Patent Application
20240023783
Various embodiments of the disclosure relate to a robot cleaner and its control method.
A robot cleaner is a device for automatically cleaning a certain cleaning space while travelling throughout the cleaning space without any user's manipulation. In general, a robot cleaner can perform the operation of inhaling foreign substances such as dust accumulated on a bottom surface (e.g., a floor surface) to be cleaned or wiping foreign substances such as dirt attached to the surface to be cleaned with a cleaning cloth (or a rag). Amongst these robot cleaners, a type of robot cleaner is used in which the cleaning cloth (or rag) is attached to one end and the cleaning cloth is rotated to wipe out foreign substances attached to the surface to be cleaned.
Meanwhile, as cleaning progresses, the cleaning cloth attached to the robot cleaner gets contaminated, and thus, its user has to replace the contaminated cleaning cloth attached to the robot cleaner with a new cleaning cloth so as to continue an effective cleaning.
Various embodiments of the present disclosure enables automatic replacement of the contaminated cleaning cloth, by using a rotation member coupled to a plurality of cleaning cloths and capable of moving up and down according to a rotation direction.
A robot cleaner according to an embodiment of the disclosure comprises a motor, a rotating-shaft member, and a rotation member coupled to the rotating-shaft member and including a cleaning member coupling configured to be detachably coupled to a plurality of cleaning members. The motor, the rotating-shaft member, and the rotation member are configured so that the motor is drivable to rotate the rotating-shaft member and thereby cause the rotation member to move in a first direction or a second direction opposite to the first direction, along a longitudinal direction of the rotating-shaft member. In a case that the rotation member moves in the first direction with the cleaning member coupling detachably coupled to the plurality of cleaning members, at least one cleaning member of the plurality of cleaning members becomes detached, and is thereby released, from the cleaning member coupling.
According to an embodiment, as the rotating-shaft member rotates in a first rotation direction, the rotation member may move in the first direction while rotating in the first rotation direction.
According to an embodiment, in a case that the rotating-shaft member rotates in a second rotation direction opposite to the first rotation direction, the rotation member and the cleaning member coupling may rotate in the second rotation direction. In a case that the rotating-shaft member rotates in the second rotation direction in a state that the rotation member moved in the first direction, the rotation member may move in the second direction while rotating in the second rotation direction.
According to an embodiment, the cleaning member coupling and the plurality of cleaning members each include one or more magnetic bodies configured so that the cleaning member coupling is magnetically coupleable to each of the plurality of cleaning members.
According to an embodiment, the plurality of cleaning members include a plurality of uneven (concavoconvex) coupling structures, respectively, and the cleaning member coupling includes a plurality of protrusions coupleable to the plurality of cleaning members, by engaging with the plurality of uneven (concavoconvex) coupling structures, respectively.
According to an embodiment, the rotation member includes a first locking part, and the robot cleaner includes an accommodating case that includes an upper surface disposed above the rotation member and the plurality of cleaning members when the cleaning member coupling is coupled to the plurality of cleaning members, and a second locking part configured to engage and couple with the first locking part as the rotation member rotates in a first direction, and to be released from the first locking part as the rotation member rotates in a second direction opposite to the first rotation direction.
According to an embodiment, the accommodating case includes a side surface that, together with the upper surface, defines an internal space for accommodating at least a part of the rotation member or at least one of the plurality of cleaning members when the cleaning member coupling is coupled to the plurality of cleaning members. The accommodating case may include a locking rib extending parallel to the upper surface from a lower end of the side surface.
According to an embodiment, in a case that the rotation member moves in the first direction in a state that the cleaning member coupling is coupled to the plurality of cleaning members with one or more cleaning members of the plurality of cleaning members accommodated in the internal space and one or more cleaning members of the plurality of cleaning members outside the inner space, a cleaning member of the one or more cleaning members outside the internal space may be detached and thereby released from the cleaning member coupling at least partially by resistance of the locking rib. Then, in a case that the rotation member moves in the second direction, the cleaning member adjacent to the locking rib amongst the one or more cleaning members accommodated in the internal space may move out of the internal space in a state of being coupled to the cleaning member coupling.
According to an embodiment, the first locking part and the second locking part may have inclined structures corresponding to each other and that are coupleable to each other to thereby couple the first locking part and the second locking part together. When the first locking part and the second locking part are coupled together, the rotation member may move in the first direction.
According to an embodiment, the first locking part includes a first opening through which a part of the second locking part is insertable, and a first inclined portion adjacent to the first opening to guide the insertion of the part of the second locking part.
According to an embodiment, the first inclined portion may be inclined downward in a direction in which the part of the second locking part is inserted.
According to an embodiment, the second locking part includes a second opening through which part of the first locking a part is insertable, and a second inclined part adjacent to the second opening to guide the insertion of the part of the first locking part.
According to an embodiment, the second inclined part may be inclined upward in a direction in which the part of the first locking part is inserted.
According to an embodiment, the rotation member may be arranged so that the first locking part and the second locking part couple with each other by its rotation in the first rotation direction.
According to an embodiment, the rotation member may be arranged so that the coupling of the first locking part and the second locking part is released by its rotation in the second rotation direction.
In a method of controlling the operation of a robot cleaner according to an embodiment of the present disclosure, the robot cleaner comprises a motor, and a rotating member provided to be detachably coupled to a first cleaning member that is movable in a first direction perpendicular to a floor surface or a second direction opposite to the first direction according to a rotation direction of the motor, the first cleaning member being disposed in contact with the floor surface, and a second cleaning member arranged to be stacked above the first cleaning member to be not in contact with the floor surface. The method comprises determining whether the first cleaning member is required to be replaced; in a case that it is determined that the first cleaning member is required to be replaced, rotating the motor to move the rotation member in the first direction; and rotating the motor to cause the rotation member to move in the second direction, after the first cleaning member is detached from the rotation member.
According to an embodiment, the determining whether the first cleaning member is required to be replaced may be determined based on whether a time duration for which cleaning of the floor surface using the first cleaning member is performed exceeds a reference time.
According to an embodiment, the rotation member may rotate in either a first rotation direction or a second rotation direction opposite to the first rotation direction, according to the rotation direction of the motor. In a case that the rotation member rotates in the first rotation direction, the rotation member may be movable in the first direction.
According to an embodiment, the rotation member may be movable in the second direction in a case that the rotation member rotates in the second rotation direction in the state of being moved in the first direction.
