Robot cleaner

Abstract

According to one embodiment of the present disclosure, a robot cleaner for cleaning a floor by using a cleaning cloth may include: a housing; the motor is accommodated in the shell; a detachable driving unit including a stopper configured to move up and down; and a cleaning cloth module rotated by the motor and including a first member and a second member, the first member including a stopper insertion hole configured such that a stopper is inserted therein and an attachment member provided so as to be attached or coupled to the cleaning cloth, the second member is located between the first member and the cleaning cloth and is detachably coupled to the first member.

Description

Technical Field

[0001] Various embodiments of the present disclosure relate to a robotic cleaner capable of attaching and detaching a cleaning cloth. Background Art

[0002] A robotic cleaner is a device that moves in a cleaning space without user manipulation while automatically cleaning the cleaning space. Generally, a robotic cleaner can suck foreign substances (such as dust accumulated on a surface to be cleaned (e.g., a floor)) with a cleaning cloth, or wipe off foreign substances (such as dirt adhered to the surface to be cleaned). Among these robotic cleaners, there is a type of robotic cleaner that wipes off foreign substances adhered to a surface by rotating a cleaning cloth attached thereto.

[0003] As cleaning progresses, the cleaning cloth attached to the robotic cleaner may become contaminated. To clean effectively, the user needs to replace the contaminated cleaning cloth. Summary of the Invention

[0004] Technical Solution Various embodiments of the present disclosure may provide a robotic cleaner having an attachment / detachment structure for attaching or detaching a cleaning cloth to automatically replace the cleaning cloth without user intervention.

[0005] Aspects of the embodiments of the present disclosure will be partly set forth in the following description, and partly will be obvious from the description, or may be learned by practicing the presented embodiments.

[0006] According to an embodiment of the present disclosure, a robotic cleaner includes: a housing; a motor within the housing; a separation driver including a stopper configured to move vertically up and down; and a cleaning cloth module including a first member and a second member, the first member including a stopper insertion hole into which the stopper can be inserted and an attachment member to which the cleaning cloth is detachably coupled, the second member being configured to rotate by the motor and being located between the first member and the cleaning cloth to be coupled and detachably coupled to the first member. When the cleaning cloth module rotates with the second member coupled to the first member, when the stopper moves vertically downward to be inserted into the stopper insertion hole, the first member is prevented from rotating by the stopper and then separated from the second member to separate the cleaning cloth from the first member.

[0007] According to an embodiment of the present disclosure, the separation driver may be configured to rotate by the motor to move vertically up and down according to the rotation direction of the motor.

[0008] According to an embodiment of the present disclosure, the separation driver may include a rotating member having a threaded engagement portion protruding from an outer circumferential surface of the rotating member and rotated by a rotational force from a motor. The threaded engagement portion may be configured to engage with a thread surrounding the rotating member to move along a path of the thread when the rotating member is rotated to vertically move the stopper.

[0009] According to an embodiment of the present disclosure, the separation driver may include an actuator for vertically moving the stopper.

[0010] According to an embodiment of the present disclosure, the actuator may operate in a solenoid manner.

[0011] According to an embodiment of the present disclosure, the first member may include a first inclined portion protruding from a lower surface of the first member.

[0012] According to an embodiment of the present disclosure, when the rotation of the first member is stopped by the stopper, the second member may slide along an inclined surface of the first inclined portion to separate the second member from the first member.

[0013] According to an embodiment of the present disclosure, the first inclined portion may be inclined toward an end of the attachment member.

[0014] According to an embodiment of the present disclosure, the robot cleaner may further include a cleaning cloth driver coupled to the cleaning cloth module to transmit a rotational force of the motor to the cleaning cloth module and configured to selectively move vertically according to a rotational direction of the motor.

[0015] According to an embodiment of the present disclosure, when the cleaning cloth driver is raised to a maximum height, the stopper may be inserted into the stopper insertion hole.

[0016] According to an embodiment of the present disclosure, when the cleaning cloth is detachably coupled to the attachment member, the cleaning cloth contacts a surface to be cleaned, and the cleaning cloth driver rotates in a first direction by the motor, the cleaning cloth is rotated while contacting the surface to be cleaned. When the cleaning cloth driver rotates in a second direction opposite to the first direction by the motor, the cleaning cloth driver may move upward.

[0017] According to an embodiment of the present disclosure, when the cleaning cloth driver has moved upward and the cleaning cloth driver rotates in the first direction by the motor, the cleaning cloth driver may move downward.

[0018] According to an embodiment of the present disclosure, the cleaning cloth driver may include: a first lifting member configured to rotate about a rotation axis and not move vertically; and a second lifting member between the first lifting member and the second member and configured to move vertically with respect to the first lifting member.

[0019] According to an embodiment of the present disclosure, the second lifting member may include a rotational resistance member that protrudes outward from an outer circumferential surface of the second lifting member. When the second lifting member ascends, the rotational resistance member may contact a part of the housing to provide resistance to the rotational movement of the second lifting member.

[0020] According to an embodiment of the present disclosure, the rotational resistance member may be an elastic material.

[0021] According to an embodiment of the present disclosure, a magnetic body may be disposed in a part of the housing adjacent to the second lifting member. The second lifting member may include a magnetic rotational resistance member disposed on an outer circumferential surface of the second lifting member. When the second lifting member ascends, the rotational resistance member provides resistance to the rotational movement of the second lifting member through magnetic force generated in the magnetic body in the housing.

[0022] According to an embodiment of the present disclosure, the robotic cleaner may further include a gear assembly in the housing for transmitting the rotational force of the motor to the cleaning cloth module and the separation driver.

[0023] According to an embodiment of the present disclosure, the cleaning cloth module may include a first elastic body configured to be compressed to provide a repulsive force upward when the cleaning cloth is detachably coupled to the attachment member and the cleaning cloth contacts a surface to be cleaned.

[0024] According to an embodiment of the present disclosure, the cleaning cloth module may include a second elastic body between the first member and the second member to provide a force in a direction to bring the first member and the second member into contact with each other.

[0025] According to an embodiment of the present disclosure, the robotic cleaner may further include a controller configured to control the overall operation of the robotic cleaner. When the cleaning cloth is detachably coupled to the attachment member and the usage time of the cleaning cloth exceeds a preset time, the controller may determine that the cleaning cloth needs to be replaced. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a perspective view showing a robotic cleaner according to an embodiment; Figure 2 is a bottom view showing a robotic cleaner according to an embodiment; Figure 3 is a functional block diagram showing the relationship between components regarding the control and operation of a robotic cleaner according to an embodiment; Figure 4 is a perspective view showing a cleaning driver according to an embodiment; Figure 5 is a view showing the operation of a cleaning driver according to an embodiment; Figure 6is a view showing a cleaning cloth driver and a cleaning cloth module in a cleaning driver according to an embodiment; Figure 7 is a cross-sectional view showing a cleaning cloth driver and a cleaning cloth module in a cleaning driver according to an embodiment; Figure 8 is a top exploded perspective view showing a cleaning cloth driver and a cleaning cloth module according to an embodiment; Figure 9 is a bottom exploded perspective view showing a cleaning cloth driver and a cleaning cloth module according to an embodiment; Figures 10a to 10f is a view showing the lifting operation process of a cleaning cloth driver according to an embodiment; Figure 11a and Figure 11b is a view showing interference between a first member and a rotating member in a cleaning cloth driver according to an embodiment; Figure 12 is Figure 11b a side view of; Figure 13 is a view showing a separation driver in a cleaning driver according to an embodiment; Figure 14 is an exploded perspective view showing a separation driver in a cleaning driver according to an embodiment; Figure 15 is a cross-sectional view showing a cleaning driver according to an embodiment; Figures 16 to 19 is a view showing the process of automatically attaching and detaching a cleaning cloth by a cleaning driver according to an embodiment; Figure 20 is a cross-sectional view showing a cleaning driver according to an embodiment; Figure 21 is a view showing a cleaning cloth driver and a cleaning cloth module in a cleaning driver according to an embodiment; Figure 22 is a top exploded perspective view showing a cleaning cloth driver and a cleaning cloth module according to an embodiment; Figure 23 is a bottom exploded perspective view showing a cleaning cloth driver and a cleaning cloth module according to an embodiment; Figure 24 is a view showing a separation driver in a cleaning driver according to an embodiment; Figure 25 is an exploded perspective view showing a separation driver in a cleaning driver according to an embodiment; Figures 26a to 26e is a view showing the process of automatically attaching and detaching a cleaning cloth by a cleaning driver according to an embodiment; Figure 27a and Figure 27bA view of a cleaning drive having a magnetic member according to an embodiment; Figure 28 A flowchart showing a method for controlling the operation of a robotic cleaner according to an embodiment; Figure 29 A view showing a process of attaching and detaching a cleaning cloth at a predetermined position of a robotic cleaner according to an embodiment; and Figure 30 A view showing a process of attaching and detaching a cleaning cloth to and from a docking station of a robotic cleaner according to an embodiment.

[0027] In the following description, reference may be made to the accompanying drawings, and specific examples that can be practiced are shown as examples within the drawings. Other examples can be utilized without departing from the scope of the various examples, and structural changes can be made. Detailed Description

[0028] Embodiments of the present disclosure will now be described in a detailed manner that is easily practiced by those of ordinary skill in the art with reference to the accompanying drawings. However, the present disclosure can be implemented in various other forms and is not limited to the embodiments set forth herein. Throughout the specification and the drawings, the same or similar reference numerals may be used to refer to the same or similar elements. In addition, for clarity and conciseness, well-known functions and configurations are not described in the accompanying drawings and the related description.

[0029] Figure 1 A perspective view of a robotic cleaner according to an embodiment. Figure 2 A bottom view of a robotic cleaner according to an embodiment.

[0030] Referring to Figure 1 and Figure 2 , in an embodiment, the robotic cleaner 100 may be in a state where a cleaning cloth P (wet cleaning cloth or dry cleaning cloth) that can come into contact with a surface to be cleaned (e.g., a floor) is attached to a cleaning cloth module 140 at the lower side of the robotic cleaner 100. The robotic cleaner 100 may perform cleaning (or mopping) through the cleaning cloth P attached to the cleaning cloth module 140 to remove foreign substances adhering to the surface to be cleaned. For example, the robotic cleaner 100 may remove foreign substances adhering to the floor through the frictional force between the floor and the cleaning cloth P, which is generated by rotating the attached cleaning cloth P. The robotic cleaner 100 may replace the contaminated cleaning cloth P attached to the cleaning cloth module 140 by itself. The attachment / detachment structure and operation of the cleaning cloth P of the robotic cleaner 100 are described below.

[0031] According to an embodiment, the robotic cleaner 100 may include a main body 110, a control panel 120, a traveling unit 130, a cleaning cloth module 140, and a battery 150.

[0032] According to an embodiment, the main body 110 may form a basic appearance of the robot cleaner 100. In an embodiment, the main body 110 may include a cleaner body 111 and a cleaner cover 112. In an embodiment, the cleaner body 111 may form an appearance of the following parts: a lower part that is adjacent to the floor (or a surface to be cleaned) when the robot cleaner 100 is driven for cleaning, and side parts that extend upward from an edge of the lower part to form side surfaces of the robot cleaner 100. Although not specifically shown, according to an embodiment, the robot cleaner 100 may include a bumper located on a side part of the cleaner body 111 to reduce an impact from the outside.

[0033] According to an embodiment, the power button 113 may be provided on one side of the cleaner body 111. In an embodiment, the power button 113 may be manipulated by a user to turn on / off the power of the robot cleaner 100. The power button 113 may be implemented by, for example, a button switch method, but is not limited thereto.

[0034] According to an embodiment, the cleaner body 111 may be formed such that its upper side is open. In an embodiment, an internal space in which various components for operating the robot cleaner 100 (e.g., Figure 3 a driver 360 or a liquid container) are provided may be formed inside the cleaner body 111.

[0035] According to an embodiment, the cleaner cover 112 may form an upper appearance of the robot cleaner 100. In an embodiment, the cleaner cover 112 may be coupled to an upper side of the cleaner body 111. In an embodiment, the cleaner cover 112 may be provided to cover an opening of the cleaner body 111. In an embodiment, the cleaner cover 112 may be detachably coupled to the cleaner body 111. After separating the cleaner cover 112, a user may see components inside the main body 110 through an upper opening of the cleaner body 111. According to an embodiment, the cleaner body 111 and the cleaner cover 112 may be integrally formed.

[0036] According to an embodiment, the control panel 120 may be provided on an upper part of the robot cleaner 100. The control panel 120 may be provided, for example, on an upper surface of the cleaner cover 112, but is not limited thereto.

[0037] According to an embodiment, the control panel 120 may receive various commands from a user regarding the operation of the robot cleaner 100. In an embodiment, the control panel 120 may include an input device (such as a button, a switch, or a touch panel). In this case, the robot cleaner 100 may receive commands regarding the operation of the robot cleaner 100 from the user through the control panel 120 (e.g., start / stop cleaning, or change the cleaning mode). In an embodiment, the control panel 120 may include a signal input device that receives various commands input by the user through an external remote controller in the form of an infrared signal, and the present disclosure is not limited to a specific form.

