Robot cleaner equipped with noise-reducing exhaust duct

Abstract

A robot vacuum cleaner is disclosed. A robot vacuum cleaner according to an embodiment of the present invention comprises a main body, an exhaust housing, and an exhaust duct. The exhaust duct may comprise an inner duct, an outer duct, and a suction frame. A plurality of through holes are formed in the inner duct. A sound-absorbing frame is provided between the inner duct and the outer duct, and divides the space between the inner duct and the outer duct to form a plurality of cavities communicating with each through hole. Noise is reduced as exhaust air exhausted from the exhaust duct flows into the through holes and cavities, and a robot vacuum cleaner can be provided in which noise reduction is effectively achieved when exhaust air is discharged through the exhaust housing and the exhaust duct.

Description

Technology Field

[0001] The present invention relates to a robot vacuum cleaner, and more specifically, to a robot vacuum cleaner equipped with a noise-reducing exhaust duct capable of reducing noise generated by the robot vacuum cleaner. Background Technology

[0002] A robot vacuum cleaner comprising a motor, various sensors, a battery, and artificial intelligence (AI) can be configured to drive autonomously and clean the area requiring cleaning.

[0003] A robot vacuum cleaner can be configured to suck up dust, etc. by vacuuming, sweep up dust, and / or wipe the cleaning surface using a mop.

[0004] In a robot vacuum cleaner, a rotating fan and motor are provided to suck in dust, etc. Accordingly, dust, etc. are sucked into the interior of the robot vacuum cleaner along with air, and the air separated from the dust can be discharged back outside the robot vacuum cleaner through an exhaust duct.

[0005] At this time, noise may be generated due to the rotation of the motor and fan, and noise may also be generated due to the flow of air as air is drawn in or expelled.

[0006] Meanwhile, although not relating to a robot vacuum cleaner, Korean registered patent 10-1282905 B1 (registration date: July 1, 2013) (hereinafter referred to as the 'prior art') discloses a noise reduction device for a vacuum cleaner.

[0007] In the aforementioned prior art, the noise reduction device is installed in an extension pipe, or in a handle, flexible hose, etc.

[0008] However, first of all, the noise reduction device disclosed in the aforementioned prior art is difficult to apply to a robot vacuum cleaner.

[0009] In addition, the aforementioned prior art describes installing the noise reduction device on the extension tube, handle, and flexible hose through which dust travels, so there is a problem in that it is practically difficult to prevent dust from entering the noise reduction device. The problem to be solved

[0010] The objective of the present invention is to provide a robot vacuum cleaner that effectively reduces noise and vibration generated when exhaust air is discharged according to the rotation of the motor and fan in the robot vacuum cleaner, and prevents dust or foreign matter from entering the noise reduction structure.

[0011] The problem that the present invention aims to solve is to provide a robot vacuum cleaner capable of achieving complex and sequential noise reduction in the exhaust duct of the robot vacuum cleaner.

[0012] The problem that the present invention aims to solve is to provide a robot vacuum cleaner in which both vibration reduction and noise reduction can be effectively achieved by considering the vibration generation site and the noise generation site in the exhaust duct of the robot vacuum cleaner.

[0013] The problem that the present invention aims to solve is to provide a robot vacuum cleaner in which exhaust air is dispersed and reflected in various directions within the exhaust duct of the robot vacuum cleaner to improve the noise reduction effect.

[0014] The problem that the present invention aims to solve is to provide a robot vacuum cleaner capable of reducing noise by making the airflow uniform as exhaust air is discharged through the exhaust duct of the robot vacuum cleaner. means of solving the problem

[0015] To achieve the above objective, a robot vacuum cleaner according to an embodiment of the present invention comprises a main body, an exhaust housing, and an exhaust duct.

[0016] The exhaust housing is provided in the main body and is configured so that dust-filtered exhaust air flows into it.

[0017] The exhaust duct is connected to the downstream side of the exhaust air from the exhaust housing, forming a duct that allows the air inside the exhaust housing to be discharged to the outside of the main body.

[0018] The above exhaust duct may comprise an inner duct, an outer duct, and a sound-absorbing frame.

[0019] The above internal duct has a plurality of through holes formed therein.

[0020] The above-mentioned external duct surrounds the above-mentioned internal duct at a distance and forms a wall surface.

[0021] The sound-absorbing frame is provided between the inner duct and the outer duct. The sound-absorbing frame partitions the space between the inner duct and the outer duct to form a plurality of cavities communicating with each of the through holes.

[0022] The cross-sectional area of ​​the above cavity may be larger than the cross-sectional area of ​​the above through hole.

[0023] The above sound-absorbing frame can be formed in a grid shape.

[0024] The above inner duct may comprise: a first inner wall; a second inner wall facing the first inner wall; a third inner wall connecting the first inner wall and the second inner wall; and a fourth inner wall facing the third inner wall and connecting the first inner wall and the second inner wall.

[0025] The through hole may be formed in at least two of the first inner wall, the second inner wall, the third inner wall, and the fourth inner wall.

[0026] When the cross-sectional area of ​​the through hole is A, the length of the through hole is L, and the volume of the cavity is V, A, L, and V can be formed to have at least two different combinations.

[0027] The above external duct may comprise a first inner layer formed of butyl rubber; and a first outer layer formed in close contact with the outer surface of the first inner layer and made of aluminum.

[0028] The exhaust housing may comprise: a housing side wall forming a side wall along the circumferential direction with respect to a central axis; and a housing end wall shielding the end of the housing side wall.

[0029] The exhaust duct may be formed along a direction away from the central axis on the housing side wall.

[0030] The above-described robot vacuum cleaner may comprise: an exhaust actuator that blows exhaust air from the exhaust housing and the exhaust duct and is located closer to the exhaust housing than to the exhaust duct; and a housing cover that surrounds the exhaust housing.

[0031] The above housing cover may comprise a second inner layer formed of butyl rubber; and a second outer layer formed in close contact with the outer surface of the second inner layer and made of aluminum.

[0032] To achieve the above objective, a robot vacuum cleaner according to an embodiment of the present invention comprises: a main body; an exhaust housing provided in the main body into which dust-filtered exhaust air is introduced; and an exhaust duct connected downstream of the exhaust air from the exhaust housing to form a duct through which air inside the exhaust housing is discharged to the outside of the main body; wherein the exhaust duct may comprise an inner duct having a through hole formed therein; and an outer duct spaced apart from the inner duct and forming a cavity communicating with the through hole.

[0033] The exhaust duct may comprise a porous sound-absorbing layer provided between the inner duct and the outer duct.