According to an embodiment, the method further comprises controlling the robot cleaner to travel to a predetermined position, in a case that it is determined that the replacement of the first cleaning member is required.
According to various embodiments proposed in the disclosure, the robot cleaner can automatically replace the cleaning cloth by identifying a replacement timing of a cleaning cloth cleaning the floor surface.
According to various embodiments proposed in the disclosure, the robot cleaner can move up and down the rotation member by controlling only a rotation direction of the rotation member without a separate additional configuration.
The effects that can be obtained from exemplary embodiments of the present disclosure are not limited to those described above, and any other effects not mentioned herein will be clearly derived and understood by those having ordinary knowledge in the technical field to which the disclosure belongs from the following description. That is to say, any unintended effects according to carrying out exemplary embodiments of the disclosure may be clearly derived by those having ordinary knowledge in the art from the exemplary embodiments of the disclosure.
The above and other aspects, features, and advantages of certain embodiments of the disclosure will be more apparent from the following description taken in conjunction with the accompanying drawings, in which:
The accompanying drawings are referred to in the following description, and certain examples of implementation are illustrated as examples in the drawings. Further, other examples may be used and structural changes or modifications may be made without departing from the scope of various examples of the present disclosure.
Hereinafter, various embodiments of the present disclosure will be described with reference to the drawings in such a detailed manner that those having ordinary knowledge in the technical field to which the disclosure pertains can easily implement the disclosed invention. However, the disclosure may be implemented in several different forms and is not limited to the embodiments described herein. In conjunction with the description of the drawings, like or similar reference numerals may be used for such like or similar components throughout the specification and the drawings. Further, in the drawings and their related descriptions, descriptions of well-known functions and configurations may be omitted for clarity and conciseness.
Hereinafter, an overall configuration of a robot cleaner according to an embodiment of the disclosure will be described with reference to
Referring to
According to an embodiment, the body 10 may include a main body 11 and an upper cover 12. According to an embodiment, the main body 11 may include a lower part 111 disposed adjacent to the floor surface (or the surface to be cleaned) while the robot cleaner 1 is driven for cleaning, and a side part 112 extending upward from a corner of the lower part 111 to form a side of the robot cleaner. Although not shown in
In an embodiment, the main body 11 may have an opened upper portion. The upper cover 12 may be disposed above the main body 11. The upper cover 12 may be disposed to cover an upper opening of the main body 11. In an embodiment, the upper cover 12 may be detachably coupled to the main body 11. After the upper cover 12 is separated, the user may access the components inside the body 10 through an upper opening of the main body 11. According to an embodiment, the main body 11 and the upper cover 12 may be integrally formed.
According to an embodiment, as shown in
According to an embodiment, other side support 111a may be arranged at the lower part 111 of the main body 11. The other side support 111a may be provided in the opposite side of the one side support 111b in the lower part 111, for example, in front of the robot cleaner 1 (for example, in the front side with respect to the driving direction when the robot cleaner 1 travels on the floor for cleaning). The other side support 111a may be, for example, of a cylindrical roller, but it is not limited thereto.
According to an embodiment, the robot cleaner 1 may include a first wheel 21 and a second wheel 22. The first wheel 21 and the second wheel 22 may be respectively arranged on the left and right sides of the lower part 111 of the main body 11 of the robot cleaner 1. The robot cleaner 1 may control its driving speed or driving direction by independently controlling the rotation of the first wheel 21 and the second wheel 22. The robot cleaner 1 may monitor the surrounding environment while driving indoors or outdoors using, for example, the first wheel 21 and the second wheel 22, and may perform various functions accordingly. According to an embodiment, each of the first wheel 21 and the second wheel 22 may be disposed so that a portion thereof passes through the lower part 111 of the main body 11. Each of the first wheel 21 and the second wheel 22 may be disposed such that a portion thereof is exposed to the outside of the lower part 111 of the main body 11.
According to an embodiment, the robot cleaner 1 may include an accommodating case 60. The accommodating case 60 may be disposed in a front part of the robot cleaner 1, for example. Although not specifically shown in
Referring to
According to an embodiment, the robot cleaner 1 may include a first wheel driver 31 and a second wheel driver 32. Although not explicitly shown, each of the first wheel driver 31 and the second wheel driver 32 may be connected to the first wheel 21 and the second wheel 22. The first wheel driver 31 and the second wheel driver 32 may be accommodated at the positions corresponding to the first wheel 21 and the second wheel 22, respectively, within the internal space of the body 10. Each of the first wheel driver 31 and the second wheel driver 32 may be accommodated in the body 10 to provide rotational force to the corresponding first wheel 21 or second wheel 22, respectively. The first and second wheels 21 and 22 can receive the rotational power from the first and second wheel drivers 31 and 32, respectively, for rotation thereof.
According to an embodiment, the first wheel driver 31 may include a corresponding motor (e.g., a first motor 571 of
According to an embodiment, the robot cleaner 1 may include a liquid storage 40. The liquid storage 40 may store, for example, a liquid for wet cleaning. The liquid stored in the liquid storage 40 may be, for example, water, but is not limited thereto and it may be any liquid material such as e.g., soap or solvent used for cleaning. The liquid storage 40 may be detachably placed in an accommodating space within the body 10. A user may access the liquid storage 40 by separating the upper cover 12 from the main body 11 to open an upper portion of the main body 11. According to an embodiment, the liquid storage 40 may include a gripping part 41. The gripping part 41 may be, for example, provided for providing a gripping part that can be conveniently gripped when the user separates and carry the liquid storage 40.
According to an embodiment, the robot cleaner 1 may include a liquid transfer unit 50. The liquid transfer unit 50 may have, for example, one end connected to the liquid storage 40 to communicate with fluid. The liquid transfer unit 50 may have, for example, the other end arranged to supply the liquid to the cleaning member 90 disposed below the robot cleaner 1. In an embodiment, the other end of the liquid transfer unit 50 may be provided to pass through the accommodating case 60 of the lower part 111 of the main body 11 or a portion adjacent thereto to face the cleaning member 90. In an embodiment, the liquid transfer unit 50 may be provided as many as the number of cleaning drivers 70 provided in the robot cleaner 1. The liquid transfer unit 50 may be, for example, a pipe or a hose.