[0038] According to an embodiment, the control panel 120 may provide a user with the current state regarding the operation of the robot cleaner 100. According to an embodiment, the control panel 120 may include a display device (such as a display). In this case, the robot cleaner 100 may visually send information regarding the current state of the robot cleaner 100 to the user through the display device (e.g., the current cleaning mode or the battery state). In an embodiment, the above input device or display device may be integrally provided with the control panel 120, but is not limited thereto.

[0039] According to an embodiment, the traveling unit 130 may be disposed on the bottom surface of the cleaner body 111. In an embodiment, the traveling unit 130 may be configured such that the robot cleaner 100 can move freely. The robot cleaner 100 may freely move in the cleaning space through the traveling unit 130.

[0040] According to an embodiment, the traveling unit 130 may include one or more wheels that are connected to a driver (e.g., Figure 3 the traveling driver 361) to receive force and thus rotate. The traveling unit 130 may include, for example, a pair of main wheels (e.g., a first main wheel 131a and a second main wheel 131b). In an embodiment, the first main wheel 131a and the second main wheel 131b may be arranged to maintain the balance of the robot cleaner 100. The first main wheel 131a and the second main wheel 131b may be disposed, for example, at opposite edges of the bottom surface of the cleaner body 111.

[0041] According to an embodiment, the traveling unit 130 may include a first sub-wheel 132 or a second sub-wheel 133. In an embodiment, the first sub-wheel 132 and the second sub-wheel 133 may be respectively disposed in front (e.g., in the F direction) and behind (e.g., in the R direction) in a direction perpendicular to the direction in which the first main wheel 131a and the second main wheel 131b are disposed.

[0042] The traveling direction of the robot cleaner 100 can be determined according to how the movement of each of the first main wheel 131a and the second main wheel 131b is controlled. For example, when each of the first main wheel 131a and the second main wheel 131b is controlled in the same direction and at the same speed, the robot cleaner 100 can move forward (e.g., in the F direction) or backward (e.g., in the R direction). For example, when each of the first main wheel 131a and the second main wheel 131b is controlled in different directions and / or at different speeds, the robot cleaner 100 can be redirected and move in a preset direction.

[0043] In an embodiment, each of the first sub-wheel 132 and the second sub-wheel 133 can be arranged such that when the robot cleaner 100 moves forward (e.g., moves in the F direction) or backward (e.g., moves in the R direction), the robot cleaner 100 is balanced. The first sub-wheel 132 can be arranged, for example, at the front part (e.g., the F direction) of the bottom surface of the cleaner body 111. The second sub-wheel 133 can be arranged, for example, at the rear part (e.g., in the R direction) of the bottom surface of the cleaner body 111.

[0044] According to an embodiment, the cleaning cloth module 140 can be arranged at the lower part of the robot cleaner 100. The cleaning cloth module 140 can be arranged, for example, on the bottom surface of the cleaner body 111. In an embodiment, the cleaning cloth module 140 can be arranged in front of (e.g., the F direction) the bottom surface of the cleaner body 111, but is not limited thereto. The cleaning cloth module 140 can be detachably combined with a cleaning cloth P (e.g., a wet cleaning cloth or a dry cleaning cloth) to clean a surface to be cleaned (such as a floor).

[0045] In an embodiment, the cleaning cloth module 140 can rotate clockwise or counterclockwise together with the cleaning cloth P mounted on the cleaning cloth module 140. When the cleaning cloth module 140 rotates together with the cleaning cloth P coupled to the cleaning cloth module 140, friction can occur between the cleaning cloth P and the floor, so that the robot cleaner 100 can remove foreign substances adhered to the floor.

[0046] In an embodiment, the cleaning cloth module 140 can move up or down within a predetermined range in the height direction (or the direction perpendicular to the ground) of the robot cleaner 100 (e.g., Figure 1 in the U or D direction).

[0047] In an embodiment, the cleaning cloth module 140 can include a first cleaning cloth module 140a or a second cleaning cloth module 140b. The first cleaning cloth module 140a and the second cleaning cloth module 140b can be configured to correspond to each other in terms of operation, structure, and shape.

[0048] In an embodiment, each cleaning cloth module 140 (e.g., the first cleaning cloth module 140a and the second cleaning cloth module 140b) may include a rotating member (e.g., the first rotating member 141a or the second rotating member 141b) and an attaching member (e.g., the first attaching member 142a or the second attaching member 142b). In Figure 2 this, the rotating members 141a and 141b and the attaching members 142a and 142b are covered by the cleaning cloth P attached to each cleaning cloth module 140, and to show this, the rotating members 141a and 141b and the attaching members 142a and 142b are shown in dashed lines.

[0049] In an embodiment, the first rotating member 141a and the second rotating member 141b may generally have a disk shape. However, embodiments of the present disclosure are not limited thereto. According to an embodiment, the diameter of the first rotating member 141a may be set to be the same as or less than the diameter of the cleaning cloth P, but is not limited thereto. Similarly, the diameter of the second rotating member 141b may be set to be the same as or less than the diameter of the cleaning cloth P, but is not limited thereto.

[0050] In an embodiment, one or more attaching members (e.g., Figure 9 the attaching member 4421) to be described below may be provided on each of the first attaching member 142a and the second attaching member 142b. According to an embodiment, the attaching member 4421 provided on each of the first attaching member 142a and the second attaching member 142b may contact and be coupled to the cleaning cloth P provided below the first rotating member 141a and the second rotating member 141b through an opening (e.g., Figure 8 the opening 4431) provided in the first rotating member 141a and the second rotating member 141b. Hereinafter, the detailed structure of the cleaning cloth module 140 will be described in more detail with reference to Figure 4 the following.

[0051] According to an embodiment, the battery 150 may be provided at the lower part of the robot cleaner 100. In an embodiment, the battery 150 may be provided to be detachable through the lower side of the bottom surface of the cleaner body 111. The battery 150 may be electrically connected to a driver (e.g., Figure 3 the driver 360), and may supply power to the driver 360. The battery 150 may be a rechargeable secondary battery, but is not limited thereto.

[0052] According to an embodiment, the driver (e.g., Figure 3The drive 360) may be disposed inside the main body 110 of the robotic cleaner 100. The drive 360 may be disposed in, for example, an internal accommodation space formed by the cleaner body 111. The drive 360 may include, for example, a motor and / or an actuator, and may include a plurality of components for supplying power to each of the above-described traveling unit 130 or the cleaning cloth module 140.

[0053] According to an embodiment, the robotic cleaner 100 may include a liquid container (not shown) configured to store a liquid for wet cleaning. The liquid stored in the liquid container may be, for example, water, but is not limited thereto, and may be a liquid material for cleaning (such as soap or solvent). The liquid container may be detachably disposed in the internal accommodation space of the cleaner body 111. The user may access the liquid container by separating the cleaner cover 112 from the cleaner body 111 and opening the upper portion of the cleaner body 111.

[0054] According to an embodiment, the robotic cleaner 100 may include a liquid dispenser (not shown). For example, the liquid dispenser may have one end in fluid communication with the liquid container and the other end in fluid communication with the cleaning cloth module 140 disposed at the lower portion of the robotic cleaner 100. The liquid dispenser may be, for example, a tube or a hose. The robotic cleaner 100 may supply a liquid (e.g., water) to the cleaning cloth P mounted on the cleaning cloth module 140 through the liquid container and / or the liquid dispenser.

[0055] Although not shown in Figure 1 and Figure 2 the robotic cleaner 100 may include a controller (e.g., Figure 3 the controller 350) for generating control commands for controlling the operation of each part of the robotic cleaner 100. In an embodiment, the control and drive of the robotic cleaner 100 will be briefly described with reference to Figure 3 and will focus on the controller 350.

[0056] Figure 3 is a functional block diagram showing the relationship between components regarding the control and operation of a robotic cleaner according to an embodiment.

[0057] According to an embodiment, the robotic cleaner 300 may include a sensing unit 310. The sensing unit 310 may include a plurality of sensors or cameras for sensing the surrounding environment of the robotic cleaner 300. The sensing unit 310 may include, for example, a plurality of cameras for photographing in each direction. The distance sensor may include, for example, an ultrasonic sensor, a radar sensor, and / or a lidar sensor, but is not limited thereto. The sensing unit 310 may include, for example, a microphone or an infrared sensor for sensing the surrounding environment. According to an embodiment, the sensing unit 310 may be coupled to each cleaning cloth module 140 of the robotic cleaner 300 to detect the degree of contamination of each cleaning cloth being used for cleaning, but the present disclosure is not limited thereto.

[0058] In an example, the robotic cleaner 300 may include a communication unit 320 that supports sending signals to / receiving signals from the outside. In an example, the communication unit 320 may receive / transmit wired / wireless signals to / from an external wired / wireless communication system, an external server, and / or other devices according to a predetermined wired / wireless communication protocol. For example, the communication unit 320 may send / receive data according to a wireless Internet communication protocol such as wireless LAN (WLAN), Wi-Fi, Wi-Fi Direct, Digital Living Network Alliance (DLNA), Wireless Broadband (WiBro), Worldwide Interoperability for Microwave Access (WiMAX), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), or Long Term Evolution-Advanced (LTE-A). For example, the communication unit 320 may send / receive data according to at least one short-range communication protocol, including, for example, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wide Band (UWB), Zigbee, Near Field Communication (NFC), Wi-Fi, Wi-Fi Direct, or Wireless Universal Serial Bus (USB). In an example, the communication unit 320 may receive a configuration data signal input by a user on the user's mobile device in the form of a wireless signal according to a predetermined wireless communication protocol. In an example, the communication unit 320 may receive information and / or commands for controlling the operation of the robotic cleaner 300 from an external server in the form of a signal according to a predetermined wired / wireless communication protocol. The communication unit 320 may send various received signals to a controller 350 described below. In an example, the communication unit 320 may send various data generated or obtained on the robotic cleaner 300 to, for example, the user's mobile device or an external server in the form of a wired / wireless signal according to a predetermined wired / wireless communication protocol.

[0059] In an example, the communication unit 320 may include a module for obtaining the position of the robot cleaner 300 (e.g., a Global Positioning System (GPS) module or a Wi-Fi module). When the robot cleaner 300 utilizes the GPS module, the robot cleaner 300 may use signals transmitted from GPS satellites to receive information about the position of the robot cleaner 300. When the robot cleaner 300 utilizes the Wi-Fi module, the robot cleaner 300 may receive information about the position of the robot cleaner 300 based on information about a wireless access point (AP) that transmits and receives wireless signals to and from the Wi-Fi module.

[0060] According to an embodiment, the robot cleaner 300 may include an input unit 330. The input unit 330 may receive, for example, information about an operation mode of the robot cleaner 300 from a user. The input unit 330 may include, for example, a keyboard, a dome switch, a touchpad (static or capacitive), a rotary dial, a roller switch, or a remote controller. In addition to the above input unit 330, a user may also use a portable device (such as a terminal) to input information about an operation mode of the robot cleaner 300.

[0061] According to an embodiment, the robot cleaner 300 may include a memory 340. According to an embodiment, the memory 340 may store data supporting various functions of the robot cleaner 300. The memory 340 may store, for example, a plurality of applications (or apps) used in the robot cleaner 300, data for operating the robot cleaner 300, and / or instructions. At least some of the applications may be downloaded from an external server via wireless communication. At least some of the applications may be stored in the memory 340 from the time of delivery for basic functions of the robot cleaner 300. For example, the applications may be stored in the memory 340 and driven by the controller 350 to perform operations (or functions) of the robot cleaner 300. According to an embodiment, the memory 340 may be included as part of the controller 350. According to an embodiment, the memory 340 may store information for setting a travel path of the robot cleaner 300.

[0062] According to an embodiment, the robot cleaner 300 may include a controller 350. According to an embodiment, the controller 350 may control the operation of the robot cleaner 300 by using, for example, signals received from the sensing unit 310, the communication unit 320, or the input unit 330. Although not specifically shown, the controller 350 may include one or more processors.

[0063] According to an embodiment, the controller 350 may include a command receiving unit 351. The command receiving unit 351 may receive driving-related commands input from the outside through, for example, the sensing unit 310, the communication unit 320, or the input unit 330 described above. The command receiving unit 351 may receive commands received from the user through the power button 113 and / or the control panel 120 described above. The command receiving unit 351 may receive each user command including an operation on / off command, a cleaning start or pause command, or a cleaning mode setting command.

[0064] In an embodiment, the controller 350 may include a cleaning cloth replacement determination unit 352 to determine whether to replace the cleaning cloth attached to the cleaning cloth module 140 during cleaning by the robot cleaner 300. In an embodiment, the cleaning cloth replacement determination unit 352 may obtain the result sensed by a pollution sensor (not shown) provided in the sensing unit 310 and determine whether the cleaning cloth needs to be replaced based on the obtained information. In an embodiment, the cleaning cloth replacement determination unit 352 may determine whether the cleaning cloth needs to be replaced based on the cleaning time elapsed after the cleaning cloth is attached to the cleaning cloth module 140. In an embodiment, the cleaning cloth replacement determination unit 352 may determine whether the cleaning cloth needs to be replaced based on a command received from the command receiving unit 351.

