Robot cleaner

Abstract

A robotic vacuum cleaner according to an embodiment may include: a motor; a shaft configured to be rotated by the motor; a first member coupled to receive a rotational force from the shaft and including at least one guide protrusion protruding outward; and a second member including at least one guide groove formed on an inner side of the second member and coupled to allow the at least one guide protrusion to slidably move along the at least one guide groove. The first member may be configured to rotate relative to the second member such that the at least one guide protrusion moves along the at least one guide slot and moves upward or downward relative to the second member.

Description

[0001] This application is a divisional application of the invention patent application "Robot Vacuum Cleaner" filed on October 14, 2024, with application number 202480045058.X. Technical Field

[0002] Various embodiments of this disclosure relate to a robotic vacuum cleaner. Background Technology

[0003] A robotic vacuum cleaner (or robotic vacuum cleaner) is a device that automatically cleans a space while moving through it without user intervention. Typically, robotic vacuum cleaners perform actions such as sucking up debris (like dust) accumulated on a clean surface (e.g., a floor) or wiping away debris (like dirt) adhering to a clean surface with a cleaning cloth. Some of these robotic vacuum cleaners include those that attach a cleaning cloth (or mop) to one side and rotate it to wipe away debris adhering to the clean surface.

[0004] During cleaning with a robotic vacuum cleaner's cleaning cloth, carpets or mats made of cloth, fabric, or other textiles on the floor may easily become wet, soiled, or develop odors when they come into contact with the moisture from the cleaning cloth. The robotic vacuum cleaner can maneuver to avoid such easily soiled objects during its automatic cleaning process, but this may reduce cleaning efficiency.

[0005] In addition, when the robotic vacuum cleaner is performing wet cleaning, it may get stuck on the cleaning cloth attached to the cleaning cloth module when it passes over raised steps formed on the floor. Summary of the Invention

[0006] Technical solution A robotic vacuum cleaner according to an embodiment may include: a motor; a shaft configured to rotate via the motor; a first member configured to receive rotational force from the shaft and including an outwardly projecting guide protrusion; and a second member including a guide groove formed on an inner side of the second member, the second member engaging with the first member such that the guide protrusion is slidably movable along the guide groove. The first member is configured to rotate relative to the second member such that the guide protrusion moves along the guide groove and moves upward or downward relative to the second member. The shaft is configured to rotate together with the first member.

[0007] According to an embodiment, the robotic vacuum cleaner may further include a cleaning cloth module coupled to the first component to receive rotational forces from the first component.

[0008] According to an embodiment, the cleaning cloth module may be configured to move upward and downward together with the first component.

[0009] According to an embodiment, the robotic vacuum cleaner may further include a unidirectional rotating body, which is directly or indirectly coupled to the second component, such that the second component can only rotate in one direction.

[0010] According to an embodiment, the unidirectional rotating body may surround the outer peripheral surface of the second component.

[0011] According to an embodiment, the second component may include gear-shaped teeth projecting outward from the outer peripheral surface. The robotic vacuum cleaner may include a unidirectional rotating gear that meshes with the teeth to connect the second component and the unidirectional rotating body.

[0012] According to an embodiment, the unidirectional rotating body may be a unidirectional bearing.

[0013] According to an embodiment, the second component may include a stop located at the end of the guide groove to stop the movement of the guide protrusion.

[0014] According to an embodiment, the second component may include a guide protrusion insertion hole located on the upper surface of the second component and configured to allow the guide protrusion to be inserted into the guide groove.

[0015] According to an embodiment, the second member may include a step extending inward from the lower end of the outer peripheral surface of the second member to selectively support the first member.

[0016] According to an embodiment, the guide protrusion may be disposed on the outer side of the upper part of the first member.

[0017] According to an embodiment, the robotic vacuum cleaner may further include a gear assembly configured to transmit power from the motor to the shaft.

[0018] According to an embodiment, the motor may further include a worm gear forming portion configured to be coupled to the gear assembly.

[0019] According to an embodiment, the gear assembly may include: a power transmission gear portion coupled to the worm gear forming portion of the motor; and a shaft coupling gear portion coupled to the power transmission gear portion and the shaft.

[0020] According to an embodiment, the shaft-connected gear portion may include a shaft extension portion extending axially downward from the center of the shaft-connected gear portion.

[0021] According to an embodiment, the shaft extension may include a shaft engagement opening formed axially through the central portion of the shaft engagement gear and configured to allow the shaft to engage with the shaft engagement opening.