According to an embodiment, the robot cleaner 1 may include one or more cleaning drivers 70. According to an embodiment, the robot cleaner 1 may include a plurality of rotation members 80 respectively corresponding to one or more cleaning drivers 70. According to an embodiment, each cleaning driver 70 may include a corresponding motor (e.g., third motor 581 or fourth motor 582 of
According to an embodiment, although not explicitly shown in
According to an embodiment, the cleaning member 90 may be detachably coupled to the robot cleaner 1. According to an embodiment, a plurality of cleaning members 90 may be detachably coupled to one rotation member 80. According to an embodiment, a plurality of cleaning members 90 may be coupled to a cleaning member coupling (not shown in
According to an embodiment, the first cleaning member 91 may include a first cleaning cloth 911. The robot cleaner 1 may perform cleaning of the floor surface using the first cleaning cloth 911. Here, the first cleaning cloth 911 may be, for example, a dry mop or a damp mop. The first cleaning cloth 911 may be made of various fiber materials such as, for example, a microfiber cloth, a mop, a nonwoven fabric, a brush or the like. According to an embodiment, the first cleaning cloth 911 may include a first hollow part 911a. The first hollow part 911a may have, for example, a circular shape or a polygonal shape (e.g., a square shape). The shape of the first hollow part 911a may correspond to, for example, a horizontal cross-sectional shape of a central portion (not shown in
According to an embodiment, the first cleaning member 91 may include a first support plate 912. The first support plate 912 may be coupled to an upper surface of the first cleaning cloth 911, for example. The first support plate 912 may be located, for example, on an upper surface that does not face a bottom surface of the first cleaning cloth 911. The first support plate 912 may be formed, for example, to surround at least part of the upper surface of the first cleaning cloth 911 and at least part of an inner circumferential surface of a first hollow part 911a of the first cleaning cloth 911. According to an embodiment, the first support plate 912 may have a shape of a disk with a hollow portion formed thereon as a whole. The diameter of the first support plate 912 may be smaller than the diameter of the first cleaning cloth 911. The hollow portion of the first support plate 912 may have a shape and a size corresponding to the first hollow part 911a of the first cleaning cloth 911. Although not specifically shown in
According to an embodiment, the second cleaning member 92 may include a second cleaning cloth 921. The robot cleaner 1 may perform cleaning of the floor surface using the second cleaning cloth 921. Here, the second cleaning cloth 921 may be, for example, a mop or a damp (wet) mop. The second cleaning cloth 921 may be made of various fiber materials such as, for example, a microfiber cloth, a rag, a nonwoven fabric, a brush or the like. According to an embodiment, the second cleaning cloth 921 may include a second hollow part 921a. The second hollow part 921a may have, for example, a circular shape or a polygonal shape (e.g., a square shape). The shape of the second hollow part 921a may correspond to, for example, a horizontal cross-sectional shape of a central portion (not shown in
According to an embodiment, the second cleaning member 92 may include a second support plate 922. The second support plate 922 may be coupled to an upper surface of the second cleaning cloth 921, for example. The second support plate 922 may be, for example, formed to surround example, at least part of the upper surface of the second cleaning cloth 921 and at least part of an inner circumferential surface of a second hollow part 921a of the second cleaning cloth 921. According to an embodiment, the second support plate 922 may have a shape of a disk with a hollow portion formed thereon as a whole. The diameter of the second support plate 922 may be smaller than the diameter of the second cleaning cloth 921. For example, the hollow portion of the second support plate 922 may have a shape and a size corresponding to the second hollow part 921a of the second cleaning cloth 921.
Although not specifically illustrated in
According to an embodiment, each cleaning cloth (911 or 921) and each support plate (912 or 922) may be detachably coupled to each other, but the disclosure is not limited thereto and may be integrally formed. Each cleaning cloth 911 and 921 and each corresponding support plate 912 and 922 may be coupled by a fastening element such as magnets, Velcro, or buttons (female button and male button).
According to an embodiment, the robot cleaner 1 may include a sensing unit 520. The sensing unit 520 may include a plurality of sensors or cameras for detecting the surrounding environment of the robot cleaner 1. The sensing unit 520 may include, for example, a plurality of cameras to capture images in various directions. A range sensor may include, for example, an ultrasonic sensor, a radar sensor, and/or a rider sensor, but is not limited thereto. The sensing unit 520 may include, for example, a microphone or an infrared sensor for detecting its surrounding environment. According to an embodiment, the sensing unit 520 may detect the degree of contamination of each cleaning member coupled to the rotation member 80 of the robot cleaner 1 and being used for cleaning, and the present disclosure is not limited thereto.
According to an embodiment, the robot cleaner 1 may include a communication unit 530. According to an embodiment, the communication unit 530 may include one or more modules that enable wireless communication between the robot cleaner 1 and a wireless communication system, between the robot cleaner 1 and another apparatus, or between the robot cleaner 1 and an external server. According to some embodiments, the communication unit 530 may include one or more modules connecting the robot cleaner 1 to one or more networks. According to an embodiment, the communication unit 530 may include at least one of a mobile communication module, a wireless Internet module, a short-range communication module, and a location information module.
The mobile communication module may transmit and receive wireless signals to and from at least one of a base station, an external terminal, or a server, over a mobile communication network established according to the technical standards or communication methods for mobile communications. The wireless signal may include, for example, various forms of data according to transmission and reception of a voice call signal, a video-phone call signal, or a text/multimedia message.
The wireless Internet module may include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced) or the like, but the disclosure is not limited thereto, and the data transmission and reception may be made according to at least one wireless Internet technology within a range including any other Internet technologies not enumerated above.
The short-range communication module is, for example, for supporting short-range communications, and may support the short-range communications using at least one of Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra-Wide Band (UWB), ZigBee, Near Field Communication (NFC), Wi-Fi, Wi-Fi Direct, Wireless USB (Universal Serial Bus) technologies. The short-range communication module may support wireless communication, for example, between the robot cleaner 1 and the wireless communication system, between the robot cleaner 1 and another apparatus, or between the robot cleaner 1 and a network where the other apparatus is located. Here, the wireless short-range communication network may be wireless personal area networks.
The location information module is, for example, a module for acquiring the position of the robot cleaner 1, and may be a Global Positioning System (GPS) module or a Wi-Fi module. When the robot cleaner 1 uses the GPS module, information on the location of the robot cleaner 1 may be received using a signal transmitted from a GPS satellite. When the robot cleaner 1 utilizes a Wi-Fi module, the information on the location of the robot cleaner 1 may be received based on information from a wireless access point (AP) that transmits and receives a wireless signal to and from the Wi-Fi module.