[0065] In an embodiment, the controller 350 may include a travel path calculation unit 353 to calculate the travel path of the robot cleaner 300. In an embodiment, the travel path calculation unit 353 may calculate the travel path of the robot cleaner 300 based on a predetermined algorithm, the sensing results detected by various sensors provided in the sensing unit 310, and / or user commands received through the command receiving unit 351. In an embodiment, the travel path calculation unit 353 may calculate the travel path in consideration of the sensing results from the sensors provided in the sensing unit 310.

[0066] In an embodiment, when the cleaning cloth replacement determination unit 352 determines that the cleaning cloth needs to be replaced, the travel path calculation unit 353 may calculate a travel path for allowing the robot cleaner 300 to travel to a preset position. When the cleaning cloth replacement determination unit 352 determines that the cleaning cloth needs to be replaced in the robot cleaner 300, the travel path calculation unit 353 may calculate a travel path for allowing the robot cleaner 300 to travel to a connection station (e.g., Figure 29 connection station 2900 or Figure 30 connection station 3000) of

[0067] In an embodiment, the controller 350 may include a drive control command unit 354. In an embodiment, the drive control command unit 354 may generate a control command to control each component (e.g., a motor and / or an actuator) of the drive 360 of the robot cleaner 300 according to various commands received from a user or externally through the above command receiving unit 351, sensing results detected by various sensors provided in the sensing unit 310 of the robot cleaner 300, and / or a travel path determined by the travel path calculation unit 353.

[0068] In an embodiment, each component of the drive 360 may be operated according to a command generated by the drive control command unit 354. According to an embodiment, the drive 360 may include a travel drive 361 and a cleaning drive 362.

[0069] In an embodiment, the travel / movement of the robot cleaner 300 may be controlled according to a command generated by the drive control command unit 354. In an embodiment, each component of a drive (e.g., the travel drive 361) may be operated according to a command generated by the drive control command unit 354 to appropriately control the rotation direction and speed of a main wheel (e.g., Figure 2 the first main wheel 131a or the second main wheel 131b) so that the robot cleaner 300 can be appropriately moved in a desired direction.

[0070] In an embodiment, the travel drive 361 may include a pair of drives. Although not specifically shown, in an embodiment, each of the pair of travel drives may include a motor and an actuator and may be connected to the above travel unit 130 (e.g., each of the first main wheel 131a and the second main wheel 131b) to provide a force required to move the robot cleaner 100.

[0071] According to an embodiment, the cleaning drive 362 may include a cleaning cloth drive 3621 and a separation drive 3622. The cleaning cloth drive 3621 is involved in the rotation and / or vertical movement of the cleaning cloth module 140, and the separation drive 3622 is involved in separating the cleaning cloth (e.g., Figure 2 the cleaning cloth P) from the cleaning cloth module 140.

[0072] In an embodiment, the rotation and / or vertical movement of the cleaning cloth module (e.g., Figure 2 the cleaning cloth module 140) may be controlled according to a command generated by the drive control command unit 354. For example, the drive control command unit 354 may control the vertical movement of the cleaning cloth module 140 by controlling the rotation direction of each rotating member (e.g., Figure 2 the rotating members 141a and 141b) of the cleaning cloth module 140. In this case, the distance between the cleaning cloth module 140 and the floor may be adjusted.

[0073] In an embodiment, the drive control command unit 354 may generate control commands for controlling each component (e.g., a motor and / or an actuator) of a drive (e.g., the cleaning cloth drive 3621) to allow the cleaning cloth module 140 to move based on commands received from a user through the command receiving unit 351 described above and / or a pre-stored algorithm.

[0074] In an embodiment, each component of a drive (e.g., the cleaning cloth drive 3621) may be operated according to a command generated by the drive control command unit 354 to appropriately adjust the rotational speed of each rotating member 141a or 141b. In this case, the mopping intensity of the robot cleaner 300 may be adjusted.

[0075] In an embodiment, each component of a drive (e.g., the cleaning cloth drive 3621) may adjust the cleaning cloth module 140 to move up or down in the height direction according to a command generated by the drive control command unit 354.

[0076] In an embodiment, the cleaning drive 362 may include a pair of cleaning drives 362. Although not explicitly shown, in an embodiment, each of the pair of cleaning drives 362 may include a rotating motor and an actuator, and may be connected to each of the above-described cleaning cloth modules 140 (e.g., the first cleaning cloth module 140a and the second cleaning cloth module 140b (e.g., Figure 2 the first cleaning cloth module 140a and the second cleaning cloth module 140b)) to provide the force required for the respective rotating members 141a and 141b of the rotating cleaning cloth modules.

[0077] In an embodiment, the cleaning cloth P may be separated from the cleaning cloth module 140 according to a command generated by the drive control command unit 354. For example, the separation drive 3622 may be controlled by the drive control command unit 354 such that a stopper (e.g., Figure 4 the stopper 451) of the first member 442 for stopping the rotation of the cleaning cloth module 140 descends in a state where the cleaning cloth module 140 moves upward. As the stopper 451 descends, the gap between the first member 442 and the second member 443 may become wider, and the cleaning cloth P may be separated from the cleaning cloth module 140. An operation of the robot cleaner 300 automatically separating the cleaning cloth P from the cleaning cloth module 140 will be described below.

[0078] The cleaning drive 400 described below may be installed as a component of the above-described robot cleaner 100.

[0079] Figure 4 is a perspective view showing a cleaning drive according to an embodiment.

[0080] Figure 4 The cleaning drive 400 shown in Figure 3 may have substantially the same configuration and function as the cleaning drive 362 described with reference to Figure 4 The cleaning drive 400 shown is exemplary, and the structure of the cleaning drive 400 is not limited to the structure shown.

[0081] According to an embodiment, the cleaning drive 400 may include a housing 410, a motor 420, a cleaning cloth drive 430, a cleaning cloth module 440, or a separation drive 450. Components for transmitting the force generated by the motor 420 (such as a gear assembly (e.g., Figure 5 the gear assembly 460)) may be provided in the housing 410. The cleaning cloth drive 430 or the separation drive 450 may be provided, for example, through the lower surface of the housing 410, but is not limited thereto. Figure 4 The cleaning cloth module 440 shown in Figure 1 and Figure 2 may have the same structure and shape as the cleaning cloth module 140 described with reference to

[0082] According to an embodiment, the cleaning cloth drive 430 may be rotated by the motor 420 to transmit a rotational force to the cleaning cloth module 440. The cleaning cloth drive 430 may include a shaft 431 for transmitting the rotational force to the cleaning cloth module 440. The shaft 431 may be provided to protrude downward from the housing 410. One end of the shaft 431 may be coupled to the cover member 441 of the cleaning cloth module 440. For example, the shaft 431 may selectively rise or fall according to the rotation direction of the motor 420. When the shaft 431 moves upward or downward, the cleaning cloth module 440 coupled thereto may also move upward or downward.

[0083] Various structures or methods may be applied to lower the shaft 431. For example, a drive for rotating the shaft 431 and a drive for vertically moving the shaft 431 may be provided to control the movement of the shaft 431. As an example, the upward movement and / or downward movement of the shaft 431 may be controlled by adjusting only the rotation direction of the motor 420 using one drive. Hereinafter, one of the structures capable of raising and / or lowering the shaft 431 by adjusting the rotation direction of the motor 420 is described as an example.

[0084] The cleaning cloth P may be attached to the lower surface of the cleaning cloth module 440. When the shaft 431 and the cleaning cloth module 440 rotate by the operation of the motor 420, the cleaning cloth P attached to the cleaning cloth module 440 may also rotate. When the robot cleaner (e.g., Figure 1 the robot cleaner 100) moves to clean the floor, the cleaning cloth P may rotate in contact with the floor.

[0085] According to an embodiment, the separation driver 450 may be configured to receive a rotational force from the motor 420.

[0086] As shown, the cleaning cloth driver 430 and the separation driver 450 may be configured to receive a rotational force from a single motor 420 simultaneously, but is not limited thereto. For example, different from what is shown, the cleaning cloth driver 430 and the separation driver 450 may be driven independently of each other by different motors. For example, different from what is shown, the cleaning cloth driver 430 may be configured to rotate and move vertically by the rotation of the motor 420, and the separation driver 450 may include a separate actuator to move vertically by the operation of the actuator. Here, the separate actuator may be driven in an electromagnetic drive manner.

[0087] The separation driver 450 may include a stopper 451 configured to move vertically according to the rotation direction. For example, by the operation of the motor 420, the stopper 451 may rise or fall according to the rotation direction of the motor 420. For example, when the motor 420 rotates in a first direction, the stopper 451 may rise. For example, when the motor 420 rotates in a second direction opposite to the first direction, the stopper 451 may fall. When the cleaning cloth module 440 rotates by the cleaning cloth driver 430, the lowered stopper 451 may be inserted into a groove of a first member (e.g., Figure 6 the first member 442) of the cleaning cloth module 440 to stop the rotation of the first member 442. Even though the rotation of the first member 442 is stopped, a rotating member (e.g., Figure 6 the second member 443) provided thereunder may still rotate by the cleaning cloth driver 430. In other words, the second member 443 may rotate relative to the first member 442. In the case where the second member 443 rotates relative to the first member 442, the first member 442 is pushed upward by a second inclined portion (e.g., Figure 9 the second inclined portion 4432) described below, so that the gap between the first member 442 and the second member 443 may be increased. Accordingly, the cleaning cloth P of an attachment member (e.g., Figure 9 the attachment member 4421) attached to the first member 442 may be separated from the first member 442. The operation of the robot cleaner 100 automatically replacing the cleaning cloth P will be described below.

[0088] Figure 5 is a view showing the operation of a cleaning driver according to an embodiment.

[0089] Figure 5 The cleaning driver 400 shown in Figure 3 may have substantially the same structure and function as the cleaning driver 362 described with reference to Figure 5 shows from Figure 4The state in which the housing 410 is omitted in the cleaning driver 400 is shown to describe the structure of the gear assembly 460 inside the housing 410. Figure 5 The cleaning driver 400 shown is exemplary, and the present disclosure is not limited to the shown structure.

[0090] According to an embodiment, the motor 420 may include a worm forming portion 421 provided on the rotating shaft.

[0091] According to an embodiment, the cleaning driver 400 may include a gear assembly 460. The gear assembly 460 may include a first gear unit 461 and a second gear unit 462. The first gear unit 461 may be a two-stage gear. The first gear unit 461 may include, for example, a 1-1 gear and a 1-2 gear having different diameters. The second gear unit 462 may be a two-stage gear. The second gear unit 462 may include, for example, a 2-1 gear and a 2-1 gear having different diameters.

[0092] The first gear unit 461 may be engaged with the worm forming portion 421. The first gear unit 461 may be, for example, a worm gear. For example, the 1-1 gear of the first gear unit 461 may be engaged with the worm forming portion 421.

[0093] The second gear unit 462 may be engaged with the first gear unit 461. For example, the 2-1 gear of the second gear unit 462 may be arranged to be engaged with the 1-2 gear of the first gear unit 461.

[0094] The second gear unit 462 may be engaged with the first rotating portion 433 of the cleaning cloth driver 430 and the second rotating portion 452 of the separation driver 450. For example, the 2-2 gear of the second gear unit 462 may be arranged to be engaged with the thread shape formed on the outer circumferential surface of the first rotating portion 433. For example, the 2-2 gear of the second gear unit 462 may be arranged to be engaged with the thread shape formed on the outer circumferential surface of the second rotating portion 452.

[0095] As shown, the cleaning driver 400 may be configured such that one motor 420 rotates the cleaning cloth driver 430 and the separation driver 450, but is not limited thereto, and the cleaning cloth driver 430 and the separation driver 450 may be rotated by different motors 420.

[0096] Figure 6 is a view showing a cleaning cloth driver and a cleaning cloth module in a cleaning driver according to an embodiment. Figure 7 is a cross-sectional view showing a cleaning cloth driver and a cleaning cloth module in a cleaning driver according to an embodiment.

[0097] Figure 6 and Figure 7The cleaning cloth driver 430 and the cleaning cloth P module shown in can be structurally the same as or similar to Figure 4 and Figure 5 the cleaning cloth driver 430 and the cleaning cloth module 440 shown in. Figure 6 and Figure 7 The structures and shapes of the cleaning cloth driver 430 and the cleaning cloth P shown in are exemplary, and the present disclosure is not limited thereto. In the following, the description of repeated structures will be omitted.

[0098] According to an embodiment, the cleaning cloth driver 430 may include a shaft 431, a shaft rod 432, a first rotating part 433 or a guiding part 434. The cleaning cloth driver 430 may rotate the shaft 431 by receiving force from a motor (for example, Figure 4 the motor 420). The shaft 431 may be coupled to the cleaning cloth module 440 to transfer the rotational force to the cleaning cloth module 440.