[0034] The above-described robot vacuum cleaner may comprise a reflector that is positioned at an angle such that it is provided inside the internal duct and is positioned closer to the upstream side as it faces the center of the exhaust duct.

[0035] The above reflector may comprise: a first reflector formed such that one end is close to or in close contact with a first inner wall of the inner duct; and a second reflector formed such that one end is close to or in close contact with a second inner wall of the inner duct opposite to the first inner wall.

[0036] The first reflector and the second reflector may be formed at different positions based on the longitudinal direction of the exhaust duct.

[0037] The above-described robot vacuum cleaner may comprise a sound-absorbing block made of foam, which is filled and combined inside the internal duct.

[0038] The above sound-absorbing block may be provided at the end of the internal duct. Effects of the invention

[0039] A robot vacuum cleaner according to an embodiment of the present invention comprises a main body, an exhaust housing, and an exhaust duct, wherein the exhaust duct comprises an inner duct, an outer duct, and a sound-absorbing frame. In one embodiment, the exhaust duct comprises an inner duct and an outer duct and may further comprise a sound-absorbing layer. According to an embodiment of the present invention, dust-filtered exhaust air is discharged to the outside of the robot vacuum cleaner through the exhaust housing and the exhaust duct. At this time, as the exhaust air flows into the through holes and cavities provided in the exhaust duct, the noise of the exhaust air can be reduced, dust or foreign substances can be prevented from entering the through holes and cavities, and the noise reduction effect in the robot vacuum cleaner can be maintained consistently.

[0040] In a robot vacuum cleaner according to an embodiment of the present invention, when the cross-sectional area of ​​the through hole is A, the length of the through hole is L, and the volume of the cavity is V, A, L, and V can be formed to have at least two different combinations. Accordingly, noise of various resonance frequencies in the exhaust duct can be effectively reduced by utilizing the Helmholtz resonator principle.

[0041] In a robot vacuum cleaner according to an embodiment of the present invention, the external duct may comprise a first inner layer and a first outer layer. The external duct may form part of a Helmholtz resonator and also function as a means for vibration damping. Accordingly, noise and vibration generated when exhaust air is discharged according to the rotation of the motor and fan in the robot vacuum cleaner can be effectively reduced.

[0042] A robot vacuum cleaner according to an embodiment of the present invention includes an exhaust actuator and a housing cover, and the housing cover may comprise a second inner layer and a second outer layer. Accordingly, the housing cover is used as a means for vibration damping in the exhaust housing where vibration occurs, thereby effectively reducing vibration and preventing it from being transmitted to the exhaust duct, and noise and vibration can be effectively reduced by reducing noise in the exhaust duct based on the Helmholtz resonator principle.

[0043] A robot vacuum cleaner according to an embodiment of the present invention may include a reflector. Exhaust air moving through the exhaust duct may collide with the reflector, and as its direction of movement is repeatedly changed, noise may be reduced inside the exhaust duct. In addition, the reflector and the exhaust duct are combined to form a wedge shape, and the sound waves of the exhaust air entering between the reflector and the exhaust duct may change their phase and combine with subsequent sound waves, and at this time, noise may be canceled out by the phases of the opposite sound waves.

[0044] A robot vacuum cleaner according to an embodiment of the present invention may comprise a first reflector and a second reflector. The first reflector and the second reflector may be formed at different positions based on the longitudinal direction of the exhaust duct. Accordingly, the passage inside the exhaust duct can be prevented from becoming unnecessarily narrowed by the first reflector and the second reflector, and noise reduction can be effectively achieved by diverting the flow direction of the exhaust air.

[0045] A robot vacuum cleaner according to an embodiment of the present invention may include a sound-absorbing block. The sound-absorbing block can make the flow of exhaust air uniform and can reduce flow noise by preventing vortices, eddies, etc. of the exhaust air.

[0046] According to the robot vacuum cleaner of the embodiment of the present invention, complex and sequential noise reduction can be achieved in the exhaust duct of the robot vacuum cleaner. Brief explanation of the drawing

[0047] FIG. 1 is a perspective view illustrating a robot vacuum cleaner according to an embodiment of the present invention. Figure 2 is a side view illustrating the robot vacuum cleaner shown in Figure 1. FIG. 3 is a schematic diagram illustrating the interior of a robot vacuum cleaner according to one embodiment of the present invention. FIG. 4 is a perspective view illustrating a part of the configuration of a robot vacuum cleaner according to one embodiment of the present invention. FIG. 5 is a cross-sectional view schematically illustrating an exhaust duct according to one embodiment of the present invention. FIG. 6 is a cross-sectional view schematically illustrating a part of an exhaust duct according to one embodiment of the present invention. FIG. 7 is a perspective view illustrating a part of the configuration of a robot vacuum cleaner according to one embodiment of the present invention. FIG. 8 is a cross-sectional view schematically illustrating a part of an exhaust duct according to one embodiment of the present invention. FIG. 9 is a cross-sectional view schematically illustrating a part of an exhaust duct according to one embodiment of the present invention. FIG. 10 is a perspective view illustrating a part of the configuration of a robot vacuum cleaner according to one embodiment of the present invention. FIG. 11 is a schematic diagram illustrating the interior of an exhaust duct according to one embodiment of the present invention. FIG. 12 is a schematic diagram illustrating the interior of an exhaust duct according to one embodiment of the present invention. Figure 13 is a graph showing the noise reduction results in a robot vacuum cleaner according to an embodiment of the present invention. Specific details for implementing the invention

[0048] Hereinafter, in order to explain the present invention more specifically, embodiments according to the present invention will be described in more detail with reference to the accompanying drawings. Throughout the detailed description, the same reference numerals indicate the same components.

[0049] The X, Y, and Z directions indicated in the drawing are mutually orthogonal directions. Unless otherwise specifically limited, the X direction may be understood as the forward direction, the Y direction as the left direction, and the Z direction as the upward direction.

[0050] FIG. 1 is a perspective view illustrating a robot vacuum cleaner (1) according to an embodiment of the present invention.

[0051] FIG. 2 is a side view illustrating the robot vacuum cleaner (1) shown in FIG. 1.

[0052] FIG. 3 is a plan view illustrating a robot vacuum cleaner (1) according to an embodiment of the present invention. In FIG. 3, the upper cover (300) of the robot vacuum cleaner (1) is shown removed so that the interior of the robot vacuum cleaner (1) is visible.

[0053] A robot vacuum cleaner (1) according to an embodiment of the present invention comprises a main body (100), a bumper (200), and an upper cover (300).