According to an embodiment, the robot cleaner 1 may include a memory 540. According to an embodiment, the memory 540 may store data supporting various functions of the robot cleaner 1. The memory 540 may store, for example, a plurality of applications (application programs or applications) used in the robot cleaner 1, data for the operation of the robot cleaner 1, and instructions therefor. At least some of these application programs may be downloaded from an external server by way of wireless communication. Further, at least some of these application programs may be stored in the memory 540 from the time of shipment of the product for execution of the basic functions of robot cleaner 1. The application programs may be stored in the memory 540 and may be driven to perform the operation (or functions) of the robot cleaner 1 under the control of a controller 510. According to some embodiments, the memory 540 may be included as a part of the configuration of the controller 510. According to an embodiment, the memory 540 may store information for setting a driving path of the robot cleaner 1.
According to an embodiment, the robot cleaner 1 may include an input unit 550. The input unit 550 may receive, for example, information on the operation mode of the robot cleaner 1 from a user. The input unit 550 may be configured with devices such as, for example, a keypad, a dome switch, a touch pad (static or capacitive), a jog wheel, a jog switch, or a remote control. In addition to the aforementioned input unit 550, the user may input the information on the operation mode of the robot cleaner 1 using a portable device such as e.g., a terminal.
According to an embodiment, the robot cleaner 1 may include a controller 510. According to an embodiment, the controller 510 may control the operation of the robot cleaner 1, for example, using a signal transmitted from the sensing unit 520, the communication unit 530, or the input unit 550.
According to an embodiment, the controller 510 may control the overall operation of the robot cleaner 1. The controller 510 may control the overall operations of the first motor 571 and the second motor 572 respectively connected to the first and second wheels 21 and 22. According to an embodiment, the controller 510 may rotate the first wheel 21 and/or the second wheel 22 by controlling the operation of the first motor 571 and/or the second motor 572. According to an embodiment, the controller 510 may control the driving direction and speed of the robot cleaner 1 by controlling the first motor 571 and/or the second motor 572.
The controller 510 may control the overall operations of the third motor 581 and the fourth motor 582 disposed to transmit power to each rotation member 80. The controller 510 may control, for example, the rotation of the rotation member 80 and/or the cleaning member 90 by controlling the overall operation of the third motor 581 or the fourth motor 582. According to an embodiment, the controller 510 may control the operation of the third motor 581 and/or the fourth motor 582 to rotate the cleaning member 90 corresponding to each.
The controller 510 may include one or more of a central processing unit (CPU), an application processor (AP), or a communication processor (CP). The controller 510 may be, for example, a micro controller (MCU).
The controller 510 may drive, for example, an operating system or an application program to control hardware or software components connected to the controller 510 and may perform various data processing and operations. Further, the controller 510 may load and process commands or data received from at least one of other components into a volatile memory, and store various data in a nonvolatile memory.
According to an embodiment, the robot cleaner 1 may include an output unit 560. The output unit 560 may provide, for example, visual or auditory information to the user. The output unit 560 may include devices that provide visual or auditory information, such as a display unit, a sound output module, or an alarm unit.
Hereinafter, referring to
Referring to
According to an embodiment, the cleaning driver 70 may include a motor (corresponding to the motor 581 or the motor 582 of
In this connection,
Hereinafter, a structure of the accommodating case according to an embodiment of the disclosure will be described in more detail with reference to
According to an embodiment, the accommodating case 60 may include an upper surface 61 and a side surface 62 extending downward from an edge of the upper surface 61. According to an embodiment, the upper surface of the accommodating case 60 may have a generally circular shape, but this disclosure is not limited thereto. According to an embodiment, the accommodating case 60 may include a locking rib 63 protruding and extending from one lower end of the side surface 62. The locking rib 63 may extend inward from the lower end of the accommodating case 60, for example. The locking rib 63 may extend, for example, from the side surface 62 of the accommodating case 60 in a direction perpendicular thereto (e.g., a direction facing parallel to the upper surface 61). For example, the locking rib 63 may be positioned between the first cleaning member 91 and the second cleaning member 92, as described later. The locking rib 63 may provide, for example, a locking structure configured so that the robot cleaner 1 causes to release coupling of the first cleaning member 91. According to an embodiment, the upper surface 61, the side surface 62, and the locking rib 63 of the accommodating case 60 may define the internal space of the accommodating case 60.
According to an embodiment, the accommodating case 60 may include a locking jaw 64 and an insertion groove 65. According to an embodiment, the insertion groove 65 may be provided on upper part of the internal space of the accommodating case 60. For example, the insertion groove 65 may be formed with a recess upward from the internal space in the center of the upper surface 61 of the accommodating case 60. According to an embodiment, a hollow portion for the rotating-shaft member 71 of the cleaning driver 70 to pass therethrough may be formed in the central portion of the upper surface 61 of the accommodating case 60 and the insertion groove 65.
According to an embodiment, the insertion groove 65 may include a second locking part 651. According to an embodiment, the second locking part 651 may have a structure corresponding to a first locking part 831 of the rotation member 80 to be described later. According to an embodiment, the second locking part 651 may be engaged with the first locking part 831 on the rotation member 80, as the rotation member 80 (to be described later) rotates in a predetermined direction (e.g., a first rotation direction {circle around (1)} of
According to an embodiment, the second locking part 651 may include a second opening 651a provided at one side with respect to the circumferential direction. The second opening 651a may be, for example, an inlet through which a portion of the first locking part 831 of the rotation member 80 is inserted. The second opening 651a may be, for example, an inlet through which a portion of the first locking part 831 is inserted, when the rotation member 80 rotates in a predetermined direction (e.g., the first rotation direction {circle around (1)}). According to an embodiment, when the rotation member 80 rotates in the first rotation direction {circle around (1)} so that the second locking part 651 and the first locking part 831 are engaged with each other, a portion of the first locking part 831 may be inserted into the second opening 651a of the second locking part 651, and the rotation member 80 may move upward.
According to an embodiment, the second locking part 651 may include a second inclined part 651c for guiding insertion of a portion of the first locking part 831. The second inclined part 651c may be formed, for example, in a position adjacent to the second opening 651a. The second inclined part 651c may be formed, for example, to be inclined upward in a direction in which a portion of the first locking part 831 is inserted. When the first locking part 831 is inserted into the second opening 651a of the second locking part 651 by forming of the second inclined part 651c, the rotation member 80 may move upward in a fixed state of the accommodating case 60.