[0022] According to an embodiment, the shaft-gear assembly, the shaft, and the first member may be configured to rotate together about the same axis of rotation.

[0023] According to an embodiment, the guide groove may extend in a threaded groove shape along the circumferential direction of the second member.

[0024] According to an embodiment, the shaft may include a first magnet disposed at the lower end of the shaft.

[0025] According to an embodiment, the robotic vacuum cleaner may further include a cleaning cloth module, the cleaning cloth module including a second magnet coupled to the first magnet and a shielding member disposed below the second magnet to shield against magnetic forces pointing downwards towards the second magnet. The cleaning cloth module may be configured to receive rotational power from at least one of the shaft and the first member.

[0026] The effects obtainable from the exemplary embodiments of this disclosure are not limited to those described above, and other effects not mentioned herein can be clearly derived and understood by those skilled in the art to which the exemplary embodiments of this disclosure pertain. In other words, those skilled in the art can also deduce unintended effects when practicing the exemplary embodiments of this disclosure from the exemplary embodiments of this disclosure. Attached Figure Description

[0027] Figure 1 This is a perspective view of a robotic vacuum cleaner according to an embodiment.

[0028] Figure 2 This is a bottom view of a robotic vacuum cleaner according to an embodiment.

[0029] Figure 3 This is a functional block diagram illustrating the relationship between components based on the control and operation of a robotic vacuum cleaner according to an embodiment.

[0030] Figure 4 This is a perspective view of the cleaning drive unit and cleaning cloth module according to an embodiment.

[0031] Figure 5 This is a side view of the cleaning drive unit and cleaning cloth module according to an embodiment.

[0032] Figure 6 From Figure 5 Some component illustrations have been omitted.

[0033] Figure 7This is an exploded perspective view of the cleaning drive unit and cleaning cloth module according to an embodiment.

[0034] Figure 8 This is a cross-sectional view of the cleaning drive unit and cleaning cloth module according to an embodiment.

[0035] Figure 9 This is a diagram illustrating the gear assembly structure of a cleaning drive unit according to an embodiment.

[0036] Figure 10a This is a top perspective view of the second component according to the embodiment.

[0037] Figure 10b It is along Figure 10a The cross-sectional view of line XX.

[0038] Figure 10c This is a plan view of the second component according to the embodiment.

[0039] Figure 10d This is a bottom view of the second component according to the embodiment.

[0040] Figure 11a This is a top perspective view of the first component according to an embodiment.

[0041] Figure 11b This is a plan view of the first component according to an embodiment.

[0042] Figure 12a This is an exploded perspective view of the rise detection unit according to an embodiment.

[0043] Figure 12b This is a bottom view of the sensor frame according to an embodiment.

[0044] Figure 12c This is a side view of the frame according to an embodiment.

[0045] Figures 13a to 13e This is a diagram illustrating the operation of a cleaning drive unit according to an embodiment of the present disclosure, based on the direction of rotation.

[0046] Figure 14 This is a perspective view of the cleaning drive unit and cleaning cloth module according to an embodiment.

[0047] Figure 15 This is a side view of the cleaning drive unit and cleaning cloth module according to an embodiment.

[0048] Figure 16 This is an exploded perspective view of the cleaning drive unit and cleaning cloth module according to an embodiment.

[0049] Figure 17 This is a cross-sectional view of the cleaning drive unit and cleaning cloth module according to an embodiment.

[0050] Figures 18a to 18e This is a diagram illustrating the operation of the cleaning drive unit along the rotation direction according to an embodiment.

[0051] Figure 19 This is an example diagram illustrating the process of attaching and detaching the cleaning cloth of a robotic vacuum cleaner in a docking station according to an embodiment.

[0052] In the following description, reference is made to the accompanying drawings, and specific examples of implementation are shown as examples in the drawings. Furthermore, other examples may be used and structural changes may be made without departing from the scope of the various examples. Detailed Implementation

[0053] The following is publicly available Figures 1 to 19 The various embodiments described in this patent document for explaining the principles of this disclosure are for illustrative purposes only and should not be construed as limiting the scope of this disclosure in any way. Those skilled in the art will understand that the principles of this disclosure can be implemented in any suitably arranged system or device.