[0099] According to an embodiment, the first rotating part 433 may be engaged with a second gear unit (for example, Figure 5 the second gear unit 462). When the motor 420 rotates, the first rotating part 433 may rotate by the rotational force transmitted by a gear assembly (for example, Figure 5 the gear assembly 460). The first rotating part 433 may be formed to be hollow. The first rotating part 433 may include a guide rail (for example, Figure 8 the guide rail 4331) penetrated by the shaft rod 432 described below and guiding the movement path of the shaft rod 432. The shaft rod 432 may be caught at the edge of the guide rail 4331 while rotating in the rotation direction of the first rotating part 433. Alternatively, the shaft rod 432 may move relative to the first rotating part 433 along the guide rail 4331 in the rotation direction of the first rotating part 433, although it does not actually move. When interacting with the first rotating part 433, the shaft 431 may be rotated or vertically moved.

[0100] According to an embodiment, a part of the shaft 431 may be inserted into the hollow part of the first rotating part 433. The shaft rod 432 may be provided through a part of the shaft 431 inserted into the first rotating part 433. The shaft rod 432 may be provided to pass through the through-hole part 4311 of the shaft 431. The shaft rod 432 may be provided to pass through, for example, the shaft 431 and the first rotating part 433. A part of the shaft rod 432 may be visible from the outside. The shaft rod 432 may be provided to connect the shaft 431 and the first rotating part 433 such that the rotational force of the first rotating part 433 may be transmitted to the shaft 431. In the case where the shaft rod 432 is pressed in the rotational direction by the rotation of the first rotating part 433, the shaft 431 coupled to the shaft rod 432 may be rotated. Even when the first rotating part 433 rotates, the shaft 431 may not rotate in the case where the shaft rod 432 moves relative to the first rotating part 433 in the guiding part 434.

[0101] According to an embodiment, the guiding part 434 may be located above the first rotating part 433. The guiding part 434 may be formed to surround, for example, a part of the first rotating part 433. The cross-sectional area of the guiding part 434 may be larger than the cross-sectional area of the first rotating part 433. The guiding part 434 may have a generally cylindrical shape with a hollow interior.

[0102] According to an embodiment, a guiding groove 4341 configured to guide the movement of the shaft rod 432 may be formed in the inner surface of the guiding part 434. The guiding groove 4341 may have an inclined path such that the shaft rod 432 may move upward or downward while rotating.

[0103] According to an embodiment, the cleaning cloth module 440 may include a cover member 441, a first member 442, or a second member 443. The cleaning cloth P may be attached or coupled to the lower surface of the cleaning cloth module 440. When the robot cleaner (e.g., Figure 1 the robot cleaner 100) operates, the cleaning cloth P may be in close contact with the floor. For example, the cleaning cloth module 440 may receive a rotational force from the shaft 431 to rotate the cleaning cloth P in close contact with the floor. For example, the cleaning cloth module 440 may be detachably coupled to the shaft 431 of the cleaning cloth driver 430.

[0104] According to an embodiment, the cover member 441 may be coupled to the lower end of the shaft 431. The cover member 441 may be a part that directly receives the rotational force from the shaft 431. The cover member 441 may include an outer cover member 4411 and an inner cover member 4412. The outer cover member 4411 may be vertically coupled to, for example, the second member 443. The outer cover member 4411 may form a receiving space 4411a, in which a part of the inner cover member 4412 is received such that the inner cover member 4412 may move vertically. At least a part of the inner cover member 4412 may be arranged to be received in the outer cover member 4411. The inner cover member 4412 may be directly coupled to the shaft 431, for example. The inner cover member 4412 may be arranged to be vertically movable within the outer cover member 4411, for example.

[0105] According to an embodiment, the inner cover member 4412 may include a stopper portion 4412a. The stopper portion 4412a may be caught by the outer cover member 4411 such that the inner cover member 4412 may no longer move upward. The inner cover member 4412 may move upward until the stopper portion 4412a is caught by a part of the outer cover member 4411. The stopper portion 4412a may prevent the inner cover member 4412 from detaching from the outer cover member 4411 due to excessive upward movement. The stopper portion 4412a may protrude radially outward from the inner cover member 4412, for example. The stopper portion 4412a may extend from the lower end of the inner cover member 4412, for example.

[0106] According to an embodiment, the outer cover member 4411 may include an inclined guide portion 4411b that protrudes outward from the outer circumferential surface. The inclined guide portion 4411b may be formed to be inclined to guide the movement of the first member 442 when the first member 442 and the second member 443 are separated and move upward.

[0107] According to an embodiment, the cleaning cloth module 440 may include a first elastic body 444 disposed between the cover member 441 and the second member 443. One side of the first elastic body 444 may be supported by the inner cover member 441. The other side of the first elastic body 444 may be supported by the second member 443. For example, when the first elastic body 444 is compressed, a force may be applied upward to the inner cover member 4412 through the elastic restoring force. For example, when the first elastic body 444 is compressed, a force may be applied downward to the second member 443 through the elastic restoring force. The first elastic body 444 may be a spring, for example.

[0108] If the cleaning cloth P adjacent to the lower surface of the second member 443 is in close contact with the floor and pressed by the weight of the robot cleaner 100, the first elastic body 444 may be compressed. In the case where the first elastic body 444 is compressed, the second member 443 is indirectly supported by the floor, and thus a force can be applied upward to the inner cover member 4412 through the elastic restoring force. The force applied to the inner cover member 4412 by the first elastic body 444 can be transmitted to the shaft 431 coupled to the inner cover member 4412. For example, when the first elastic body 444 is compressed, a force can be applied upward to the shaft 431. Even when a force is applied to the shaft 431, the vertical movement of the shaft 431 can be fixed in the case where the shaft rod 432 coupled to the shaft 431 is fixed not to move upward through the guide rail 4331. Although it is shown in the drawings that the first elastic body 444 indirectly presses the shaft 431, this is merely an example, and the first elastic body 444 may be disposed between the shaft 431 and the second member 443 to directly press the shaft 431.

[0109] According to an embodiment, the second member 443 may be coupled to the cover member 441. For example, the second member 443 and the cover member 441 may be coupled by a screw connection. For example, the second member 443 may be coupled to the outer cover member 4411. In the case where the cover member 441 rotates through the shaft 431, the second member 443 coupled to the outer cover member 4411 may also rotate. The second member 443 may have, for example, a hollow center. The second member 443 may have, as a whole, a disk-shaped configuration, for example.

[0110] According to an embodiment, the first member 442 may be disposed above the second member 443. The first member 442 may be disposed to be directly coupled or attached to the cleaning cloth P. The first member 442 may move vertically with respect to the second member 443. In the case where the rotation of the first member 442 stops while the second member 443 rotates, as the engagement between the first member 442 and the second member 443 is released, the first member 442 may move upward. The first member 442 may have, as a whole, a disk-shaped configuration, for example.

[0111] According to an embodiment, the first member 442 may include a stopper protrusion 4425 protruding from the inner circumferential surface toward the central portion. The stopper protrusion 4425 may be configured to be caught by the inclined guide portion 4411b of the outer cover member 4411. The stopper protrusion 4425 may move along the inclined guide portion 4411b, for example, when the first member 442 is separated from the second member 443 and moves upward or downward to be coupled to the second member 443.

[0112] According to an embodiment, the cleaning cloth module 440 may include a second elastomer 445 disposed between the first member 442 and the second member 443. One side of the second elastomer 445 may be fixed to the first member 442. The other side of the second elastomer 445 may be fixed to the second member 443. The second elastomer 445 may provide an elastic force in a direction in which the first member 442 and the second member 443 are in close contact with each other. In a case where the distance between the first member 442 and the second member 443 increases, the second elastomer 445 may expand. The expanded second elastomer 445 may have a reaction force formed in a direction in which the expanded second elastomer 445 contracts, and thus may apply a force in a direction in which the first member 442 and the second member 443 approach each other. For example, the expanded second elastomer 445 may pull up the second member 443. For example, the expanded second elastomer 445 may pull down the first member 442. The vertical movement of the second member 443 may be fixed by being combined with the cover member 441 and the shaft 431. The second elastomer 445 may have, for example, a larger diameter than that of the first elastomer 444. The second elastomer 445 may be located, for example, outside the cover member 441. The second elastomer 445 may be disposed to surround, for example, the circumferential surface of the cover member 441. The second elastomer 445 may be, for example, a torsion spring.

[0113] Figure 8 is a top exploded perspective view showing a cleaning cloth driver and a cleaning cloth module according to an embodiment. Figure 9 is a bottom exploded perspective view showing a cleaning cloth driver and a cleaning cloth module according to an embodiment.

[0114] Figure 8 and Figure 9 The cleaning cloth driver 430 and the cleaning cloth module 440 shown in Figures 4 to 7 may be substantially the same or similar in structure to the cleaning cloth driver 430 and the cleaning cloth module 440 shown in Figure 8 and Figure 9 The structures and shapes of the cleaning cloth driver 430 and the cleaning cloth module 440 shown in are exemplary, and the present disclosure is not limited thereto. Hereinafter, descriptions of repeated structures will be omitted.

[0115] According to an embodiment, the cover member 441 may be coupled to the second member 443. In a state where the fastening hole 4411c of the cover member 441 corresponds to the fastening protrusion 4433 of the second member 443, the fastening part 4411d may pass through the fastening hole 4411c and the fastening protrusion 4433 to couple the cover member 441 and the second member 443.

[0116] According to an embodiment, the first member 442 may include an attachment member 4421, a first inclined portion 4422, a stopper insertion hole 4423, or a rotating member coupling portion 4424.

[0117] According to an embodiment, the attachment member 4421 may be configured to be coupled to the cleaning cloth P. The attachment member 4421 may be located on the lower surface of the first member 442. The attachment member 4421 may, for example, have an arcuate shape as a whole. For example, a plurality of attachment members 4421 may be provided to be spaced apart from each other in the circumferential direction of the first member 442. The attachment member 4421 may be, for example, a magnet or Velcro, but is not limited thereto, and various types of attachment structures may be applied. The attachment member 4421 may protrude downward from the first member 442 to be attached to the cleaning cloth P through, for example, the second member 443.

[0118] According to an embodiment, the first inclined portion 4422 may be formed to protrude from the first member 442. The first inclined portion 4422 may protrude to the lower surface of the first member 442. The first inclined portion 4422 may be provided to be adjacent to, for example, the attachment member 4421. The first inclined portion 4422 may be located near the end of the attachment member 4421. The first inclined portion 4422 and the attachment member 4421 may be placed adjacent to each other and may have an arcuate shape as a whole.

[0119] According to an embodiment, the stopper insertion hole 4423 may have an arcuate shape. The stopper insertion hole 4423 may be a portion into which a stopper (e.g., Figure 13 the stopper 451 described below) moves downward and is inserted. The stopper insertion hole 4423 may be placed closer to the central portion of the first member 442 than the first inclined portion 4422 or the attachment member 4421, but is not limited thereto.

[0120] According to an embodiment, the rotation member coupling portion 4424 may be a portion into which a part of the second member 443 is inserted when the first member 442 is coupled to the second member 443. When a part of the second member 443 is inserted into the rotation member coupling portion 4424, the first member 442 and the second member 443 may be detachably coupled or may be in close contact with each other. When the second member 443 is inserted into the rotation member coupling portion 4424, the first member 443 may rotate together with the second member 443.

[0121] According to an embodiment, the second member 443 may include an opening 4431 or a second inclined portion 4432. The second inclined portion 4432 may be placed adjacent to, for example, the opening 4431. The second inclined portion 4432 and the opening 4431 may be placed adjacent to each other and may have an arcuate shape as a whole. The second inclined portion 4432 may be, for example, a portion inserted into the rotation member coupling portion 4424 of the first member 442.

[0122] According to an embodiment, the opening 4431 may be provided at a position corresponding to the attachment member 4421. The opening 4431 may generally have, for example, an arcuate shape. In a state where the first member 442 and the second member 443 are combined, the attachment member 4421 and the first inclined portion 4422 of the first member 442 may be disposed in the opening 4431 of the second member 443. The first member 442 and the second member 443 may be combined such that, for example, the opening 4431 and the attachment member 4421 overlap each other. The first member 442 and the second member 443 may be combined such that, for example, a part of the opening 4431 and the first inclined portion 4422 overlap each other. When the first member 442 and the second member 443 are combined or in close contact, the first inclined portion 4422 may be located in the opening 4431. The attachment member 4421 may be combined with or attached to the cleaning cloth P through the opening 4431. When the distance between the first member 442 and the second member 443 increases, the attachment member 4421 and the cleaning cloth P may also be spaced apart from each other such that the cleaning cloth P may be separated from the cleaning cloth module 440.

[0123] If only the second member 443 rotates while the first member 442 is fixed, one surface of the second member 443 may move along the first inclined portion 4422 such that the gap between the first member 442 and the second member 443 may be widened.

[0124] Figures 10a to 10f is a view showing a lifting operation process of the cleaning cloth driver according to an embodiment.

[0125] Figures 10a to 10f The cleaning cloth driver 430 shown in Figures 4 to 9 may be substantially the same as or similar to the cleaning cloth driver 430 shown in Figures 10a to 10f The operation shown in Figure 1 is used to describe the operation of the robot cleaner (e.g., Figure 1 the robot cleaner 100) for lifting the cleaning cloth (e.g.,

[0126] According to an embodiment, the guide rail 4331 of the first rotating part 433 may include a first guide rail 4331a, a second guide rail 4331b, or a third guide rail 4331c. The first guide rail 4331a may extend in the horizontal direction. The second guide rail 4331b may extend from one end of the first guide rail 4331a. The second guide rail 4331b may extend, for example, in a direction perpendicular to the first guide rail 4331a. The third guide rail 4331c may extend from one end of the second guide rail 4331b. In other words, the second guide rail 4331b may connect the first guide rail 4331a and the first guide rail 4331a. When the shaft rod 432 moves between the first guide rail 4331a, the second guide rail 4331b, and the third guide rail 4331c, the shaft 431 may move vertically.