According to an embodiment, the second locking part 651 may include a second closing part 651b provided on the other side opposite to the above second opening 651a along the circumferential direction. As described later, when a portion of the first locking part 831 of the rotating member 80 is inserted through the second opening 651a of the second locking part 651 to that the second locking part 651 is coupled to the first locking part 831 of the rotating member 80, the second closing part 651b may act to block advancing of the first locking part 831 of the rotation member 80 to stop the rotation of the rotation member 80. According to an embodiment, when the rotation member 80 rotates in the first rotation direction {circle around (1)} so that the second locking part 651 and the first locking part 831 are engaged with each other, coming into contact with the second closing part 651b, the first locking part 831 may not further advance, so that the coupling can be completed. According to an embodiment, on the contrary, in a case that the rotation member 80 rotates in the second rotation direction {circle around (2)}, the coupling between the second locking part 651 and the first locking part 831 may be released as described above. According to an embodiment, in a case that the rotation member 80 rotates in the second rotation direction {circle around (2)} to get the coupling between the second locking part 651 and the first locking part 831 to be released, the second locking part 651 and the first locking part 831 do not interfere with each other's rotation, so the rotation member 80 may continue to rotate in the second rotation direction {circle around (2)}.
Referring back to
Further to
According to an embodiment, the rotation member 80 may include a central part 81, a wing part 82 extending horizontally from the upper side of the central part 81, and an insertion part 83 disposed at the upper center of the wing part 82. According to an embodiment, the insertion part 83 may be inserted into, for example, the insertion groove 65 located in the upper center of the accommodating case 60.
According to an embodiment, the central part 81 may have an outer periphery of a polygonal pillar (e.g., a square pillar) shape. According to an embodiment, the central portion of the rotation member 80 may have a cylindrical shape of outer periphery.
According to an embodiment, the wing part 82 of the rotation member 80 may generally have a disk shape, but the disclosure is not limited thereto. According to an embodiment, as described above, the insertion part 83 may be inserted into the insertion groove 65 located in the upper center of the accommodating case 60. According to an embodiment, the insertion part 83 and the wing part 82 of the rotation member 80 may be accommodated in the internal space of the accommodating case 60. According to an embodiment, as illustrated in
According to an embodiment, the rotation member 80 may include a cleaning member coupling 84 disposed on at least a part of an outer circumferential surface of the central part 81.
According to an embodiment, the cleaning member coupling 84 provided in the central part 81 may include a plurality of sub-coupling portions spaced apart in the vertical direction (e.g., the longitudinal direction of the rotating-shaft member 71). As shown in
According to an embodiment, the first sub-coupling 841 may be positioned, for example, at a lower part of the central part 81 (e.g., a first part 84a of
According to an embodiment, the insertion part 83 may include a first locking part 831. The first locking part 831 may protrude from the inner circumferential surface of the insertion part 83, for example. As described above, the first locking part 831 may be engaged with and coupled to the second locking part 651 formed in the insertion groove 65 of the accommodating case 60. The first locking part 831 may be, for example, engaged with the second locking part 651 when the rotation member 80 rotates in a predetermined direction (e.g., the first rotation direction {circle around (1)}). According to an embodiment, when the second locking part 651 and the first locking part 831 are coupled to each other, the first locking part 831 may be located more outside than the second locking part 651, and the disclosure is not limited thereto.
According to an embodiment, the first locking part 831 may include a first opening 831a provided at one side with respect to the circumferential direction. The first opening 831a may be, for example, an inlet through which a portion of the second locking part 651 of the accommodating case 60 is inserted.
In an embodiment, in a case that the first locking part 831 and the second locking part 651 are engaged, a portion of the first locking part 831 may be inserted into the second opening 651a of the second locking part 651. In an embodiment, in a case that the first locking part 831 and the second locking part 651 are engaged, a portion of the second locking part 651 may be inserted into the first opening 831a of the first locking part 831.
According to an embodiment, the first locking part 831 may include a first inclined portion 831c for guiding the insertion of the second locking part 651. The first inclined portion 831c may be formed, for example, in a portion adjacent to the first opening 831a. For example, the first inclined portion 831c may be formed to be inclined downward in a direction that a portion of the second locking part 651 is inserted. When the second locking part 651 is inserted into the first opening 831a of the first locking part 831 by forming of the first inclined portion 831c, the rotation member 80 may move upward while the accommodating case 60 is in a fixed state.
According to an embodiment, the first locking part 831 may include a first closing part 831b provided on the other side that is opposite to the first opening 831a along the circumferential direction. For example, the first closing part 831b may cause to cease the rotation of the first rotation member 80 in the first rotation direction {circle around (1)}, when the first rotation member 80 rotates in the first rotation direction so that the second locking part 651 is inserted through the first opening 831a of the first locking part 831 to be coupled thereto.
According to an embodiment, each of the first and second cleaning members 91 and 92 may include the first support plate 912 or the second support plate 922, as described above. As illustrated in
According to an embodiment, the first rib 912a or the second rib 922a may be disposed to pass through the first hollow part 911a of the first cleaning cloth 911 or the second hollow part 921a of the second cleaning cloth 921. According to an embodiment, the first rib 912a of the first support plate 912 may be coupled to the cleaning cloth coupling 84 of the corresponding rotation member 80. According to an embodiment, the second rib 922a of the second support plate 922 may be coupled to the cleaning cloth coupling 84 of the corresponding rotation member 80.
According to an embodiment, the first support plate 912 may include a first coupling 912b on the first rib 912a. The first coupling 912b may be coupled to the cleaning member coupling 84, for example. The first coupling 912b may be coupled to one (for example, sub-coupling 841) of a plurality of sub-coupling portions 841 and 842. According to an embodiment, the second support plate 922 may include a second coupling 922b on the second rib 922a. The second coupling 922b may be coupled to the cleaning member coupling 84, for example. The second coupling 922b may be coupled to one (for example, sub-coupling 842) of the plurality of sub-coupling portions 841 and 842. According to an embodiment, when the second cleaning member 92 is inserted into the rotation member 80, it may be initially coupled to the first sub-coupling 841, and then moved by an external force to be coupled to the second sub-coupling 842. According to an embodiment, after the second cleaning member 92 is disposed to be coupled to the second sub-coupling 842, the first cleaning member 91 may be disposed to be coupled to the first sub-coupling 841.