[0054] A robot vacuum cleaner (1) according to an embodiment of the present invention is configured to be placed on a floor surface (B) and to move along the floor surface (B). The floor surface (B) may be the object of cleaning. Accordingly, the following description will define the vertical direction based on the state in which the robot vacuum cleaner (1) is placed on the floor surface (B) to enable cleaning according to its intended use.

[0055] A robot vacuum cleaner (1) according to an embodiment of the present invention is formed in the form of a vacuum robot vacuum cleaner (1) that sucks up dust, etc. by vacuum.

[0056] The main body (100) may form the overall shape of the robot vacuum cleaner (1) or be formed in the shape of a frame. Each component forming the robot vacuum cleaner (1) may be combined with the main body (100), and some components forming the robot vacuum cleaner (1) may be accommodated inside the main body (100).

[0057] A robot vacuum cleaner (1) according to an embodiment of the present invention may include a bumper (200) to absorb external shocks and / or detect contact with an external object. The bumper (200) may be attached to the edge of the main body (100), and the bumper (200) may be movable relative to the main body (100). The bumper (200) may be attached to the front edge of the main body (100).

[0058] One or more elastic bodies (120) may be provided between the bumper (200) and the main body (100), and the bumper (200) may be elastically supported against the main body (100) by the elastic bodies (120). The elastic bodies (120) may include springs such as coil springs, leaf springs, or torsion springs.

[0059] Additionally, the bumper (200) is configured to be movable inward or outward within a predetermined range relative to the main body (100), and the bumper (200) is configured to be caught on the main body (100) so as to prevent detachment from the main body (100).

[0060] An upper catch (131) is formed on the upper edge of the main body (100), and an upper catch (201) is formed on the upper side of the bumper (200), so that the bumper (200) can be caught on the upper catch (131) when it has moved as far as possible to the outer side in the horizontal direction (outer side in the direction away from the main body (100)). Additionally, a lower catch (132) is formed on the lower edge of the main body (100), and a lower catch (202) is formed on the lower side of the bumper (200), so that the bumper (200) can be caught on the lower catch (132) when it has moved as far as possible to the outer side (outer side in the direction away from the main body (100)).

[0061] The upper catch projection (131) and the upper catch portion (201) may each be provided in multiple numbers and can be repeatedly formed along the edge of the robot vacuum cleaner (1). Additionally, the lower catch projection (132) and the lower catch portion (202) may each be provided in multiple numbers and can be repeatedly formed along the edge of the robot vacuum cleaner (1). The upper catch projection (131) and the lower catch projection (132) are formed in the area where the bumper (200) is formed, and when the main body (100) is formed in a circular shape in a plan view, they may generally be formed in the front semicircular area of ​​the main body (100).

[0062] When the bumper (200) comes into contact with an external object and is pressed toward the main body (100), the elastic body (120) undergoes elastic deformation (compressive deformation), and then the elastic body (120) is elastically restored, allowing the bumper (200) to return to its original position.

[0063] The bumper (200) can be configured to move horizontally relative to the main body (100).

[0064] In an embodiment of the present invention, the main body (100) may be formed in a shape in which the size (width or diameter) in the horizontal direction (direction parallel to X and Y) is larger than the size (height) in the vertical direction (direction parallel to Z). This main body (100) helps the robot vacuum cleaner (1) form a stable structure and can provide a structure advantageous for avoiding obstacles while the robot vacuum cleaner (1) moves (drives).

[0065] When viewed from above or below, the main body (100) can be formed in various shapes, such as a circle, an oval, or a square.

[0066] A robot vacuum cleaner (1) according to an embodiment of the present invention may be formed to include a drive wheel (102). The drive wheel (102) is coupled to the main body (100) to rotate around a rotation axis in the left-right direction (a direction parallel to Y). In the robot vacuum cleaner (1), two drive wheels (102) may be provided, and the drive wheels (102) may be provided on the left and right sides of the main body (100), respectively. By operating the drive wheel (102), the robot vacuum cleaner (1) can move on the floor surface (B).

[0067] A robot vacuum cleaner (1) according to an embodiment of the present invention may include an auxiliary wheel (103). The auxiliary wheel (103) is coupled to the main body (100) to rotate around a horizontal axis of rotation.

[0068] A robot vacuum cleaner (1) according to an embodiment of the present invention may comprise a mop (170). The mop (170) may be divided into a first mop (171) and a second mop (172).

[0069] The mop (170) is provided on the lower side of the main body (100) and configured to come into contact with the floor surface. Accordingly, as the robot vacuum cleaner (1) moves, the mop (170) can wipe the floor surface while mopping (170).

[0070] A robot vacuum cleaner (1) according to an embodiment of the present invention may comprise a mop plate (180). In the robot vacuum cleaner (1) according to an embodiment of the present invention, the mop plate (180) and the mop (170) may each be provided as a pair, and at this time, one mop (170) is coupled to one mop plate (180). (A first mop (171) is coupled to the first mop plate (181), and a second mop (172) is coupled to the second mop plate (182).)

[0071] The map plate (180) is coupled to the lower side of the main body (100) and is configured to rotate relative to the main body (100).

[0072] The map plate (180) is formed to have a predetermined area and is formed in the shape of a flat plate or a flat frame. The map plate (180) is generally laid horizontally, and accordingly, is formed in a shape where the horizontal width (or diameter) is sufficiently larger than the vertical height. The bottom surface of the map plate (180) attached to the main body (100) may be parallel to the bottom surface (B) or may be inclined with respect to the bottom surface (B).

[0073] The map plate (180) can be formed in the shape of a circular plate, and the bottom surface of the map plate (180) can generally be circular.

[0074] In the map plate (180), holes penetrating in the vertical direction may be repeatedly formed along the circumferential direction.

[0075] The map plate (180) can be formed in a rotationally symmetric shape overall.

[0076] The rotation axis (185a, 185b) of the map plate (180) is formed in the center of the map plate (180). The rotation axis (185a, 185b) of the map plate (180) may be formed along the vertical direction or generally along the vertical direction.

[0077] In a robot vacuum cleaner (1) according to an embodiment of the present invention, a pair of map plates (180) (a first map plate (181) and a second map plate (182)) may be formed identically to each other, or may be formed symmetrically with respect to a center line running across the front and back of the robot vacuum cleaner (1). If one of the map plates (181) is located on the left side of the robot vacuum cleaner (1), the other map plate (182) may be located on the right side of the robot vacuum cleaner (1), and in this case, the pair of map plates (180) may be symmetrical to each other.