[0127] Referring to Figure 10a , when the first rotating part 433 rotates in the first direction R1, the shaft rod 432 may be caught by the edge of the first guide rail 4331a, so that the shaft 431 may also rotate in the first direction R1. For example, the shaft rod 432 may rotate while being caught by the closed end of the first guide rail 4331a and pressing the first rotating part 433. When observing the first rotating part 433 from above, the first direction R1 may refer to, for example, the clockwise direction, but is not limited thereto. When the shaft rod 432 is located on the first guide rail 4331a, the shaft 431 may move downward, so that the cleaning cloth P attached to the cleaning cloth module 440 may be in close contact with the floor. In a state where the shaft rod 432 is located on the first guide rail 4331a, the shaft rod 432 may be located below (or outside) the guiding part 434. In other words, the first guide rail 4331a may be a part not surrounded by the guiding part 434.

[0128] Figure 10b is a view showing the initial state in which the first rotating part 433 rotates in a second direction R2 opposite to the first direction R1 in the state of Figure 10a . Referring to Figure 10b , when the first rotating part 433 starts to rotate in the second direction R2, the shaft rod 432 may move along the first guide rail 4331a relative to the first rotating part 433. In this case, only the first rotating part 433 may rotate, while the shaft rod 432 does not rotate. When observing the first rotating part 433 from above, the second direction R2 may refer to, for example, the counterclockwise direction, but is not limited thereto.

[0129] Figure 10c is a view showing the state in which the shaft rod 432 enters the second guide rail 4331b when the first rotating part 433 remains rotating in the second direction R2 in the state of Figure 10b . When the shaft rod 432 enters the second guide rail 4331b, the shaft rod 432 may move upward by the repulsive force of the above-mentioned first elastic body (for example, Figure 7 the first elastic body 444 of

[0130] Figure 10d It is a view showing the state in which the shaft 432 of the first rotating part 433 enters the guide groove 4341 of the guide part 434 in the state of Figure 10c When the shaft 432 moves upward from the lower end of the second guide rail 4331b by the repulsive force of the first elastic body 444, the guide rail 4331 can enter the guide groove 4341 of the guide part 434.

[0131] Figure 10e It is a view showing the state in which the shaft 432 moves upward along the guide groove 4341 when the first rotating part 433 is held and rotated in the second direction R2 in the state of Figure 10d When the shaft 432 passes through the second guide rail 4331b, the shaft 432 can be caught by the edge of the second guide rail 4331b and can be rotated together with the first rotating part 433 in the second direction R2. When the shaft 432 moves in the second direction R2, the shaft 432 can move upward along the upwardly inclined guide groove 4341. When the shaft 432 moves upward, not only the shaft 431 coupled to the shaft 432 can move upward but also the cleaning cloth module 440 coupled to the shaft 431 can move upward.

[0132] Figure 10f It is a view showing the scene in which the shaft 432 moves toward the closed end of the third guide rail 4331c when the first rotating part 433 is held and rotated in the second direction R2 in the state of Figure 10e After the shaft 432 reaches the upper end of the second guide rail 4331b along the guide groove 4341, the shaft 432 can move along the third guide rail 4331c. When the shaft 432 reaches the upper end of the second guide rail 4331b, the shaft 431 and the cleaning cloth module 440 may no longer be lifted. When the shaft 432 reaches the closed end of the third guide rail 4331c, the shaft 432 can be rotated together with the first rotating part 433 in the second direction R2.

[0133] In Figure 10f the state, when the first rotating part 433 rotates again in the first direction R1, the shaft 432 can move in the reverse order of Figures 10a to 10f In this case, when the shaft 432 reaches the upper end of the second guide rail 4331b, the shaft 432 can move downward below the second guide rail 4331b by gravity.

[0134] Figure 11a and Figure 11b are views showing the interference between the first member and the rotating member in the cleaning cloth driver according to the embodiment. Figure 12 It is Figure 11b a side view of

[0135] Figure 11a , Figure 11b and Figure 12 The first member 442 and the second member 443 shown in FIG. 4 can be structurally similar to Figures 6 to 9 The first member 442 and the second member 443 shown in FIG. 4 are substantially identical. Figure 11a , Figure 11b and Figure 12 The structures and shapes of the first member 442 and the second member 443 shown in FIG. 4 are exemplary, and the present disclosure is not limited thereto. Hereinafter, descriptions of repeated configurations will be omitted.

[0136] Reference Figure 11a As shown in the figure, the first member 442 and the second member 443 may be combined so that the attachment member 4421 and the first inclined portion 4422 of the first member 442 are located in the opening 4431 of the second member 443. Figure 10a In the case where the second member 443 and the first member 442 are rotated in the first direction R1, the second member 443 and the first member 442 may be rotated together in the first direction R1 in the combined state.

[0137] If the stopper (e.g. Figure 13 The stopper 451 of the first member 442 is inserted into the stopper insertion hole 4423 of the first member 442 to stop the rotation of the first member 442 while only the second member 443 rotates, the second member 443 may rotate while contacting the first inclined portion 4422 located in the opening 4431. In the case where one surface of the second member 443 moves along the first inclined portion 4422, the first member 442 and the second member 443 may be spaced apart from each other, such as Figure 11b and Figure 12 shown.

[0138] Figure 13 is a view illustrating a separation drive in a cleaning drive according to an embodiment. Figure 14 is an exploded perspective view illustrating a separation drive in a cleaning drive according to an embodiment. Figure 15 is a cross-sectional view illustrating a cleaning drive according to an embodiment.

[0139] Figures 13 to 15 The separation drive 450 shown in FIG. 4 may be similar in construction to the Figure 4 and Figure 5 The split drive 450 shown in FIG. 4 is substantially the same. Figures 13 to 15 The structure and shape of the separation driver 450 shown in FIG. 4 are exemplary, and the present disclosure is not limited thereto.

[0140] According to an embodiment, the separation driver 450 may include a stopper 451, a second rotating part 452, a connection part 453, a vertical moving part 454, or a cylindrical part 455.

[0141] According to an embodiment, the second rotating part 452 may be engaged with a second gear unit (e.g., Figure 5 the second gear unit 462). When the motor (e.g., Figure 4 the motor 420) rotates, the second rotating part 452 may rotate by the rotational force transmitted by a gear assembly (e.g., Figure 5 the gear assembly 460). The second rotating part 452 may be formed in a hollow shape. The connection part 453 may be disposed in the hollow part of the second rotating part 452.

[0142] According to an embodiment, the connection part 453 may be configured to connect the second rotating part 452 and the vertical moving part 454. The vertical moving part 454 may be coupled to the lower side of the second rotating part 452. When the second rotating part 452 is rotated, the connection part 453 may be rotated together.

[0143] According to an embodiment, the vertical moving part 454 may be connected to the connection part 453 and may rotate together according to the rotation of the second rotating part 452. For example, a part of the vertical moving part 454 may be accommodated in the hollow part of the second rotating part 452. The vertical moving part 454 may be arranged such that, for example, a part of it protrudes downward from the second rotating part 452. The vertical moving part 454 may generally have a cylindrical shape. According to an embodiment, the vertical moving part 454 may be directly coupled to the second rotating part 452 without the connection part 453.

[0144] According to an embodiment, a threaded coupling part 4541 may be formed at the lower part of the vertical moving part 454. The threaded coupling part 4541 may be formed to protrude, for example, along the outer circumferential surface of the vertical moving part 454.

[0145] According to an embodiment, the cylindrical part 455 may be coupled to the lower part of the vertical moving part 454. The cylindrical part 455 may have an empty cylindrical shape. Threads 4551 may be formed on the inner circumferential surface of the cylindrical part 455. When the threaded coupling part 4541 of the vertical moving part 454 is coupled to the threads 4551 of the cylindrical part 455 and the vertical moving part 454 is rotated, the threaded coupling part 4541 may move along the threads 4551 of the cylindrical part 455 and move vertically. As shown, the cylindrical part 455 may be integrally formed with the housing 410, but is not limited thereto. The cylindrical part 455 may be manufactured as a separate component and coupled to the housing 410.

[0146] According to an embodiment, the stopper 451 may be coupled to the lower portion of the vertical movement part 454. As described above, when the second rotation part 452 rotates by the rotation of the motor 420, the vertical movement part 454 may move upward or downward. When the vertical movement part 454 moves upward or downward, the stopper 451 may also move upward or downward. The stopper 451 may be set to protrude from the lower surface of the housing 410.

[0147] According to an embodiment, the separation driver 450 may be set to be inserted into the stopper insertion hole (e.g., Figure 8 the stopper insertion hole 4423 of the first member 442) of the first member (e.g., Figure 8 when the stopper 451 descends. When viewed from below, the stopper 451 may be located at a part of a portion overlapping the stopper insertion hole 4423, for example. For example, when the cleaning cloth module 440 moves upward, the stopper 451 may move downward. For example, when the cleaning cloth module 440 is rotated in one direction to move upward, the stopper 451 may be rotated in one direction to move downward.

[0148] Figures 16 to 19 is a view showing a process of automatically attaching and detaching a cleaning cloth by a cleaning driver according to an embodiment.

[0149] Referring to Figure 16 , the robot cleaner 100 may clean the floor by rotating the cleaning cloth module 440 in the first direction R1. When the cleaning cloth module 440 is rotated in the first direction R1, the cleaning cloth module 440 may be rotated while the cleaning cloth P is in close contact with the floor surface to clean the floor surface.

[0150] Referring to Figure 17 , when it is determined that the cleaning cloth P needs to be replaced, the robot cleaner 100 may raise the cleaning cloth module 440. For example, the robot cleaner 100 may determine whether the cleaning cloth P needs to be replaced based on the degree of contamination of the cleaning cloth P identified by a contamination level sensor (not shown). For example, the robot cleaner 100 may determine whether the cleaning cloth P needs to be replaced based on the time for which the cleaning cloth P is used to clean the floor. For example, when the time for which the cleaning cloth P is used to clean the floor exceeds a predetermined time, the robot cleaner 100 may determine that the cleaning cloth P needs to be replaced. This determination may be performed by a controller (e.g., Figure 3 the controller 350) of the robot cleaner 100.

[0151] The robot cleaner 100 can raise the cleaning cloth module 440 while the stopper 451 of the lowering and separating driver 450 descends. In this case, the cleaning cloth module 440 can rise faster than the stopper 451 descends. Even after the cleaning cloth module 440 has moved upward to the maximum height, the stopper 451 can continue to rotate and descend. When the robot cleaner 100 determines during cleaning that the cleaning cloth P should be spaced apart from the floor, the robot cleaner 100 can perform the Figure 17 operation shown to raise the cleaning cloth P. In Figure 17 this state, since the stopper 451 does not interfere with the rotation of the first member 442, the cleaning cloth P can be spaced apart from the floor while maintaining the state where the cleaning cloth P is attached to the first member 442.

[0152] For example, the robot cleaner 100 can rotate the cleaning cloth module 440 in a second direction R2 opposite to the first direction R1 to move the cleaning cloth module 440 upward. In this case, the robot cleaner 100 can be provided with a cleaning cloth driver 430 described with reference to Figures 6 to 10f .

[0153] With reference to Figure 18 , even after the upward movement of the cleaning cloth module 440 is completed, the robot cleaner 100 can lower the stopper 451. When the stopper 451 descends, the cleaning cloth module 440 can rotate even when the upward movement is completed. The stopper 451 can be lowered until it is inserted into the stopper insertion hole 4423 of the first member 442. When the stopper 451 is inserted into the stopper insertion hole 4423, the stopper can be stuck at the edge of the stopper insertion hole 4423, thereby stopping the rotation of the first member 442. Even when the stopper 451 stops the rotation of the first member 442, the second member 443 of the cleaning cloth module 440 can continue to rotate. Since only the second member 443 rotates while the first member 442 is stopped, the second member 443 can press the first inclined portion 4422, so that the first member 442 can move upward. When the stopper projection (for example, Figure 6 the stopper projection 4425) moves upward along the inclined guide portion 4411b of the outer cover member 4411, the first member 442 can move upward. In other words, the gap between the second member 443 and the first member 442 can be widened. When the first member 442 moves upward, the cleaning cloth P attached to the first member 442 at the lower side of the second member 443 can become unbonded or separated from the first member 442. Therefore, the cleaning cloth P can be separated from the cleaning cloth module 440.