According to an embodiment, the first rib 912a of the first cleaning member 91 may be made of an elastic material. For example, the first rib 912a may be rotated radially outward to mount (or attach) or detach the first coupling 912b onto or from the cleaning member coupling 84. The first rib 912a may be rotated about one end in contact with the inner circumferential surface of the hollow portion of the first support plate 912. The first rib 912a may be restored to its original state before its rotation, once the first coupling 912b is fully mounted on the cleaning member coupling 84.
According to an embodiment, the second rib 922a of the second cleaning member 92 may be made of an elastic material. For example, the second rib 922a may be rotated radially outward to mount (or attach) or detach the second coupling 922b onto or from the cleaning member coupling 84. The second rib 922a may be rotated about one end in contact with the inner circumferential surface of the hollow portion of the second support plate 922. The second rib 922a may be restored to its original state before its rotation, once the second coupling 922b is fully mounted on the cleaning member coupling 84.
According to an embodiment, the rotation member 80 may move in the vertical direction (e.g., the longitudinally extending direction of the rotating-shaft member 71) by rotation of the motor in the cleaning driver 70. According to an embodiment, rotation of each motor of the cleaning driver 70 may be performed under the control of the controller 510. For example, in a case that the motor of the cleaning driver 70 rotates in a certain direction, the rotating-shaft member 71 may rotate in either direction, such as e.g., the first rotation direction {circle around (1)}. In a case that the rotating-shaft member 71 rotates in the first rotation direction, the rotation member 80 may also move upward along with the rotation in the first rotation direction. According to an embodiment, in a case that the rotation member 80 rotates in the first rotation direction, the rotation member 80 may also move upward along with the rotation in the first rotation direction. For example, in a case that the rotation member 80 rotates in the first rotation direction, the rotation member 80 may move upward due to engagement between the rotation member 80 and the accommodating case 60. For example, in a case that the rotation member 80 rotates in the first rotation direction, a portion of the second locking part 651 of the accommodating case 60 may be inserted into the opening 831a of the first locking part 831, thereby moving the rotation member 80 upward.
According to an embodiment, in a case that the motor of the cleaning driver 70 rotates in a direction opposite to the above certain direction, the rotating-shaft member 71 may rotate in the opposite direction, for example, in the second rotation direction {circle around (2)}. In a case that the rotating-shaft member 71 rotates in the second rotation direction {circle around (2)}, the rotation member 80 may also rotate in the second rotation direction together. In a case that the rotation member 80 rotates in the second rotation direction in the state in which the rotation member 80 moved upward, the engagement between the rotation member 80 and the accommodating case 60 may be released and the rotation member 80 may then move downward. In an embodiment, in a case that the rotation member 80 continues to rotate in the second rotation direction {circle around (2)} by the rotation of the motor of the cleaning driver 70 in the state of the engagement between the rotation member 80 and the accommodating case 60 being released, the rotation member 80 may continue its rotation without moving up and down.
According to an embodiment, when the rotation member 80 rotates by motor rotation of the cleaning driver 70, at least one of a plurality of cleaning members 90 coupled to the rotation member 80 may rotate together. Referring to
According to an embodiment, one of the plurality of cleaning members 90 coupled to the rotation member 80, such as the first cleaning member 91, may be disposed outside the accommodating case 60. For example, the first cleaning member 91 adjacent to the floor surface may be disposed outside the accommodating case 60. According to an embodiment, at least one cleaning member 90 may be accommodated within the accommodating case 60. For example, the second cleaning member 92 may be accommodated in the accommodating case 60. The second cleaning member 92 may be, for example, provided to clean the floor surface after the coupling of the first cleaning member 91 is released.
According to an embodiment, the accommodating case 60 may be integrally configured with the main body 11. According to an embodiment, the side surface 62 of the accommodating case 60 may be omitted so that the cleaning members 90 is visible from the outside.
The cleaning driver 70, the rotation member 80, and the cleaning member 90 illustrated in
According to an embodiment, as illustrated in
According to an embodiment, when the rotation member 80 moves upward, the upward movement of the second cleaning member 90 may be partially limited. According to an embodiment, the accommodating case 60 may include a locking jaw 64 for limiting the upward movement of the second cleaning member 92. The locking jaw 64 may be, for example, provided in an upper part in the internal space of the accommodating case 60. The locking jaw 64 may have, for example, a structure protruding inward from an uppermost part of the side surface of the accommodating case 60. The locking jaw 64 may limit the second cleaning member 92 from moving upward along with the rotation member 80, for example, when the rotation member 80 moves upward. The second cleaning member 92 may be released from the coupling with the second sub-coupling 842 positioned in the second part 84b, for example, by limitation of the upward movement. After the second cleaning member 92 is detached from the second sub-coupling 842, it may be coupled to the first sub-coupling 841 located in the first part 84a.
According to an embodiment, when the rotation member 80 moves upward, the upward movement of the first cleaning member 91 may be partially limited. According to an embodiment, the locking rib 63 of the accommodating case 60 may restrict the first cleaning member 91 from moving upward together with the rotation member 80. According to an embodiment, the first cleaning member 91 may be restricted from moving upward together with the rotation member 80 by the second cleaning member 92 with its upward movement limited. The first cleaning member 91 may be, for example, released from coupling with the first sub-coupling 841 positioned in the first part 84a, with limitation of upward movement. The first cleaning member 91 released from the coupling with the first sub-coupling 841 may be detached from the robot cleaner 1.
According to an embodiment, as shown in
According to an embodiment, when a contamination level of the first cleaning member 91 cleaning the floor surface reaches a predetermined level, the controller 510 may cause to separate the first cleaning member 91 from the robot cleaner 1 through the operation shown in
When cleaning a floor surface by the robot cleaner 1, continuously using the already contaminated cleaning member 90, the floor surface may be rather more contaminated. The robot cleaner 1 of the disclosure is provided with a function of automatically replacing the used cleaning member 90 in the course of the cleaning process without any user intervention, thereby making the cleaning of the floor surface more convenient and cleaner. Further, since the robot cleaner 1 of the disclosure can efficiently and conveniently determines when to replace the cleaning member 90 in use, the user's convenience can be further enhanced by reducing the number of times to replace the cleaning member 90 in use, compared to when the user has to replace the same manually for oneself.