[0078] The mop (170) overlaps with the mop plate (180) and is joined to the lower side of the mop plate (180).

[0079] The mop (170) is formed such that the bottom surface facing the floor has a predetermined area, and the mop (170) is formed in a flat shape. The mop (170) is formed such that the horizontal width (or diameter) is sufficiently larger than the vertical height. The bottom surface of the mop (170) may be parallel to the bottom surface (B) or may be inclined with respect to the bottom surface (B).

[0080] The bottom surface of the mop (170) can generally be circular. The mop (170) can be formed in a rotationally symmetrical shape overall. The mop (170) can be made of various materials capable of wiping the bottom surface (B) while in contact with the bottom surface (B). The bottom surface of the mop (170) can be made of a fabric or knitted material, a non-woven fabric, and / or a brush having a predetermined area.

[0081] In the robot vacuum cleaner (1) according to an embodiment of the present invention, the mop (170) is attached to the bottom surface of the mop plate (180) and is coupled to the mop plate (180) to rotate together with the mop plate (180).

[0082] The mop (170) can be attached to and detached from the mop plate (180) using various devices and methods. In one embodiment, at least a portion of the mop (170) may be attached to the mop plate (180) by means such as hooking or fitting. In another embodiment, a separate device such as a clamp may be provided to attach the mop (170) and the mop plate (180). In yet another embodiment, one end of a pair of fastening devices that are attached and detached from each other (specific examples of the fastening devices may include a pair of magnets that exert an attractive force on each other, a pair of Velcro that are attached to each other, or a pair of buttons (female and male buttons) that are attached to each other) may be fixed to the mop (170) and the other end may be fixed to the mop plate (180).

[0083] In the case where the mop (170) is attached to the mop plate (180), the mop (170) and the mop plate (180) may be attached in an overlapping manner, and the mop (170) may be attached to the mop plate (180) such that the center of the mop (170) coincides with the center of the mop plate (180).

[0084] Each mop plate (180) to which the mop (170) is attached rotates around each rotation axis (185a, 185b), thereby mopping (170) the floor surface (B) with the mop (170).

[0085] A pair of mops (170) (first mop (171) and second mop (172)) can be made identical to each other. If one mop (171) is located on the left side of the robot vacuum cleaner (1), the other mop (172) can be located on the right side of the robot vacuum cleaner (1), and in this case, the pair of mops (170) (first mop (171) and second mop (172)) can be symmetrical to each other.

[0086] A robot vacuum cleaner (1) according to an embodiment of the present invention comprises a plurality of actuators (111, 112, 113, 150), a suction port (104), a dust bin (105), and a battery (107).

[0087] The exhaust actuator (150) among the actuators comprises a fan motor (151) and an exhaust fan (152).

[0088] Each actuator (111, 112, 113, 150) may be configured to include a motor and gears, etc. The first actuator (111) may be configured to transmit rotational power to the first map plate (181) to rotate the first map plate (181). The second actuator (112) may be configured to transmit rotational power to the second map plate (182) to rotate the second map plate (182). The third actuator (113) may be configured to transmit rotational power to the drive wheel (102) to rotate the drive wheel (102).

[0089] The suction force is transmitted to the suction port (104) by the operation of the fan motor (151), and accordingly, dust can be introduced into the suction port (104).

[0090] The suction port (104) may be provided in a form that is open at the bottom surface of the robot vacuum cleaner (1), and dust on the bottom surface (B) may move into the robot vacuum cleaner (1) through the suction port (104), and this dust may be moved to and stored in a dust bin (105) provided inside the robot vacuum cleaner (1).

[0091] FIG. 4 is a perspective view showing a separated portion of the robot vacuum cleaner (1) shown in FIG. 3. In FIG. 4, some portions are shown in a transparent form so that their interiors are visible.

[0092] FIG. 5 is a cross-sectional view schematically illustrating an exhaust duct (500) according to one embodiment of the present invention.

[0093] FIG. 6 is a cross-sectional view schematically illustrating a part of an exhaust duct (500) according to one embodiment of the present invention.

[0094] FIG. 7 is a perspective view showing a portion of the robot vacuum cleaner (1) illustrated in FIG. 3 separated. In FIG. 7, the external duct (520) is excluded, and the sound-absorbing frame (530) is shown attached to the outer surface of the internal duct (510).

[0095] A robot vacuum cleaner (1) according to an embodiment of the present invention comprises an exhaust housing (400) and an exhaust duct (500).

[0096] The dust bin (105) is connected to the exhaust housing (400) and the exhaust duct (500), and air introduced into the dust bin (105) is discharged to the outside of the robot vacuum cleaner (1) through the exhaust housing (400) and the exhaust duct (500).

[0097] However, the dust bin (105) is equipped with one or more filters (105a), and the air in the dust bin (105) can be filtered as it passes through the filters (105a) and then move toward the exhaust housing (400). Exhaust air is introduced into the exhaust housing (400) and moves toward the exhaust duct (500).

[0098] The exhaust air described in the embodiment of the present invention refers to air discharged from inside the robot vacuum cleaner (1) to the outside of the robot vacuum cleaner (1).

[0099] The exhaust housing (400) is provided inside the main body (100). The exhaust housing (400) forms a predetermined space.

[0100] The exhaust housing (400) can be configured so that dust-filtered exhaust air flows into it. According to an embodiment, a filter may be provided inside the exhaust housing (400), and dust may be filtered as the air passes through the exhaust housing (400).

[0101] The exhaust actuator (150) blows exhaust air from the exhaust housing (400) and the exhaust duct (500) and is located closer to the exhaust housing (400) than to the exhaust duct (500).

[0102] All or part of the exhaust actuator (150) may be housed and provided inside the exhaust housing (400). As the exhaust fan (152) of the exhaust actuator (150) rotates, it generates an airflow, and accordingly, the air in the dust bin (105) moves toward the exhaust housing (400) and the exhaust duct (500).

[0103] The exhaust housing (400) can be divided into an upstream housing (410) and a downstream housing (420). The upstream housing (410) and the downstream housing (420) can be combined to form the exhaust housing (400).

[0104] The upstream housing (410) is the part connected to the dust bin (105), and the downstream housing (420) is the part connected to the exhaust duct (500).

[0105] The exhaust housing (400) may be formed including a housing side wall (421) and a housing end wall (422).

[0106] The housing side wall (421) forms a side wall along the circumferential direction around the central axis (C) of the exhaust housing (400). The central axis (C) of the exhaust housing (400) may coincide with the rotation axis of the exhaust fan (152) of the exhaust actuator (150).