[0154] With reference to Figure 19, the robot cleaner 100 can lower the cleaning cloth module 440 to replace the new cleaning cloth P'. The new cleaning cloth P' can be set at a predetermined position. The robot cleaner 100 can move to the predetermined position, align the cleaning cloth module 440 to place it above the new cleaning cloth P', and then lower the cleaning cloth module 440. When the cleaning cloth module 440 is lowered, the stopper 451 can rise. For example, the cleaning cloth module 440 can be lowered while being rotated. As the second member 443 rotates, the second member 443 and the first member 442 can be realigned and coupled to the first member 442. When the stopper projection 4425 moves downward along the inclined guide portion 4411b of the outer cover member 4411, the first member 442 can move downward. In the case where the first member 442 is lowered, the first member 442 can be in close contact with the second member 443 by the elastic restoring force of the second elastic body (e.g., Figure 7 the second elastic body 445) provided between the second member 443 and the first member 442. In the case where the first member 442 is in close contact with the second member 443, the first member 442 and the second member 443 can rotate together again.

[0155] During the process of separating the cleaning cloth P, the cleaning cloth driver 430 does not necessarily have to be applied only to the Figures 6 to 1 components shown in 0F, but can be applied to various other structures for raising or lowering the cleaning cloth module 440. In other words, any vacuum cleaner having a structure for lifting and lowering the cleaning cloth module 440 can automatically separate and / or attach the cleaning cloth P when it is a vacuum cleaner having the shown separating driver 450 and cleaning cloth module 440, as Figures 16 to 19 shown. The cleaning cloth driver 430 can raise or lower the cleaning cloth module 440 through the Figures 6 to 10f shown structure, but is not limited thereto, and various lifting structures that can be applied by those of ordinary skill in the art can be applied.

[0156] According to an embodiment, the cleaning cloth P can be separated from the cleaning cloth module 440 by only operating the stopper 451 of the lowering separating driver 450 without using the lifting structure or process of the cleaning cloth module 440. For example, even if the cleaning cloth module 440 does not rise, by lowering the stopper 451 until the stopper 451 is inserted into the stopper insertion hole 4423 of the first member 442, the cleaning cloth P can be separated from the cleaning cloth module 440.

[0157] Hereinafter, various structures for vertically moving the cleaning cloth module and various structures for vertically moving the separating driver will be described with reference to Figures 20 to 27b .

[0158] Figure 20 is a cross-sectional view showing a cleaning driver according to an embodiment.

[0159] Figure 20 The cleaning driver 2000 shown in Figures 1 to 3 may be included as some components of the robotic cleaner 100 described with reference to Figures 1 to 3 The robotic cleaner 100 may include at least one cleaning driver 2000.

[0160] Figure 20 The housing 2100 and the motor 2200 of the cleaning driver 2000 shown in Figures 4 to 19 may be substantially the same in structure as the housing 410 and the motor 420 of the cleaning driver 400 shown in Figure 20 . In addition, although not shown, Figure 5 the cleaning driver 2000 may have Figures 4 to 19 the gear assembly 460 shown in

[0161] to transfer the rotational force of the motor 2200 to the cleaning cloth driver 2300 and / or the separation driver 2500. Hereinafter, a detailed description of a structure substantially the same as the structure described with reference to

[0162] According to an embodiment, the cleaning cloth driver 2300 may include a rotating shaft member 2310, a first lifting member 2320, a second lifting member 2330, or a guide cover member 2450. The rotating shaft member 2310 may provide a central axis that rotates using the rotational force transferred from the motor 2200. The rotating shaft member 2310 may be used as, for example, a central axis for rotating the first lifting member 2320.

[0163] According to an embodiment, the first lifting member 2320 may be coupled to rotate together with the rotating shaft member 2310. The first lifting member 2320 may be arranged to rotate together according to the rotational speed and the rotational direction of the rotating shaft member 2310. The first lifting member 2320 may be arranged not to move vertically relative to, for example, the rotating shaft member 2310. A thread coupling portion 2321 that protrudes outward may be formed on the outer circumferential surface of the first lifting member 2320.

[0164] According to an embodiment, the second lifting member 2330 may be coupled to be rotatable relative to the first lifting member 2320. The second lifting member 2330 may be coupled to the lower portion of the first lifting member 2320. At least a portion of the first lifting member 2320 may be inserted into the hollow portion of the second lifting member 2330 to be coupled to each other. Threads 2331 may be formed on the surface of the hollow portion of the second lifting member 2330 (or the inner circumferential surface of the second lifting member 2330). The thread engaging portion 2321 of the first lifting member 2320 may engage with the threads 2331 of the second lifting member 2330 to move along the path of the threads 2331.

[0165] The second lifting member 2330 may include a rotation resistance member 2332. The rotation resistance member 2332 protruding outward may be disposed on the outer circumferential surface of the second lifting member 2330. The rotation resistance member 2332 may be made of, for example, an elastic material. The rotation resistance member 2332 may contact the circumferential protrusion 2110 of the housing 2100 according to the vertical movement of the second lifting member 2330. For example, when the second lifting member 2330 ascends, the rotation resistance member 2332 may contact the inner circumferential surface of the circumferential protrusion 2110. When the rotation resistance member 2332 contacts the inner circumferential surface of the circumferential protrusion 2110, a frictional force may be formed, and a resistance to the rotation of the second lifting member 2330 may be generated through the frictional force. When a resistance to the rotation of the second lifting member 2330 occurs, the first lifting member 2320 rotates relatively faster than the second lifting member 2330, and the thread engaging portion 2321 of the first lifting member 2320 moves along the threads 2331 of the second lifting member 2330. When the thread engaging portion 2321 moves, the second lifting member 2330 may move vertically.

[0166] For example, depending on the situation, the second lifting member 2330 may rotate together with the first lifting member 2320, may rotate relatively slowly compared to the first lifting member 2320, or may stop rotating when only the first lifting member 2320 rotates.

[0167] The second lifting member 2330 may be coupled to the second member 2420 of the cleaning cloth module 2400. The second member 2420 may be coupled to rotate together with, for example, the second lifting member 2330.

[0168] According to an embodiment, the cleaning driver 2000 may include a cleaning cloth module 2400. The cleaning cloth P may be attached to the lower surface of the cleaning cloth module 2400. When the cleaning cloth driver 2300 and the cleaning cloth module 2400 rotate by the operation of the motor 2200, the cleaning cloth P attached to the cleaning cloth module 2400 may also rotate. When the robot cleaner (e.g., Figure 1When the robot cleaner 100) moves to clean the floor, the cleaning cloth P can rotate in contact with the floor.

[0169] According to an embodiment, the cleaning cloth module 2400 may include a first member 2410 and a second member 2420. The first member 2410 may be disposed above the second member 2420. The first member 2410 may be configured to be directly coupled or attached to the cleaning cloth P. The first member 2410 may move vertically relative to the second member 2420. In a case where the second member 2420 rotates while the rotation of the first member 2410 stops, as the engagement between the first member 2410 and the second member 2420 is released, the first member 2410 may move upward. The first member 2410 may generally have a disk-shaped configuration, for example.

[0170] A first elastomer 2430 may be disposed between the second member 2420 and the second lifting member 2330. For example, when the cleaning cloth module 2400 or the cleaning cloth P attached to the cleaning cloth module 2400 contacts the floor, the first elastomer 2430 may be compressed. For example, while the cleaning cloth P contacts the floor, the first elastomer 2430 may be compressed to generate an elastic repulsive force.

[0171] According to an embodiment, the cleaning cloth module 2400 may include a guide cover member 2450. The upper and lower surfaces of the guide cover member 2450 may be open, and empty spaces may be provided in the upper and lower surfaces of the guide cover member 2450. For example, the guide cover member 2450 may generally have a hollow cylindrical configuration. For example, at least a portion of the second lifting member 2330 may be received in the empty space inside the guide cover member 2450. The guide cover member 2450 may be coupled to the second member 2420. The guide cover member 2450 may move vertically together with, for example, the second lifting member 2330. The guide cover member 2450 may rotate together with, for example, the second member 2420.

[0172] According to an embodiment, the cleaning driver 2000 may include a separation driver 2500. The separation driver 2500 may be configured to receive a rotational force from the motor 2200. The separation driver 2500 may include a stopper 2510 configured to vertically move according to the rotational direction. For example, by the operation of the motor 2200, the stopper 2510 may rise or fall according to the rotational direction of the motor 2200. For example, when the motor 2200 rotates in a first direction, the stopper 2510 may rise. For example, when the motor 2200 rotates in a second direction opposite to the first direction, the stopper 2510 may fall. When the cleaning cloth module 2400 rotates by the cleaning cloth driver 2300, the lowered stopper 2510 may be inserted into the stopper insertion hole 2413 of the first member 2410 of the cleaning cloth module 2400 to stop the rotation of the first member 2410. Even though the rotation of the first member 2410 stops, the second member 2420 disposed therebelow may still rotate by the cleaning cloth driver 2300. In other words, the second member 2420 may rotate relative to the first member 2410. In the case where the second member 2420 rotates relative to the first member 2410, the first member 2410 is pushed upward by a second inclined portion (e.g., Figure 23 the second inclined portion 2422) described below, so that the gap between the first member 2410 and the second member 2420 may increase. Accordingly, the cleaning cloth P of the attachment member 2411 attached to the first member 2410 may be separated from the first member 2410. The operation of the robot cleaner 100 for automatically replacing the cleaning cloth P will be described below.

[0173] According to an embodiment, the cleaning cloth module 2400 may include a second elastic body 2440 disposed between the first member 2410 and the second member 2420. One side of the second elastic body 2440 may be fixed to the first member 2410. The other side of the second elastic body 2440 may be fixed to the second member 2420. The second elastic body 2440 may provide an elastic force in a direction in which the first member 2410 and the second member 2420 are in close contact with each other. In the case where the distance between the first member 2410 and the second member 2420 increases, the second elastic body 2440 may expand. The expanded second elastic body 2440 may have a reaction force formed in a direction in which the expanded second elastic body 2440 contracts, and thus may apply a force in a direction in which the first member 2410 and the second member 2420 approach each other. For example, the expanded second elastic body 2440 may apply a force for pulling up the second member 2420. For example, the expanded second elastic body 2440 may apply a force for pulling down the first member 2410. The second elastic body 2440 may have a diameter larger than that of the first elastic body 2430, for example. The second elastic body 445 may be, for example, a torsion spring.

[0174] For example, the separation driver 2500 may be provided through the lower surface of the housing 2100, but is not limited thereto. At least a part of the separation driver 2500 may be accommodated in the housing 2100.

[0175] The cleaning cloth driver 2300 and the separation driver 2500 may be configured to receive a rotational force from one motor 2200 simultaneously, but is not limited thereto. For example, the cleaning cloth driver 2300 and the separation driver 2500 may be driven independently of each other by different motors. For example, the cleaning cloth driver 2300 may be configured to rotate and move vertically by the rotation of the motor 2200, and the separation driver 2500 may be configured to move vertically in a solenoid manner.

[0176] Figure 21 is a view showing a cleaning cloth driver and a cleaning cloth module in a cleaning driver according to an embodiment. Figure 22 is a top exploded perspective view showing a cleaning cloth driver and a cleaning cloth module according to an embodiment. Figure 23 is a bottom exploded perspective view showing a cleaning cloth driver and a cleaning cloth module according to an embodiment.

[0177] Figures 21 to 23 The cleaning cloth driver 2300 and the cleaning cloth module 2400 shown in Figure 20 may be substantially the same in configuration as the cleaning cloth driver 2300 and the cleaning cloth module 2400 shown in Figures 21 to 23 The structures and shapes of the cleaning cloth driver 2300 and the cleaning cloth module 2400 shown in

[0178] According to an embodiment, the first member 2410 may include an attachment member 2411, a first inclined portion 2412, a stopper insertion hole 2413, or a rotating member coupling portion 2414.

[0179] According to an embodiment, the attachment member 2411 may be provided to be coupled to the cleaning cloth P. The attachment member 2411 may be located on the lower surface of the first member 2410. The attachment member 2411 may, for example, have an arc shape as a whole. For example, a plurality of attachment members 2411 may be provided to be spaced apart from each other in the circumferential direction of the first member 2410. The attachment member 2411 may be, for example, a magnet or a Velcro, but is not limited thereto, and various types of attachment structures may be applied. The attachment member 2411 may protrude downward from the first member 2410 to be attached to the cleaning cloth P through, for example, the second member 2420.

[0180] According to an embodiment, the first inclined portion 2412 may be formed to protrude from the first member 2410. The first inclined portion 2412 may protrude to the lower surface of the first member 2410. The first inclined portion 2412 may be disposed adjacent to, for example, the attachment member 2411. The first inclined portion 2412 may be located near the end of the attachment member 2411. The first inclined portion 2412 and the attachment member 2411 may be placed adjacent to each other and may have an arc shape as a whole.

[0181] According to an embodiment, the stopper insertion hole 2413 may have an arc shape. The stopper insertion hole 2413 may be a portion into which the stopper 2510 described below moves downward and is inserted. The stopper insertion hole 2413 may be placed closer to the central portion of the first member 2410 than the first inclined portion 2412 or the attachment member 2411, but is not limited thereto.

[0182] According to an embodiment, the rotation member coupling portion 2414 may be a portion into which a part of the second member 2420 is inserted when the first member 2410 is coupled to the second member 2420. When a part of the second member 2420 is inserted into the rotation member coupling portion 2414, the first member 2410 and the second member 2420 may be detachably coupled or in close contact with each other. When the second member 2420 is inserted into the rotation member coupling portion 2414, the first member 2410 may rotate together with the second member 2420.