[0054] In the following, various embodiments of the present disclosure will be described in detail with reference to the accompanying drawings, enabling those skilled in the art to readily practice the disclosed invention. However, the present disclosure can be implemented in various different forms and is not limited to the embodiments described herein. In conjunction with the description of the drawings, the same or similar reference numerals may be used for the same or similar components. Furthermore, for clarity and brevity, descriptions of well-known functions and structures may be omitted in the drawings and their associated description.

[0055] Figure 1 This is a perspective view of a robotic vacuum cleaner according to an embodiment. Figure 2 This is a bottom view of a robotic vacuum cleaner according to an embodiment.

[0056] Reference Figure 1 and Figure 2 According to an embodiment, the robotic vacuum cleaner 100 may be in a state where a cleaning cloth P (e.g., a wet mop or dry mop) that can contact the surface to be cleaned (e.g., a floor surface) is mounted on a cleaning cloth module 140 located at the lower part of the robotic vacuum cleaner 100. The robotic vacuum cleaner 100 may include a cleaning cloth module 140. The robotic vacuum cleaner 100 may use the cleaning cloth P mounted on the cleaning cloth module 140 to perform cleaning (or mopping) to remove foreign objects attached to the surface to be cleaned. For example, the robotic vacuum cleaner 100 may rotate the cleaning cloth P mounted thereon and utilize the frictional force generated by the rotation of the cleaning cloth P between the cleaning cloth P and the floor surface to remove foreign objects attached to the floor surface.

[0057] When the robotic vacuum cleaner 100 passes through areas where wet cleaning should be avoided (such as carpets) during its cleaning process, the robotic vacuum cleaner 100 can raise and lower the cleaning cloth module 140 away from the carpet. The structure of the cleaning cloth module 140 for raising and lowering the robotic vacuum cleaner 100 will be described later below.

[0058] According to an embodiment, the robotic vacuum cleaner 100 may include a main body 110, a control panel 120, a travel unit 130, a cleaning cloth module 140, and a battery 150.

[0059] According to an embodiment, the body 110 may form the general appearance of the robotic vacuum cleaner 100. According to an embodiment, the body 110 may include a vacuum cleaner body 111 and a vacuum cleaner cover 112. According to an embodiment, the vacuum cleaner body 111 may have a lower and side appearance, the lower portion being adjacent to the floor surface (or the surface to be cleaned) when the robotic vacuum cleaner 100 is driven to perform cleaning, and the side portions extending upward from the edge of the lower portion to form the sides of the robotic vacuum cleaner 100. Although not specifically shown, according to an embodiment, the robotic vacuum cleaner 100 may include buffers located on the sides of the vacuum cleaner body 111 to mitigate impacts from the outside.

[0060] According to one embodiment, the power button 113 may be located on one side of the vacuum cleaner body 111. According to another embodiment, the power button 113 can be operated by a user to turn the power of the robotic vacuum cleaner 100 on / off. The power button 113 may be implemented, for example, as a push-button switch, but is not limited thereto.

[0061] According to an embodiment, the vacuum cleaner body 111 may be configured such that its upper side is open. According to an embodiment, various components for operating the robotic vacuum cleaner 100 may be formed inside the vacuum cleaner body 111 (e.g., Figure 3 The internal space of the drive unit 360 or liquid container.

[0062] According to an embodiment, the vacuum cleaner cover 112 may form the upper exterior of the robotic vacuum cleaner 100. According to an embodiment, the vacuum cleaner cover 112 may be attached to the upper side of the vacuum cleaner body 111. According to an embodiment, the vacuum cleaner cover 112 may be configured to cover an opening in the vacuum cleaner body 111. According to an embodiment, the vacuum cleaner cover 112 may be detachably attached to the vacuum cleaner body 111. After the vacuum cleaner cover 112 is detached, the user can access the components inside the body 110 through the opening in the vacuum cleaner body 111. According to an embodiment, the vacuum cleaner body 111 and the vacuum cleaner cover 112 may be integrally formed.

[0063] According to an embodiment, the control panel 120 may be disposed in the upper part of the robotic vacuum cleaner 100. The control panel 120 may be disposed, for example, on the upper surface of the vacuum cleaner cover 112, but this disclosure is not limited thereto.

[0064] According to an embodiment, the control panel 120 can receive various commands from a user for operating the robotic vacuum cleaner 100. According to an embodiment, the control panel 120 may include input devices such as buttons, switches, or touch panels. In this case, the robotic vacuum cleaner 100 can receive commands from the user related to the operation of the robotic vacuum cleaner 100 (e.g., start / stop cleaning or change cleaning mode) via the control panel 120. According to an embodiment, the control panel 120 may include signal input devices for receiving various commands input from the user via an external remote control unit in the form of infrared signals, and this disclosure is not limited to such specific forms.