Hereinafter, according to an embodiment, description will be made of a schematic flowchart of an operation process of the robot cleaner replacing a cleaning member during a cleaning operation. This operation may be performed, for example, by the robot cleaner 1 described above with reference to
According to an embodiment, the method of operating the robot cleaner 1 may include performing a cleaning operation (S1510). In an embodiment, while the cleaning operation is in execution, the controller 510 may control the operation of the first motor 571 and/or the second motor 572 to move the robot cleaner 1 along an appropriate driving path. According to an embodiment, the driving path of the robot cleaner 1 may include driving path information stored in the memory 540 and/or route information calculated by the controller 510 according to a result of detection by the sensing unit 520. As an embodiment, while the cleaning operation is in progress, the controller 510 may perform the floor cleaning by controlling the operation of the third motor 581 and/or the fourth motor 582 to rotate the cleaning member 90 positioned adjacent to the floor surface. According to an embodiment, the rotation of the cleaning member 90 for cleaning the floor surface may be performed via the rotating-shaft member 71 and the rotation member 80.
According to an embodiment, the method of operating the robot cleaner 1 may include determining whether a cleaning cloth in current use (e.g., a first cleaning cloth 911) of the cleaning member disposed adjacent to the floor surface should be replaced (S1520). In an embodiment, such a determination may be carried out based on determining whether a degree of contamination for the cleaning cloth in use (e.g., the first cleaning cloth 911) exceeds a certain designated level, using a contamination detection sensor (not shown) that may be separately provided in the robot cleaner 1. In an embodiment, the determination may be carried out by the robot cleaner 1 based on the timer information, for example, determining whether a time duration for which the floor surface cleaning has been executed using the first cleaning cloth 911 exceeds a predetermined reference time. In an embodiment, the robot cleaner 1 may determine whether the cleaning cloth needs to be replaced using a cleaning cloth replacement period preset by the user. For example, in case where the user set the cleaning cloth replacement period to one hour, the robot cleaner 1 may determine that the cleaning cloth needs to be replaced, when it is determined that the hours of use of the first cleaning cloth 911 has just reached one hour.
According to an embodiment, in a case that it is determined that the cleaning cloth needs to be replaced in S1520, the method of operating the robot cleaner 1 may include moving to a predetermined place for replacement of the cleaning cloth (S1530). In an embodiment, the predetermined place may be, for example, a place designated by a user. In an embodiment, the predetermined place may be a place where the robot cleaner 1 performs charging, or any other place adjacent thereto.
According to an embodiment, the method of operating the robot cleaner 1 may include automatically replacing the cleaning member (S1540). According to an embodiment, the robot cleaner 1 may perform an operation of releasing the coupling of the first cleaning cloth 911. In an embodiment, the robot cleaner 1 may perform an operation of moving the rotation member 80 upward under the control of the controller 510. According to an embodiment, while the rotation member 80 moves upward, the first cleaning cloth 911 may be released from the rotation member 80 by a locking structure (e.g., locking rib 63). In an embodiment, the second cleaning cloth 921 may be coupled to the lower end of the rotation member 80, while the rotation member 80 moves upward. For example, a portion to which the existing first cleaning cloth 911 is coupled may move upward in the state of being released from the first cleaning cloth 911, and then coupled to the second cleaning cloth 921. The first cleaning cloth 911 released from the coupling with the rotation member 90 may be detached from the robot cleaner 1 and then placed on the floor surface. The cleaning member replacement process according to an embodiment will be further described with reference to
According to an embodiment, after the first cleaning cloth 911 is detached from the rotation member 80, the robot cleaner 1 may perform an operation of moving the rotation member 80 downward. The, the second cleaning cloth 921 may be disposed to come into contact with the floor surface by the downward movement of the rotation member 80.
According to an embodiment, the robot cleaner 1 may continuously perform the floor cleaning by replacing the contaminated first cleaning cloth 911 with the new second cleaning cloth 921, through the process of moving the rotation member 80 upward and then downward again under the control of the controller 510.
According to an embodiment, the method of operating the robot cleaner 1 may include determining whether the cleaning is completed (S1550). In an embodiment, the controller 510 may determine whether the cleaning has been completed in a case that the contamination level of the cleaning cloth (e.g., the first cleaning cloth 911 of
Hereinafter, according to an embodiment, description will be made of a schematic flowchart of an operation process that a robot cleaner automatically replaces a cleaning cloth. This operation may be performed, for example, by the robot cleaner 1 described above with reference to
According to an embodiment, the robot cleaner 1 may move the rotation member 80 upward under the control of the controller 510 (S1610). The controller 510 may, for example, control the motor of the cleaning driver 70 to rotate the rotation member 80 in a specific direction (e.g., the first rotation direction {circle around (1)}) to move the rotation member 80 upward, as described with reference to
According to an embodiment, in case the rotation member 80 is moved upward, the first cleaning member 91 may be separated from the first sub-coupling 841 (S1620). Even if the rotation member 80 moves upward, the first cleaning member 91 may be caught by the locking rib 63 of the accommodating case 60, so that the coupling can be released.
According to an embodiment, the second cleaning member 92 may be separated from the second sub-coupling 842 (S1630). Even if the rotation member 80 moves upward, the movement of the second cleaning member 92 may be fixed by the locking jaw 64 provided at an upper side inside the accommodating case 60, so that the coupling can be released from the second sub-coupling 842. The operation process S1630 may be performed substantially simultaneously with the operation process S1620, and the operation process S1630 may be performed before the operation process S1620.
According to an embodiment, the second cleaning member 92 may be coupled to the first sub-coupling 841. The second cleaning member 92 may move to the first part 84a of the rotation member 80 by being coupled to the first sub-coupling 841.
According to an embodiment, the robot cleaner 1 may move the rotation member 80 downward under the control of the controller 510 (S1650). The controller 510 may move the rotation member 80 downward, for example, by rotating the rotation member 80 in a direction (e.g., the second rotation direction {circle around (2)}) opposite to the specific direction (e.g., the first rotation direction {circle around (1)}) described above. The second cleaning member 92 may also move downward along the rotation member 80 downwardly moved. The second cleaning member 92 that has moved downward may be in contact with the floor surface. The second cleaning member 92 that has moved downward may be located outside the accommodating case 60.