[0183] According to an embodiment, the first member 2410 may include a stopper protrusion 2415 protruding from the inner circumferential surface toward the central portion. The stopper protrusion 2415 may be set to be caught by the inclined guide portion 2451 of the guide cover member 2450. The stopper protrusion 2415 may move along the inclined guide portion 2451, for example, while the first member 2410 is separated from the second member 2420 and moves upward or downward to be coupled to the second member 2420.

[0184] According to an embodiment, the second member 2420 may include an opening 2421 or a second inclined portion 2422. The second inclined portion 2422 may be disposed adjacent to, for example, the opening 2421. The second inclined portion 2422 and the opening 2421 may be placed adjacent to each other and may have an arc shape as a whole. The second inclined portion 2422 may be, for example, a portion inserted into the rotation member coupling portion 2414 of the first member 2410.

[0185] According to an embodiment, the opening 2421 may be provided at a position corresponding to the attachment member 2411. The opening 2421 may generally have, for example, an arc shape. In a state where the first member 2410 and the second member 2420 are combined, the attachment member 2411 and the first inclined portion 2412 of the first member 2410 may be disposed in the opening 2421 of the second member 2420. The first member 2410 and the second member 2420 may be combined such that, for example, the opening 2421 and the attachment member 2411 overlap each other. The first member 2410 and the second member 2420 may be combined such that, for example, a part of the opening 2421 and the first inclined portion 2412 overlap each other. When the first member 2410 and the second member 2420 are combined or in close contact, the first inclined portion 2412 may be located in the opening 2421. The attachment member 2411 may be combined with or attached to the cleaning cloth P through the opening 2421. When the distance between the first member 2410 and the second member 2420 increases, the attachment member 2411 and the cleaning cloth P may also be spaced apart from each other such that the cleaning cloth P may be separated from the cleaning cloth module 2400.

[0186] According to an embodiment, the guide cover member 2450 may include a rotation member stopper portion 2452 that protrudes downward. The rotation member stopper portion 2452 may be formed, for example, when the lower end portion is bent inward. When the inwardly bent portion of the guide cover member 2450 is combined with the second member 2420, it may be used to allow the inwardly bent portion of the guide cover member 2450 to be caught by the second member 2420. When the rotation member stopper portion 2452 is inserted into the guide cover member insertion hole 2424 of the second member 2420 and then rotated in one direction to be caught by the stopper claw 2425, the guide cover member 2450 and the second member 2420 may be combined with each other.

[0187] According to an embodiment, the second lifting member 2330 may include a rotation member coupling portion 2414 provided at its lower portion to be combined with the second member 2420. When the rotation member insertion portion 2333 is inserted and fixed to the insertion recess 2423 near the center of the second member 2420, the second lifting member 2330 and the second member 2420 may be combined with each other.

[0188] Figure 24 is a view showing a separation driver in a cleaning driver according to an embodiment. Figure 25 is an exploded perspective view showing a separation driver in a cleaning driver according to an embodiment.

[0189] Figure 24 and Figure 25 The separation driver 2500 shown in Figure 20 may be substantially the same in configuration as the separation driver 2500 shown in Figure 24 andFigure 25 The structure and shape of the separation driver 2500 shown are exemplary, and the present disclosure is not limited thereto.

[0190] According to an embodiment, the separation driver 2500 may include all or some of a stopper 2510, a third lifting member 2520, a fourth lifting member 2530, a third elastic body 2540, a first magnetic body 2550, and a second magnetic body 2560.

[0191] According to an embodiment, the third lifting member 2520 may be configured to rotate by receiving a rotational force from a motor (e.g., Figure 20 the motor 2200). The third lifting member 2520 may be disposed in an inner space of, for example, a housing 2100. The fourth lifting member 2530 may be coupled to a lower portion of the third lifting member 2520. A thread engaging portion 2521 protruding outward may be formed on an outer circumferential surface of the third lifting member 2520.

[0192] According to an embodiment, the fourth lifting member 2530 may be coupled to the third lifting member 2520. The fourth lifting member 2530 may have a cylindrical appearance. The fourth lifting member 2530 may have a space in which at least a part of an upper surface thereof is open and at least a part of the third lifting member 2520 is accommodated therein. A thread 2531 may be formed on a surface of an inner space of the fourth lifting member 2530 (or an inner circumferential surface of the fourth lifting member 2530). When the thread engaging portion 2521 of the third lifting member 2520 engages with the thread 2531 of the fourth lifting member 2530, the third lifting member 2520 and the fourth lifting member 2530 may be coupled to each other. For example, at least a part of the fourth lifting member 2530 may be accommodated in an accommodation portion 2120.

[0193] According to an embodiment, the first magnetic body 2550 may be disposed on a part of an outer circumferential surface of the fourth lifting member 2530. According to an embodiment, the second magnetic body 2560 may be accommodated in a magnetic body accommodation portion 2130 of the housing 2100. The magnetic body accommodation portion 2130 may be placed adjacent to, for example, the accommodation portion 2120. The first magnetic body 2550 and the second magnetic body 2560 may form a magnetic force that attracts each other. A rotational resistance may be generated in the fourth lifting member 2530 by the magnetic force of the first magnetic body 2550 and the second magnetic body 2560. When a rotational resistance is generated in the fourth lifting member 2530, the third lifting member 2520 coupled to the fourth lifting member 2530 may rotate relatively correctly. Accordingly, the thread engaging portion 2521 of the third lifting member 2520 may move along the thread 2531 such that the fourth lifting member 2530 may move vertically.

[0194] Optionally, depending on the situation, the fourth lifting member 2530 may rotate together with the third lifting member 2520, rotate more slowly than the third lifting member 2520, or stop rotating while the third lifting member 2520 rotates.

[0195] According to an embodiment, the third elastic body 2540 may be disposed between the fourth lifting member 2530 and the stopper 2510. When the stopper 2510 descends, when the stopper 2510 contacts the upper surface of the first member 2410 instead of the stopper insertion hole 2413 of the first member 2410, the third elastic body 2540 may be formed to be compressed. When the stopper 2510 contacts the upper surface of the first member 2410, the third elastic body 2540 may prevent the first member 2410 from being pressed downward and damaged.

[0196] Figures 26a to 26e It is a view showing a process of automatically attaching and detaching a cleaning cloth by a cleaning driver according to an embodiment.

[0197] Figures 26a to 26e It is for describing Figure 20 the operation of the cleaning driver 2000 shown in. Hereinafter, descriptions of repeated components will be omitted, and the operation relationship between components will be described.

[0198] Referring to Figure 26a , the robot cleaner 100 may clean the floor by rotating the cleaning cloth module 2400 in the first direction R1'. When the cleaning cloth module 2400 rotates in the first direction R1', the cleaning cloth module 440 may rotate while the cleaning cloth P is in close contact with the floor surface to clean the floor surface. When the cleaning cloth P is in close contact with the floor, the first elastic body 2430 may be kept in a compressed state. An elastic repulsive force may be applied in the direction in which the second lifting member 2330 moves upward due to the compression of the first elastic body 2430, but when the cleaning cloth module 2400 rotates in the first direction R1', the second lifting member 2330 may be prevented from rising by the engagement structure between the threaded engagement portion 2321 of the first lifting member 2320 and the thread 2331 of the second lifting member 2330.

[0199] Referring to Figure 26b , in the case where it is determined that the cleaning cloth P needs to be replaced, the robot cleaner 100 may raise the cleaning cloth module 2400. For example, the robot cleaner 100 may determine whether the cleaning cloth P needs to be replaced based on the degree of contamination of the cleaning cloth P identified by using a contamination level sensor (not shown). For example, the robot cleaner 100 may determine whether the cleaning cloth P needs to be replaced based on the time for which the cleaning cloth P has been used to clean the floor.

[0200] The robot cleaner 100 can raise the cleaning cloth module 2400 while lowering the stopper 2510 of the lowering and separating driver 2500. In this case, the cleaning cloth module 2400 can be raised at a speed faster than the speed at which the stopper 2510 descends. Even after the cleaning cloth module 2400 has moved upward to the maximum height, the stopper 2510 can continue to descend. When the robot cleaner 100 determines during cleaning that the cleaning cloth P should be spaced apart from the floor, the robot cleaner 100 can perform an operation of raising the cleaning cloth P. For example, the robot cleaner 100 can rotate the cleaning cloth module 2400 in a second direction R2' opposite to the first direction R1' to move the cleaning cloth module 2400 upward. At the initial stage when the cleaning cloth module 2400 rotates in the second direction R2', as Figure 26b shown, due to the elastic repulsive force of the first elastic body 2430, the second lifting member 2330 starts to move upward.

[0201] Referring to Figure 26c , the second lifting member 2330 can be raised by the elastic repulsive force of the first elastic body 2430, so that the rotation resistance member 2332 can be in close contact with the inner circumferential surface 2111 of the circumferential protrusion 2110 of the housing 2100, thereby generating frictional force. Due to the frictional force, rotational resistance can be generated in the second lifting member 2330, and the first lifting member 2320 can rotate relatively faster than the second lifting member 2330. As the first lifting member 2320 rotates relatively quickly, the threaded engagement portion 2321 of the first lifting member 2320 can move along the path of the thread 2331 of the second lifting member 2330. Therefore, the second lifting member 2330 can be raised. When the second lifting member 2330 rises, the stopper 2510 of the separating driver 2500 can move downward. As Figure 26c shown, even when the second lifting member 2330 is fully raised, the stopper 2510 may not be inserted into the stopper insertion hole 2413 of the first member 2410.

[0202] Referring to Figure 26d , in a state where the second lifting member 2330 is fully raised, the stopper 2510 can continue to move downward and can be inserted into the stopper insertion hole 2413 of the first member 2410. In this case, the cleaning cloth module 2400 can continue to rotate in the second direction R2'.

[0203] Referring to Figure 26e, when the cleaning cloth module 2400 rotates in the second direction R2' with the stopper 2510 inserted into the stopper insertion hole 2413, the stopper 2510 can be caught by the edge of the stopper insertion hole 2413, thereby stopping the rotation of the first member 2410. While the rotation of the first member 2410 stops, only the second member 2420 can rotate. Therefore, the first member 2410 and the second member 2420 can be separated. In this case, with the vertical movement fixed, when the first member 2410 rises along the inclined guiding portion 2451 of the guiding cover member 2450, the second member 2420 can be separated from the first member 2410. Figure 11a , Figure 11b and Figure 12 The description of can be applied to the structure and operation in which the second member 2420 rotates and separates when the first member 2410 stops.

[0204] If the first member 2410 is separated by moving upward relative to the second member 2420, the cleaning cloth P can be separated when the cleaning cloth P is spaced apart from the first member 2410 to which the cleaning cloth P is coupled or attached.

[0205] According to an embodiment, the robot cleaner 100 can lower the second lifting member 2330 and the cleaning cloth module 2400 in the reverse order of the above-described process of separating the cleaning cloth P, and can re-couple the first member 2410 and the second member 2420 to install a new cleaning cloth P.

[0206] According to an embodiment, the cleaning cloth P can be separated from the cleaning cloth module 2400 by only operating the stopper 2510 of the lowering separation driver 2500 without using the lifting structure or process of the cleaning cloth module 2400. For example, even if the cleaning cloth module 2400 does not rise, by lowering the stopper 2510 until the stopper 2510 is inserted into the stopper insertion hole 2413 of the first member 2410, the cleaning cloth P can be separated from the cleaning cloth module 2400.

[0207] Figure 27a and Figure 27b are views showing a cleaning driver having an anti-rotation member with a magnetic body according to an embodiment.

[0208] Except for the configuration of the second lifting member 2330', Figure 27a and Figure 27b Most of the components of the cleaning driver 2000' shown in are substantially the same as the components of the cleaning driver 2000 shown in. The following description mainly focuses on the differences. Figures 20 to 26e The components of the cleaning driver 2000 shown in.

[0209] According to an embodiment, the cleaning driver 2000' may include a second lifting member 2330' rotatably coupled to the lower side of the first lifting member 2320. Threads 2331' for coupling with the first lifting member 2320 may be formed on the inner circumferential surface of the second lifting member 2330'. The second lifting member 2330' may include a rotational resistance member 2332' for generating rotational resistance of the second lifting member 2330'. Different from the embodiment shown in Figures 20 to 26e , the rotational resistance member 2332' may be a magnetic body. The resistance to the rotation of the second lifting member 2330' may be generated by the magnetic force of the magnetic body.

[0210] According to an embodiment, the cleaning driver 2000' may include an additional magnetic body 2700 disposed around the circumferential protrusion 2110. The additional magnetic body 2700 may be accommodated in the housing 2100. The additional magnetic body 2700 may generate an attractive force with the rotational resistance member 2332' to generate resistance to the rotation of the second lifting member 2330'.

[0211] Figure 28 is a flowchart showing a method for controlling the operation of a robotic cleaner according to an embodiment.