[0107] The housing end wall (422) is connected to the housing side wall (421) in a manner that shields the end of the housing side wall (421).

[0108] The housing side wall (421) and the housing end wall (422) can form a downstream housing (420).

[0109] The exhaust housing (400) can be formed in a circular (cylindrical) shape centered on the rotation axis of the fan motor (151) and the exhaust fan (152) of the exhaust actuator (150).

[0110] Noise and / or vibration may be generated by the operation of the exhaust actuator (150) itself (rotation of the fan motor (151) and the exhaust fan (152)) and by the airflow resulting from the operation of the exhaust actuator (150). The robot vacuum cleaner (1) according to an embodiment of the present invention is configured to effectively reduce such vibration and / or noise, as described below.

[0111] The exhaust duct (500) is connected to the downstream side of the exhaust air from the exhaust housing (400). The exhaust duct (500) is connected to the downstream housing (420) of the exhaust housing (400). The exhaust duct (500) can be formed integrally with the exhaust housing (400). The exhaust duct (500) can be formed integrally with the downstream housing (420).

[0112] The exhaust duct (500) forms a duct that allows air inside the exhaust housing (400) to be discharged to the outside of the main body (100).

[0113] The exhaust duct (500) may be formed in a shape that extends along the horizontal direction from the exhaust housing (400). That is, the longitudinal direction (AD) (the direction of exhaust air flow in the inner duct (510)) of the exhaust duct (500) may be formed along the horizontal direction. The longitudinal direction (AD) (the direction of exhaust air flow in the inner duct (510)) of the exhaust duct (500) may be formed parallel to the horizontal direction.

[0114] By moving the flow of exhaust air in the exhaust duct (500) along the horizontal direction, the air discharged from the exhaust duct (500) is sprayed upward toward the robot vacuum cleaner (1), thereby preventing the noise generated during air discharge from being transmitted directly toward the user, and also preventing the discharged air from being sprayed toward the floor surface and hitting the floor to generate noise.

[0115] When the rotation axis (C) of the fan motor (151) and exhaust fan (152) of the exhaust actuator (150) is parallel to the front-rear direction of the robot vacuum cleaner (1), the longitudinal direction (AD) of the exhaust duct (500) may be inclined or perpendicular to the front-rear direction. When the rotation axis of the fan motor (151) and exhaust fan (152) of the exhaust actuator (150) is parallel to the front-rear direction of the robot vacuum cleaner (1), the longitudinal direction (AD) of the exhaust duct (500) may be parallel to the left-right direction of the robot vacuum cleaner (1).

[0116] The exhaust duct (500) can be formed along a direction extending radially away from the outer surface of the exhaust housing (400) (outer surface of the downstream housing (420), housing side wall (421)).

[0117] The exhaust duct (500) can be formed along the direction away from the central axis (C) on the housing side wall (421).

[0118] Accordingly, when exhaust air is introduced from the center of the exhaust actuator (150) (exhaust fan (152)) into the interior of the cylindrical exhaust housing (400) and then discharged radially, the direction of discharge of the exhaust air can be aligned with the direction of formation of the exhaust duct (500), and smooth discharge of exhaust air can be achieved within the exhaust housing (400) and the exhaust duct (500).

[0119] In an embodiment of the present invention, the exhaust duct (500) may comprise an inner duct (510), an outer duct (520), and a sound-absorbing frame (530).

[0120] The inner duct (510) forms the interior of the exhaust duct (500), and the outer duct (520) forms the exterior of the exhaust duct (500).

[0121] The inner duct (510) forms an inner wall surface in the exhaust duct (500).

[0122] The internal duct (510) can be formed in the shape of a pipe, tube, duct, etc., so that exhaust air can move through its interior. The internal duct (510) can be formed as a single unit. The internal duct (510) can be formed as a single unit with the exhaust housing (400) (downstream housing (420)).

[0123] The outer duct (520) is provided on the outside of the inner duct (510) and is spaced apart from the inner duct (510).

[0124] The external duct (520) forms an external wall surface in the exhaust duct (500).

[0125] The outer duct (520) can be formed as a whole, or it can be divided into parts corresponding to each wall surface of the inner duct (510).

[0126] The outer duct (520) is formed to surround the inner duct (510) and can be formed in the shape of a pipe, tube, duct, etc.

[0127] A through hole (511) is formed in the inner duct (510). Multiple through holes (511) may be formed in the inner duct (510). The through holes (511) may be formed in the shape of a hole, such as a circle, an ellipse, or a polygon. Multiple through holes (511) are spaced apart from each other, and the through holes (511) are repeatedly formed along the plane direction of the inner duct (510).

[0128] The sound-absorbing frame (530) is provided between the inner duct (510) and the outer duct (520). The sound-absorbing frame (530) divides the space between the inner duct (510) and the outer duct (520) into a plurality of detailed spaces (cavities (512)), and each detailed space (cavity (512)) is connected to each of the through holes (511).

[0129] In an embodiment of the present invention, the cross-sectional area of ​​the cavity (512) may be larger than the cross-sectional area of ​​the through hole (511).

[0130] The sound-absorbing frame (530) may be formed in the shape of a plate. In this case, a plurality of sound-absorbing frames (530) may be provided between the inner duct (510) and the outer duct (520).

[0131] The sound-absorbing frame (530) can be formed entirely in the shape of a pipe, tube, or duct. In this case, one sound-absorbing frame (530) is provided between the inner duct (510) and the outer duct (520).

[0132] In the sound-absorbing frame (530), a plurality of cavity holes (533) that penetrate the sound-absorbing frame (530) are formed. The cavity holes (533) can be repeatedly formed along the surface direction of the sound-absorbing frame (530). Each cavity hole (533) is formed at a position corresponding to each through hole (511). The distance between the centers of two adjacent cavity holes (533) can be the same as the distance between the centers of two adjacent through holes (511).

[0133] The cavity hole (533) is a part that forms the cavity (512), and the space formed by the cavity hole (533) when the inner duct (510), outer duct (520), and sound-absorbing frame (530) are combined is the cavity (512).

[0134] The shape of the cavity hole (533) can be various, such as circular, elliptical, or polygonal.