The robot cleaner 1700 shown in
According to an embodiment, a rotation member 1710 may include a cleaning member coupling 1711a. In an embodiment, at least a portion of the cleaning member coupling 1711a may be a magnetic material. In an embodiment, the cleaning member coupling 1711a may be provided inside the rotation member 1710, but the disclosure is not limited thereto. In an embodiment, the cleaning member coupling 1711a may form a portion of a surface of a central portion 1711 of the rotation member 1710. According to an embodiment, one cleaning member coupling 1711a may be coupled to a first coupling 1721c or a second coupling 1722c of each of two or more cleaning members 1720. Alternatively, for example, a plurality of cleaning member coupling units 1711a may be provided within the rotation member 1710 to be coupled to the couplings 1721c and 1722c of a respective corresponding cleaning member.
According to an embodiment, the cleaning member 1720 may include a first cleaning member 1721 or a second cleaning member 1722. According to an embodiment, the first cleaning member 1721 may include a first coupling 1721c. In an embodiment, at least a portion of the first coupling 1721c may be a magnetic material. In an embodiment, the first coupling 1721c may be provided on a first rib 1721b of a first support plate 1721a. The first coupling 1721c may be magnetically coupled to the cleaning member coupling 1711a, for example.
According to an embodiment, the second cleaning member 1722 may include a second coupling 1722c. In an embodiment, at least a portion of the second coupling 1722c may be a magnetic material. In an embodiment, the second coupling 1722c may be provided on a second rib 1722b of a second support plate 1722a. The second coupling 1722c may be magnetically coupled to the cleaning member coupling 1711a, for example.
According to an embodiment, when the rotation member 1710 moves upward, the upward movement of the first cleaning member 1721 may be partially limited. According to an embodiment, the locking rib 63 of the accommodating case 60 may restrict the first cleaning member 1721 from moving upward together with the rotation member 80. The first cleaning member 1721 may be, for example, released from coupling with the cleaning member coupling 1711a, by restriction of the upward movement. The first cleaning member 1721 of which the coupling with the cleaning member coupling 1711a has been released may be separated from the robot cleaner 1700.
According to an embodiment, the rotation member 1710 may move upward. When the rotation member 1710 moves upward, the upward movement of the second cleaning member 1722 may be partially limited by the locking jaw 64 of the accommodating case 60. The second cleaning member 1722 of which movement is partially limited may move to a position before the first cleaning member 1721 is separated.
According to an embodiment, the rotation member 1710 may move downward. The rotation member 1710 may move downward in the direction toward the floor surface, for example. When the rotation member 1710 moves downward, the second cleaning member 1722 coupled to a lower end of the rotation member 1710 may also move downward together. As such, the second cleaning member 1722 may be located at the place where the existing first cleaning member 1721 was located. The second cleaning member 1722 may move to the outside of the accommodating case 60 by the downward movement of the rotation member 1710. That is to say, the second cleaning member 1722 may be located underneath the locking rib 63 of the accommodating case 60. One surface of the second cleaning member 1722 that moved downward together with the rotation member 1710 may come into contact with the floor surface.
Throughout the disclosure and its related drawings, the robot cleaner has been illustrated and described on the basis of the arrangement that it has a pair of cleaning drivers, a pair of rotating-shaft members corresponding thereto, a pair of accommodating cases, and a pair of rotation members, but the disclosure is not limited thereto. In an embodiment, the robot cleaner may include a larger number of cleaning drivers, rotating-shaft members corresponding thereto, accommodating cases, and/or rotation members. In an embodiment, the robot cleaner may include a smaller number of cleaning drivers, rotating-shaft members corresponding thereto, accommodating cases, and/or rotation members.
Although the foregoing disclosure mainly describes an arrangement in which two cleaning members are coupled to each rotation member, the disclosure is not limited thereto. In an embodiment, a larger number of cleaning members may be coupled to each rotation member of the robot cleaner.
The terms used in the disclosure are used only to describe specific embodiments and are not intended to limit the disclosure thereto. For example, a component expressed in a singular form should be understood as a concept including multiple components unless the context explicitly dictates only such a singular form. As used herein, each of the phrases such as “A or B”, “at least one of A and B”, “at least one of A or B”, “A, B or C”, “at least one of A, B and C”, and “at least one of A, B, or C” may include any one of the items enumerated together in a corresponding one of the phrases, or all possible combinations thereof. Further, it should be appreciated that the term ‘and/or’ used herein encompasses any and all possible combinations of one or more of the listed items. The terms such as “comprise(s)”, “include(s)” “have/has”, and “consist(s) of” used in the disclosure are only intended to designate that there are features, components, parts, or a combination thereof described in the disclosure, and are not intended to exclude a possibility of the presence or addition of one or more other features, components, parts, or a combination thereof, by using these terms. The terms such as “the first”, “the second”, or “first”, or “second” may be used simply to distinguish a corresponding component from another corresponding component, and do not limit the corresponding components in view of other aspect (e.g., importance or order).
As used in the disclosure, the expression ‘configured to ˜’ may be used interchangeably with, depending on the context, for example, ‘suitable for ˜’, ‘having the ability to ˜’, ‘designed to ˜’, ‘modified to ˜’, ‘made to ˜’, ‘capable of ˜’ or the like. The term ‘configured to ˜’ may not necessarily mean only ‘specially designed to ˜’ in hardware. Instead, in some situations, the expression ‘a device configured to ˜’ may mean that the device is ‘capable of ˜’ together with another device or component. For example, a phrase ‘a device configured to perform A, B, and C’ may imply a dedicated device for performing a corresponding operation or imply a general-purpose device capable of performing various operations including the corresponding operation.
Meanwhile, the terms ‘upper’, ‘lower’, and ‘forward/backward direction’ used in the disclosure are defined on the basis of the drawings, and the shapes and positions of each component are not limited by these terms.
Although the foregoing description in the disclosure has been made on the basis of specific embodiments, the disclosure is not limited to such specific embodiments, and it should be understood that it encompasses any and all various modifications, equivalents, and/or substitutes of various embodiments.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10-2022-0090890 | Jul 2022 | KR | national |
This application is a continuation application of International Application No. PCT/KR2023/005479 designating the United States, filed on Apr. 21, 2023, in the Korean Intellectual Property Receiving Office, which claims priority from Korean Patent Application No. 10-2022-0090890, filed on Jul. 22, 2022, in the Korean Intellectual Property Office, the disclosures of which are hereby incorporated by reference herein in their entireties.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/KR2023/005479 | Apr 2023 | US |
| Child | 18200151 | US |