[0212] Referring to Figure 28 , the operation method of the robotic cleaner 100 may include performing a cleaning operation (S2810). In an embodiment, when performing the cleaning operation, the controller (e.g., Figure 3 's controller 350) may control the operation of the traveling driver (e.g., Figure 3 's traveling driver 361) so that the robotic cleaner 100 moves along an appropriate driving path. In an embodiment, when performing the cleaning operation, the controller 350 may control the cleaning driver (e.g., Figure 3 's cleaning driver 362, Figure 4 's cleaning driver 400 or Figure 20 's cleaning driver 2000) so that the cleaning cloth module adjacent to the floor (e.g., Figure 2 's cleaning cloth module 140, Figure 4 's cleaning cloth module 440 or Figure 20 's cleaning cloth module 2400) rotates.

[0213] According to an embodiment, an operation method of the robot cleaner 100 may include determining whether the cleaning cloth P currently used for cleaning and installed on the cleaning cloth modules 140, 440, or 2400 disposed adjacent to the floor should be replaced (S2820). In an embodiment, such determination may be made by using a pollution sensor separately provided in the robot cleaner 100 by determining whether the pollution degree of the cleaning cloth P is greater than or equal to a predetermined level. In an embodiment, such determination may be made by the robot cleaner 100 based on timer information to determine whether the time for cleaning the floor using the pre-installed cleaning cloth P exceeds a reference value. According to an embodiment, the robot cleaner 100 may determine whether the cleaning cloth needs to be replaced by using a cleaning cloth replacement cycle set by the user. For example, in a case where the user sets the cleaning cloth replacement cycle to 1 hour, for example, when it is determined that the usage time of the pre-installed cleaning cloth P reaches 1 hour, the robot cleaner 100 may determine that the cleaning cloth P needs to be replaced.

[0214] According to an embodiment, in operation S2820, when it is determined that the cleaning cloth P needs to be replaced, the operation method of the robot cleaner 100 may include moving to a predetermined location to replace the cleaning cloth P (S2830). As an embodiment, the predetermined location may be, for example, a location designated by the user. In an embodiment, the designated location may be a location where the robot cleaner 100 performs charging (e.g., Figure 29 the connection station 2100 or Figure 30 the connection station 2200) or a location adjacent thereto, but the present disclosure is not limited thereto.

[0215] According to an embodiment, the operation method of the robot cleaner 100 may include automatically replacing the cleaning cloth P (S2840). The robot cleaner 100 may automatically replace the cleaning cloth P by referring to the Figures 16 to 19 automated cleaning cloth replacement process described.

[0216] According to an embodiment, the operation method of the robot cleaner 100 may include determining whether cleaning is completed (S2850). For example, the robot cleaner 100 may determine whether cleaning is completed by determining various termination conditions such as a termination command from the user or completion of cleaning of a preset cleaning area. When it is determined that cleaning is not completed, the robot cleaner 100 may return to operation S2810 and perform the process after operation S2810 again. After completing a predetermined cleaning plan, the robot cleaner 100 may determine that cleaning has been completed and end the operation. According to an embodiment, the process of determining whether cleaning is completed may be performed between the above processes.

[0217] Figure 29 is a view showing a process of attaching and detaching a cleaning cloth at a predetermined position of a robot cleaner according to an embodiment. Figure 302 is a view illustrating a process in which the robot cleaner attaches and detaches a cleaning cloth on a connection station according to an embodiment.

[0218] like Figure 29 As shown in (a), in the embodiment, when the above reference Figure 28 When the described control method determines that the cleaning cloth needs to be replaced, the robot cleaner 100 may move to a location A set by a user (such as a place next to a bathroom or a place in front of a laundry room), and then perform the above-mentioned operation of removing the cleaning cloth P to remove the used cleaning cloth P.

[0219] Afterwards, if Figure 29 (b) and Figure 29 As shown in (c), the robot cleaner 100 may move to a connection station 2900 having a cleaning cloth supply unit 2910 containing a new cleaning cloth P therein, may be located at a predetermined position, and may lower a rotating member (eg, Figure 2 The rotating member 141, Figure 4 The second member 443 and Figure 20 The second member 2420) is used to install a new cleaning cloth P to the cleaning cloth module (eg, Figure 2 Cleaning cloth module 140, Figure 4 Cleaning cloth module 440 and Figure 20 Afterwards, the robot cleaner 100 may leave the docking station 2900 and resume cleaning.

[0220] and Figure 29 Different, refer to Figure 30 , the robot cleaner 100 can perform the removal and installation of the cleaning cloth at the connection station 3000. In an embodiment, when the above reference Figure 28 When the control method described herein determines that the cleaning cloth needs to be replaced, the robot cleaner 100 may move to a connection station 3000 that is integrally equipped with a cleaning cloth supply unit 3010 in which a new cleaning cloth P is accommodated and a cleaning cloth collector 3020 for collecting the used cleaning cloth P. According to an embodiment, as Figure 30 As shown in (a) of FIG. 1 , the cleaning cloth collector 3020 may be located downstream of the cleaning cloth supply unit 3010 with respect to an entry direction of the robot cleaner 100 toward the connection station 3000 , but the present disclosure is not limited thereto.

[0221] like Figure 30 As shown in (b), the robot cleaner 100 arriving at the connection station 3000 may be located on the cleaning cloth collector 3020, and then perform the above-mentioned operation of detaching the cleaning cloth P to separate the cleaning cloth P from the cleaning cloth module 140, 440, or 2400. In an embodiment, the cleaning cloth P separated from the cleaning cloth module 140, 440, or 2400 may be received in the cleaning cloth collector 3020.

[0222] After that, as shown in (c) of Figure 30 , the robot cleaner 100 may move backward and be positioned on the cleaning cloth supply unit 3010, and then perform the above-described operation of installing the cleaning cloth P to attach the new cleaning cloth P supplied from the cleaning cloth supply unit 3010 to the cleaning cloth modules 140, 440, or 2400. After that, the robot cleaner 100 may leave the connection station 3000 and resume cleaning.

[0223] According to an embodiment of the present disclosure, the robot cleaner may automatically replace the cleaning cloth by itself without user intervention, thereby enhancing user convenience.

[0224] The terms used herein are provided only to describe some embodiments herein and are not intended to limit the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. 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 all possible combinations of the items listed together in the corresponding phrase. As used herein, the term "and / or" should be understood to include any and all possible combinations of one or more of the listed items. As used herein, the terms "comprising", "having", and "including" are used only to specify the presence of the features, components, parts, or combinations thereof described herein, but the use of these terms does not exclude the possibility of the presence or addition of one or more other features, components, parts, or combinations thereof. As used herein, the terms "first" and "second" may modify various components regardless of importance and / or order, and are used to distinguish one component from another without limiting the components.

[0225] As used herein, the term "configured to" may be interchangeably used with the terms "suitable for", "capable of", "designed to", "adapted to", "manufactured to", or "able to" depending on the context. The term "configured to" does not inherently mean "specially designed in hardware". Instead, the term "configured to" may mean that the device can perform operations together with another device or component. For example, a "device configured (or set) to perform A, B, and C" may be a dedicated device for performing the corresponding operations, or may represent a general-purpose device capable of performing various operations including the corresponding operations.

[0226] In addition, the terms "upper side", "lower side", and "front-rear direction" used in the present disclosure are defined with respect to the drawings, and the shape and position of each component are not limited by these terms.

[0227] In the present disclosure, the above description has been mainly directed to specific embodiments, but the present disclosure is not limited to such specific embodiments and should be understood to include all kinds of modifications, equivalent forms and / or alternative forms of various embodiments.

Claims

1. A robot cleaner, comprising: A housing (410, 2100); A motor (420, 2200), within the housing (410, 2100); A separation driver (450, 2500), including a stopper (451, 2510), wherein the stopper (451, 2510) is configured to vertically move up and down; and A cleaning cloth module (440, 2400), including: A first member (442, 2410), including: A stopper insertion hole (4423, 2413), wherein the stopper (451, 2510) can be inserted into the stopper insertion hole (4423, 2413), and An attachment member (4421, 2411), wherein a cleaning cloth (P) can be detachably coupled to the attachment member (4421, 2411), and A second member (443, 2420), configured to rotate by the motor (420, 2200) and located between the first member (442, 2410) and the cleaning cloth (P) to be coupled and detachably coupled to the first member (442, 2410), Wherein, when the cleaning cloth module (440, 2400) rotates with the second member (443, 2420) coupled to the first member (442, 2410), when the stopper (451, 2510) vertically moves downward to be inserted into the stopper insertion hole (4423, 2413), the first member (442, 2410) is blocked from rotating by the stopper (451, 2510) and then separated from the second member (443, 2420) to separate the cleaning cloth (P) from the first member (442, 2410).

2. The robot cleaner according to claim 1, wherein The separation driver (450, 2500) is configured to rotate by the motor (420, 2200) to vertically move up and down according to the rotation direction of the motor (420, 2200).

3. The robot cleaner according to claim 2, wherein The separation driver (450, 2500) includes: A rotating member (454, 2520), having a threaded engagement portion (4541, 2521) protruding from an outer circumferential surface of the rotating member (454, 2520) and rotating by a rotational force from the motor (420, 2200), and The threaded engagement portion (4541, 2521) is configured to engage with a thread (4551, 2531) around the rotating member (454, 2520) to move along a path of the thread when the rotating member (454, 2520) is rotated to vertically move the stopper (451, 2510).

4. The robot cleaner according to claim 1, wherein The separation driver (450, 2500) includes: an actuator for vertically moving the stopper (451, 2510).

5. The robot cleaner according to claim 1, wherein, the first member (442, 2410) includes: a first inclined portion (4422, 2412) protruding from a lower surface of the first member (442, 2410), and wherein, when rotation of the first member (442, 2410) is stopped by the stopper (451, 2510), the second member (443, 2420) slides along an inclined surface of the first inclined portion (4422, 2412) to separate the second member (443, 2420) from the first member (442, 2410).

6. The robot cleaner according to claim 1, wherein, the first member (442, 2410) includes: a first inclined portion (4422, 2412) protruding from a lower surface of the first member (442, 2410), and wherein the first inclined portion (4422, 2412) inclines toward an end of the attachment member (4421, 2411).

7. The robot cleaner according to claim 1, further comprising: a cleaning cloth (P) driver coupled to the cleaning cloth module (440, 2400) to transmit a rotational force of the motor (420, 2200) to the cleaning cloth module (440, 2400), and configured to selectively move vertically according to a rotational direction of the motor (420, 2200).

8. The robot cleaner according to claim 7, wherein, when the cleaning cloth (P) driver is raised to a maximum height, the stopper (451, 2510) is inserted into the stopper insertion hole (4423, 2413).

9. The robot cleaner according to claim 7, wherein, when the cleaning cloth (P) is detachably coupled to the attachment member (4421, 2411), and the cleaning cloth (P) contacts a surface to be cleaned, and the cleaning cloth (P) driver rotates in a first direction by the motor (420, 2200), the cleaning cloth (P) is rotated when contacting the surface to be cleaned, when the cleaning cloth (P) driver rotates in a second direction opposite to the first direction by the motor (420, 2200), the cleaning cloth (P) driver moves upward, and wherein, when the cleaning cloth (P) driver has moved upward, and the cleaning cloth (P) driver rotates in the first direction by the motor (420, 2200), the cleaning cloth (P) driver moves downward.

10. The robot cleaner according to claim 7, wherein, the cleaning cloth (P) driver includes: a first lifting member (2320) configured to rotate about a rotation axis and not move vertically, and a second lifting member (2330) between the first lifting member and the second member (443, 2420), and configured to move vertically relative to the first lifting member.

11. The robot cleaner according to claim 10, wherein, The second lifting member (2330) includes: a rotation resistance member (2332) protruding outward from the outer circumferential surface of the second lifting member (2330), and When the second lifting member (2330) ascends, the rotation resistance member (2332) contacts a part of the housing (410, 2100) to provide resistance to the rotational movement of the second lifting member (2330).

12. The robot cleaner according to claim 10, further comprising: A magnetic body (2700) disposed in a portion of the housing (410, 2100) adjacent to the second lifting member, The second lifting member includes: a rotation resistance member having magnetism, disposed on the outer circumferential surface of the second lifting member, and When the second lifting member ascends, the rotation resistance member provides resistance to the rotational movement of the second lifting member by the magnetic force generated in the magnetic body in the housing (410, 2100).

13. The robot cleaner according to claim 1, further comprising: A gear assembly in the housing (410, 2100) for transmitting the rotational force of the motor (420, 2200) to the cleaning cloth module (440, 2400) and the separation driver (450, 2500).

14. The robot cleaner according to claim 1, wherein The cleaning cloth module (440, 2400) includes: A first elastic body configured to be compressed to provide a repulsive force upward when the cleaning cloth (P) is detachably coupled to the attachment member (4421, 2411) and the cleaning cloth (P) contacts the surface to be cleaned, and A second elastic body between the first member (442, 2410) and the second member (443, 2420) to provide a force in a direction to bring the first member (442, 2410) and the second member (443, 2420) into contact with each other.

15. The robot cleaner according to claim 1, further comprising: A controller (350) configured to control the overall operation of the robot cleaner, Wherein, when the cleaning cloth (P) is detachably coupled to the attachment member (4421, 2411), when the usage time of the cleaning cloth (P) exceeds a preset time, the controller (350) determines that the cleaning cloth (P) needs to be replaced.

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