit 21c of the body 21, and it is determined
whether an infrared light emitted from a light-emitting unit of the
infrared light sensor is received by a light-receiving unit. If an
infrared light sensor is received by a light-receiving unit, the
foreign substance removal tool 46 is recognized as no-disturbance
status and as not being coupled to the body 21. If an infrared
light sensor is received by a light-receiving unit, the foreign
substance removal tool 46 is recognized as being coupled to the
body 21.
[0116] A magnetic sensor may be disposed at the coupling slot unit
21c of the body 21, and a magnet may be disposed at the coupling
protrusion unit 41c of the foreign substance removal tool 46. The
magnetic sensor may detect a magnetic field generated by the magnet
disposed at the coupling protrusion unit 41c of the foreign
substance removal tool 46, and recognize if the foreign substance
removal tool 46 is coupled to the body 21 based on the intensity of
the magnetic field.
[0117] In a case when the foreign substance removal tool 46 is
coupled to the body 21 while being adjacent to a bottom portion of
the brush unit 41, the control unit 24, may autonomously execute a
foreign substance removal mode, or execute a foreign substance
removal mode based on the input made by a user.
[0118] The various sensors 50 which are installed on the body 21
are used for detecting obstacles. The sensor may be implemented
using contact-type sensors or proximity sensors. For example, a
bumper 51 which is installed on the front (F) of the body 21 may be
used to detect a front side obstacle, such as a wall. In addition,
an infrared light sensor (or an ultrasonic wave sensor) may be used
to detect a front side obstacle.
[0119] In addition, an infrared light sensor 52 (or an ultrasonic
wave sensor) which is installed on a lower portion of the body 21
may be used to detect a condition of a floor, such as stairs. A
plurality of infrared light sensors 52 may be installed on a bottom
portion of the body 21 along a circumference of the body 21 in a
semicircular arc shape. However, the location of the infrared light
sensors is not limited thereto.
[0120] Other than the sensors described above, various sensors may
installed on the body 21 to send information on the status of an
autonomous cleaning apparatus 20.
[0121] The control unit 24 receives signals from the various
sensors 50 and controls the driving unit 30 and the cleaning unit
40 to control the autonomous cleaning apparatus 20 efficiently.
[0122] FIG. 14 is a flow chart schematically illustrating a method
of controlling the autonomous cleaning apparatus according to an
embodiment of the present disclosure.
[0123] Referring to FIG. 14, the autonomous cleaning apparatus
rotates the brush unit and collects dust accumulated on the bottom
of the body into the dust container. However, foreign substances in
accumulated dust may disrupt the rotation of the brush unit while
wound around the brush, and may reduce a cleaning performance of
the autonomous cleaning apparatus. Therefore, prior to removing
foreign substances wound around the brush unit, whether to remove
foreign substances wound around the brush unit is determined
(S10).
[0124] Here, a method of determining to remove foreign substances
is to detect the amount of foreign substances wound around the
brush unit based on the amount of energy detected by a dust
detection unit 44 including an optical sensor installed on a wall
of an opening of the body, or based on the load on the motor which
operates the brush unit. Whether to remove the foreign substances
is determined based on the amount of the foreign substances
detected.
[0125] In addition, based on the input by a user, it may be
determined whether foreign substances wound around the brush unit
are to be removed. An input by a user may take place via a switch
which is provided on the body of the autonomous cleaning apparatus,
or an input by a user may take place via a remote control apparatus
which interacts with the autonomous cleaning apparatus.
[0126] If foreign substances wound around the brush unit 41 are to
be removed, as the brush unit 41 is repeatedly rotating in the
first direction P and the second direction Q, the brush cleaning
member 42 including the first brush cleaning protrusion 42a and the
second brush cleaning protrusion 42b, which are slantedly
protruding in an opposite direction to each other, removes foreign
substances wound around the brush unit (S20).
[0127] In particular, as the brush unit 41 rotates toward the first
direction P, the foreign substances such as hair wound around the
brush 41b of the brush unit 41 may move to be adjacent to the first
brush cleaning protrusion 42a. As the brush 41b of the brush unit
41 makes contact with the first brush cleaning protrusions 42a, the
foreign substances wound around the brush 41b are removed from a
brush unit 41. In addition, as the brush unit 41 rotates in the
second direction Q, the foreign substances such as hair wound
around the brush 41b of the brush unit 41 move to be adjacent to
the second brush cleaning protrusion 42b. As the brush 41b of the
brush unit 41 makes contact with the second brush cleaning
protrusion 42b, the foreign substances wound around the brush 41b
are removed from the brush unit 41.
[0128] The brush unit 41 rotates in the first direction P and the
second direction Q alternately to remove the foreign substances
wound around the brush unit 41. That is, the brush unit 41 of the
autonomous cleaning apparatus 20 may remove foreign substances
wound around the brush unit 41 while changing a direction of a
rotation of a brush unit 41 at least once.
[0129] Although some embodiments of the present disclosure have
been shown and described, it would be appreciated by those skilled
in the art that changes may be made in these embodiments without
departing from the principles and spirit of the disclosure, the
scope of which is defined in the claims and their equivalents.
* * * * *