[0135] The sound-absorbing frame (530) may be formed in a grid shape. The sound-absorbing frame (530) may be formed by including a first frame (531) and a second frame (532). Each of the first frame (531) and the second frame (532) is provided in multiple numbers. Multiple first frames (531) may be spaced parallel to each other, and multiple second frames (532) may be spaced parallel to each other, and the first frames (531) and the second frames (532) may be combined in a form that intersects each other. As the first frame (531) and the second frame (532) repeatedly intersect, multiple cavity holes (533) may be formed in the sound-absorbing frame (530) in a repeating row and column.

[0136] The structure of the exhaust duct (500) can be stably maintained by providing a sound-absorbing frame (530) between the inner duct (510) and the outer duct (520).

[0137] Since the sound-absorbing frame (530) is formed in a grid shape, the formation of the cavity hole (533) is easy and the structure of the exhaust duct (500) can be maintained stably.

[0138] The inner duct (510) may be divided into a first inner wall (510a), a second inner wall (510b), a third inner wall (510c), and a fourth inner wall (510d). The first inner wall (510a), the second inner wall (510b), the third inner wall (510c), and the fourth inner wall (510d) each form the wall surface of the inner duct (510).

[0139] The first inner wall (510a) and the second inner wall (510b) may be formed parallel to each other, and the third inner wall (510c) and the fourth inner wall (510d) may be formed parallel to each other.

[0140] The second inner wall (510b) forms a wall surface opposite to the first inner wall (510a). The third inner wall (510c) connects the first inner wall (510a) and the second inner wall (510b). The fourth inner wall (510d) is opposite to the third inner wall (510c) and connects the first inner wall (510a) and the second inner wall (510b).

[0141] In the cross section of the inner duct (510), when the first inner wall (510a) forms the left wall, the second inner wall (510b) can form the right wall, and when the third inner wall (510c) forms the upper wall, the fourth inner wall (510d) can form the lower wall.

[0142] In the exhaust duct (500), internal duct (510), and external duct (520), the length, width and height in the cross-section, etc., of each can be varied according to the robot vacuum cleaner (1).

[0143] In the inner duct (510), the through hole (511) may be formed in at least two of the first inner wall (510a), the second inner wall (510b), the third inner wall (510c), and the fourth inner wall (510d).

[0144] In a robot vacuum cleaner (1) according to an embodiment of the present invention, a through hole (511) and a cavity (512) are provided in the exhaust duct (500), so that when exhaust air moves in the exhaust duct (500), noise can be canceled out by the Helmholtz resonator principle.

[0145] When the cross-sectional area of ​​the through hole (511) is A, the length of the through hole (511) is L, and the volume of the cavity (512) is V, the resonance frequency (f) according to the following [Equation 1] can be derived.

[0146] [Equation 1]

[0147]

[0148] In [Equation 1], c is the speed of sound.

[0149] When exhaust air is discharged through the exhaust duct (500), noise corresponding to the resonance frequency (f) according to [Equation 1] can be absorbed or canceled out by the Helmholtz resonance principle.

[0150] In an embodiment of the present invention, when the cross-sectional area of ​​the through hole (511) is A, the length of the through hole (511) is L, and the volume of the cavity (512) is V, A, L, and V may be formed to have at least two different combinations.

[0151] Accordingly, noise corresponding to multiple different resonance frequencies in the exhaust duct (500) can be reduced, and a wide range of noise can be canceled out.

[0152] In addition, according to the robot vacuum cleaner (1) of the embodiment of the present invention, a through hole (511) and a cavity (512) are formed in the exhaust duct (500) through which dust-filtered air moves, thereby preventing dust or foreign substances from entering into the through hole (511) and the cavity (512), and there is no need to disassemble the robot vacuum cleaner (1) to clean dust, and the noise reduction effect can be maintained consistently in the robot vacuum cleaner (1).

[0153] FIGS. 8 and FIGS. 9 are cross-sectional views schematically illustrating a part of an exhaust duct (500) according to one embodiment of the present invention.

[0154] FIG. 10 is a drawing illustrating an exhaust housing (400) and a housing cover (430) as part of a robot vacuum cleaner (1) according to one embodiment of the present invention. In FIG. 10, the housing cover (430) is shown with a dotted line.

[0155] In the robot vacuum cleaner (1) according to an embodiment of the present invention, the external duct (520) is formed in a manner that shields the cavity (512). That is, the external duct (520) shields the cavity (512) so that the cavity (512) is not directly connected to the outside air, except for the through hole (511).

[0156] In one embodiment, the external duct (520) may be made of a single layer (see FIG. 8).

[0157] In an embodiment of the present invention, the external duct (520) is configured to reduce noise while forming a cavity (512), and at the same time, can be configured to reduce vibration by exerting a vibration damping effect.

[0158] In one embodiment, the external duct (520) may comprise a first inner layer (521) and a first outer layer (522). (See FIG. 9)

[0159] The first inner layer (521) can be made of butyl rubber.

[0160] The first outer layer (522) is formed in close contact with the outer surface of the first inner layer (521) and may be made of aluminum.

[0161] The first outer layer (522) has relatively high rigidity and stably forms the outer duct (520), and prevents an increase in the weight of the robot vacuum cleaner (1) due to its relatively low density. The first outer layer (522) can function as a sound insulation material.

[0162] The first inner layer (521) is made of butyl rubber, so that vibration energy is effectively absorbed and dissipated due to the elasticity and damping properties unique to rubber.

[0163] Therefore, vibrations transmitted to the exhaust duct (500) can be effectively reduced by the external duct (520).

[0164] A robot vacuum cleaner (1) according to an embodiment of the present invention may be formed by including a housing cover (430).

[0165] The housing cover (430) is formed to surround the exhaust housing (400). The housing cover (430) may be formed to surround part or all of the outer surface of the exhaust housing (400).

[0166] The housing cover (430) may be formed by including a second inner layer (431) and a second outer layer (432).

[0167] The second inner layer (431) can be formed of butyl rubber.

[0168] The second outer layer (432) is formed in close contact with the outer surface of the second inner layer (431) and may be made of aluminum.

[0169] The second outer layer (432) has relatively high rigidity and stably forms the housing cover (430), and prevents an increase in the weight of the robot vacuum cleaner (1) due to its relatively low density. The second outer layer (432) can function as a sound insulation material.

[0170] The second inner layer (431) is made of butyl rubber, so that vibration energy is effectively absorbed and dissipated due to the elasticity and damping properties unique to rubber.

[0171] Therefore, vibrations transmitted to the exhaust housing (400) can be effectively reduced by the housing cover (430).

[0172] Vibrations may occur relatively strongly in the exhaust housing (400) due to the operation of the exhaust actuator (150). In the robot vacuum cleaner (1) according to the embodiment of the present invention, vibrations in the exhaust housing (400) can be effectively reduced by the housing cover (430), and vibrations can be effectively prevented from being transmitted to the exhaust duct (500) and the outside.

[0173] Therefore, the housing cover (430) can dampen vibrations in the exhaust housing (400) to prevent vibrations from being transmitted to the exhaust duct (500), and noise and vibrations can be effectively reduced in the exhaust duct (500) by reducing noise according to the Helmholtz resonator principle.

[0174] In an embodiment of the present invention, the external duct (520) may be connected to the housing cover (430). The first inner layer (521) of the external duct (520) may be connected to the second inner layer (431) of the housing cover (430), and the first outer layer (522) of the external duct (520) may be connected to the second outer layer (432) of the housing cover (430). Accordingly, effective vibration reduction can be achieved throughout the exhaust housing (400) and the exhaust duct (500).

[0175] In a robot vacuum cleaner (1) according to an embodiment of the present invention, the exhaust duct (500) may comprise an inner duct (510) and an outer duct (520), and a cavity (512) is provided between the inner duct (510) and the outer duct (520), and the cavity (512) is in communication with a through hole (511).

[0176] In an embodiment of the present invention, the exhaust duct (500) may be formed to include a sound-absorbing layer (540). (See FIG. 6)

[0177] The sound-absorbing layer (540) is provided between the inner duct (510) and the outer duct (520) and is made of porous material.

[0178] The sound-absorbing layer (540) may be made of a porous sound-absorbing material, glass fiber, foam, perforated panel, or porous plastic, etc.

[0179] The sound-absorbing layer (540) is easy to manufacture itself and can be inserted between the inner duct (510) and the outer duct (520) to easily form an exhaust duct (500) that has a noise reduction effect.

[0180] In the sound-absorbing layer (540), sound can be attenuated by friction with the air, sound of a specific frequency can be absorbed by the sound-absorbing layer (540) by the Helmholtz resonator principle, or sound energy can be absorbed by vibrating at a specific frequency inside the sound-absorbing layer (540), thereby absorbing sound and reducing noise.

[0181] In the area where the sound-absorbing layer (540) is formed between the inner duct (510) and the outer duct (520), the sound-absorbing frame (530) may not be formed.

[0182] By providing a sound-absorbing layer (540) between the inner duct (510) and the outer duct (520), noise flowing into the cavity (512) through the through hole (511) is absorbed by the sound-absorbing layer (540), and the noise can be reduced.

[0183] FIGS. 11 and FIGS. 12 are cross-sectional views schematically illustrating a part of an exhaust duct (500) according to one embodiment of the present invention.

[0184] A robot vacuum cleaner (1) according to an embodiment of the present invention may be formed by including a sound-absorbing block (560). A robot vacuum cleaner (1) according to an embodiment of the present invention may be formed by including a reflector (550).

[0185] The sound-absorbing block (560) may be formed to have a porous structure and a predetermined volume. The sound-absorbing block (560) may be made of foam (e.g., PU foam). The sound-absorbing block (560) may be filled inside the exhaust duct (500) (inside the internal duct (510)).

[0186] Flow noise may occur as exhaust air moves inside the exhaust duct (500), but in the robot vacuum cleaner (1) according to the embodiment of the present invention, such flow noise can be reduced by filling the inside of the exhaust duct (500) with a sound-absorbing block (560).

[0187] Additionally, the sound-absorbing block (560) prevents noise that may be generated during the operation of the exhaust actuator (150) from being transmitted directly to the outside through the exhaust duct (500).

[0188] Additionally, the sound-absorbing block (560) makes the exhaust flow uniform when exhausting exhaust air and prevents the increase in noise due to exhaust in specific parts.

[0189] A reflector (550) is provided inside the internal duct (510). The reflector (550) is formed in the shape of a plate having a predetermined area. The reflector (550) is positioned at an angle to the longitudinal direction (AD) of the exhaust duct (500) (the longitudinal direction (AD) of the internal duct (510)). The reflector (550) is positioned at an angle so that it is located closer to the upstream side as it faces the center of the exhaust duct (500).

[0190] Exhaust air moving through the exhaust duct (500) strikes the reflector (550), and as its direction of movement (indicated by an arrow in FIG. 11) is repeatedly changed, noise can be reduced inside the exhaust duct (500). In addition, the reflector (550) and the exhaust duct (500) (inner duct (510)) are combined to form a wedge shape, and the sound waves of the exhaust air entering between the reflector (550) and the exhaust duct (500) (inner duct (510)) can be combined with subsequent sound waves as their phases change, and at this time, noise can be canceled out by the phases of the opposite sound waves.

[0191] In an embodiment of the present invention, the reflector (550) may be divided into a first reflector (551) and a second reflector (552).

[0192] The first reflector (551) is formed such that one end thereof is close to or in close contact with the first inner wall (510a) of the inner duct (510).

[0193] The second reflector (552) is formed such that one end thereof is close to or in close contact with the second inner wall (510b) which is opposite the first inner wall (510a).

[0194] And in an embodiment of the present invention, the first reflector (551) and the second reflector (552) may be formed at different positions based on the longitudinal direction (AD) of the exhaust duct (500).

[0195] Accordingly, the passage inside the exhaust duct (500) can be prevented from becoming unnecessarily narrowed by the first reflector (551) and the second reflector (552), and noise reduction can be achieved more effectively by diverting the flow direction of the exhaust air.

[0196] In addition, the flow noise caused by the deformation of the exhaust air flow (flow path) at this time is reduced by the sound-absorbing block (560).

[0197] In the robot vacuum cleaner (1) according to an embodiment of the present invention, the sound-absorbing block (560) may be provided at the end of the internal duct (510).

[0198] Accordingly, as exhaust air exits the exhaust duct (500), it is possible to prevent the generation of vortices, swirls, etc. at the end of the exhaust duct (500) and to form an exhaust duct (500) that is effective in improving noise.

[0199] FIG. 13 is a graph showing the noise reduction effect in a robot vacuum cleaner (1) according to an embodiment of the present invention.

[0200] In Fig. 13, ① represents the measured value (76dB) of noise generated when the robot vacuum cleaner (1) operates without a separate noise reduction device.

[0201] In FIG. 13, ② represents the measured value (73.4 dB) of noise generated when the robot vacuum cleaner (1) operates in a state where a cavity (512) is formed between the inner duct (510) and the outer duct (520) in the exhaust duct (500). Accordingly, the noise reduction effect based on the Helmholtz resonator principle can be confirmed.

[0202] In FIG. 13, ③ represents the measured value (70.6 dB) of noise generated when the robot vacuum cleaner (1) operates with the cavity (512) and reflector (550) formed in the exhaust duct (500). Accordingly, the noise reduction effect by the Helmholtz resonator principle and the reflector (550) can be confirmed.

[0203] ④ in FIG. 13 shows the measured value (64.7 dB) of noise generated when the robot vacuum cleaner (1) operates in a state where the cavity (512), reflector (550), and sound-absorbing block (560) are formed in the exhaust duct (500). Accordingly, the noise reduction effect by the Helmholtz resonator principle, the reflector (550), and the sound-absorbing block (560) can be confirmed.

[0204] As described above, according to the robot vacuum cleaner (1) according to an embodiment of the present invention, complex and sequential noise reduction can be achieved in the exhaust duct (500) of the robot vacuum cleaner (1).

[0205] In addition, the noise reduction effect of the exhaust duct (500) is excellent, and dust or foreign matter can be prevented from entering the through hole (511) and cavity (512), and the noise reduction effect can be maintained consistently in the robot vacuum cleaner (1).

[0206] Although specific embodiments of the present invention have been described and illustrated above, the present invention is not limited to the described embodiments, and those skilled in the art will understand that various modifications and variations can be made to other specific embodiments without departing from the spirit and scope of the present invention. Accordingly, the scope of the present invention should not be determined by the described embodiments but by the technical concept described in the claims. Explanation of the symbols

[0207] 1 : Robot vacuum cleaner 100 : Main body 120 : Elastomer 131 : Upper catch 132 : Lower catch 150 : Exhaust actuator 151 : Fan motor 152 : Exhaust fan 170 : Rag 180 : Mapplate 200 : Bumper 201 : Upper locking part 202 : Lower catch 300 : Top cover 400 : Exhaust housing 410 : Upstream Housing 420 : Downstream Housing 421 : Housing sidewall 422 : Housing end wall 430 : Housing cover 431 : Second inner layer 432 : 2nd outer layer 500 : Exhaust duct 510 : Internal duct 511 : Through hole 512 : Cavity 510a : First inner wall 510b : Second inner wall 510c : Third inner wall 510d : 4th inner wall 520 : External duct 521: 1st inner layer 522: 1st outer layer 530 : Sound-absorbing frame 533 : Cavity Hole 540 : Sound-absorbing layer 550 : Reflector 551: First reflector 552 : Second reflector 560 : Sound-absorbing block AD: Length direction C: Central axis

Claims

Claim 1 A robot vacuum cleaner comprising: a main body; an exhaust housing provided in the main body, into which dust-filtered exhaust air is introduced; and an exhaust duct connected downstream of the exhaust air from the exhaust housing to form a duct that allows air inside the exhaust housing to be discharged to the outside of the main body; wherein the exhaust duct comprises: an inner duct having a plurality of through holes formed therein; an outer duct that surrounds the inner duct at a distance and forms a wall surface; and a sound-absorbing frame provided between the inner duct and the outer duct, which partitions the space between the inner duct and the outer duct and forms a plurality of cavities communicating with each of the through holes. Claim 2 A robot vacuum cleaner according to claim 1, wherein the cross-sectional area of ​​the cavity is larger than the cross-sectional area of ​​the through hole. Claim 3 A robot vacuum cleaner according to claim 1, wherein the sound-absorbing frame is formed in a grid shape. Claim 4 A robot vacuum cleaner according to claim 1, wherein the inner duct comprises: a first inner wall; a second inner wall facing the first inner wall; a third inner wall connecting the first inner wall and the second inner wall; and a fourth inner wall facing the third inner wall and connecting the first inner wall and the second inner wall; and the through hole is formed in at least two of the first inner wall, the second inner wall, the third inner wall and the fourth inner wall. Claim 5 A robot vacuum cleaner according to claim 1, wherein A is the cross-sectional area of ​​the through hole, L is the length of the through hole, and V is the volume of the cavity, and A, L, and V are configured to have at least two different combinations. Claim 6 A robot vacuum cleaner according to claim 1, wherein the external duct comprises: a first inner layer formed of butyl rubber; and a first outer layer formed in close contact with the outer surface of the first inner layer and made of aluminum. Claim 7 A robot vacuum cleaner according to claim 1, wherein the exhaust housing comprises: a housing side wall forming a side wall along a circumferential direction around a central axis; and a housing end wall shielding an end of the housing side wall, and the exhaust duct is formed along a direction away from the central axis from the housing side wall. Claim 8 In claim 1, the robot vacuum cleaner comprises: an exhaust actuator that blows exhaust air from the exhaust housing and the exhaust duct and is located closer to the exhaust housing than to the exhaust duct; and a housing cover surrounding the exhaust housing, wherein the housing cover comprises: a second inner layer formed of butyl rubber; and a second outer layer formed in close contact with the outer surface of the second inner layer and made of aluminum. Claim 9 A robot vacuum cleaner comprising: a main body; an exhaust housing provided in the main body, into which dust-filtered exhaust air is introduced; and an exhaust duct connected downstream of the exhaust air from the exhaust housing to form a duct through which air inside the exhaust housing is discharged to the outside of the main body; wherein the exhaust duct comprises: an inner duct having a through hole formed therein; and an outer duct spaced apart from the inner duct and forming a cavity communicating with the through hole. Claim 10 A robot vacuum cleaner according to claim 9, wherein the exhaust duct comprises a porous sound-absorbing layer provided between the inner duct and the outer duct. Claim 11 A robot vacuum cleaner according to any one of claims 1 to 10, wherein the robot vacuum cleaner comprises a reflector plate that is positioned at an angle such that it is provided inside the internal duct and is positioned closer to the upstream side as it faces the center of the exhaust duct. Claim 12 A robot vacuum cleaner according to claim 11, wherein the reflector comprises: a first reflector formed such that one end is close to or in close contact with a first inner wall of the inner duct; and a second reflector formed such that one end is close to or in close contact with a second inner wall of the inner duct opposite to the first inner wall. Claim 13 A robot vacuum cleaner according to claim 12, wherein the first reflector and the second reflector are formed at different positions with respect to the longitudinal direction of the exhaust duct. Claim 14 A robot vacuum cleaner according to any one of claims 1 to 10, wherein the robot vacuum cleaner comprises a sound-absorbing block made of foam and filled and coupled inside the internal duct. Claim 15 In paragraph 14, the above sound-absorbing block is a robot vacuum cleaner provided at the end of the above internal duct.

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