[0065] According to an embodiment, the control panel 120 can provide the user with information about the current operating status of the robotic vacuum cleaner 100. According to an embodiment, the control panel 120 may include a display device (such as a monitor). In this case, the robotic vacuum cleaner 100 can visually present information about its current status (e.g., current cleaning mode or battery status) to the user via the display device. According to an embodiment, the aforementioned input device or display device may be integrated onto the control panel 120, but this disclosure is not limited thereto.

[0066] According to one embodiment, the traveling unit 130 may be disposed on the back surface of the vacuum cleaner body 111. According to one embodiment, the traveling unit 130 may be configured to enable the robotic vacuum cleaner 100 to move freely. The robotic vacuum cleaner 100 can move freely throughout the cleaning space by means of the traveling unit 130.

[0067] According to an embodiment, the traveling unit 130 may include components connected to a driving unit (e.g., Figure 3 The driving unit 361) and the driving unit (e.g., Figure 3 The travel drive unit 130 provides power to rotate one or more wheels. The travel unit 130 may include, for example, a pair of main wheels (e.g., a first main wheel 131a and a second main wheel 131b). According to an embodiment, the first main wheel 131a and the second main wheel 131b may be configured to maintain the balance of the robotic vacuum cleaner 100. The first main wheel 131a and the second main wheel 131b may be located, for example, at opposite edges of the back surface of the vacuum cleaner body 111.

[0068] According to an embodiment, the traveling unit 130 may include a first auxiliary wheel 132 or a second auxiliary wheel 133. According to an embodiment, the first auxiliary wheel 132 and the second auxiliary wheel 133 may be respectively disposed on the front side (e.g., in the F direction) and the rear side (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.

[0069] The direction of travel of the robotic vacuum cleaner 100 can be determined according to the control method of the movement of each of the first main wheel 131a and the second main wheel 131b. For example, when each of the first main wheel 131a and the second main wheel 131b is controlled at the same speed, the robotic vacuum cleaner 100 can move forward (e.g., in the F direction) or backward (e.g., in the R direction). For example, when the first main wheel 131a and the second main wheel 131b are controlled at different speeds relative to each other, the robotic vacuum cleaner 100 can change its direction of travel based on a preset direction.

[0070] According to an embodiment, each of the first auxiliary wheel 132 and the second auxiliary wheel 133 may be configured to balance the robotic vacuum cleaner 100 when it moves forward (e.g., in the F direction) or backward (e.g., in the R direction). The first auxiliary wheel 132 may be located on the front side (e.g., in the F direction) of, for example, the back surface of the vacuum cleaner body 111. The second auxiliary wheel 133 may be located on the rear side (e.g., in the R direction) of, for example, the back surface of the vacuum cleaner body 111.

[0071] According to an embodiment, the cleaning cloth module 140 may be disposed at the bottom of the robotic vacuum cleaner 100. The cleaning cloth module 140 may be disposed, for example, on the back surface of the vacuum cleaner body 111. According to an embodiment, the cleaning cloth module 140 may be disposed on the front side of the back surface of the vacuum cleaner body 111 (e.g., in the F direction), but this disclosure is not limited thereto. A cleaning cloth P (e.g., a wet mop or dry mop) for cleaning surfaces to be cleaned, such as floor surfaces, may be detachably attached to the cleaning cloth module 140.

[0072] According to an embodiment, the cleaning cloth module 140 can rotate clockwise or counterclockwise together with the cleaning cloth P mounted on it. When the cleaning cloth module 140 rotates together with the cleaning cloth P attached thereto, friction can be generated between the cleaning cloth P and the floor surface, so the robotic vacuum cleaner 100 can remove foreign objects attached to the floor surface.

[0073] According to an embodiment, the cleaning cloth module 140 may be located in the height direction of the robotic vacuum cleaner 100 (or in a direction substantially perpendicular to the ground) (e.g., in...). Figure 1 (In the U or D direction) it rises or falls within a predetermined range.

[0074] According to an embodiment, the cleaning cloth module 140 may 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 may be configured to correspond to each other in terms of operation, structure, and shape.

[0075] According to an embodiment, the cleaning cloth module 140 (e.g., a first cleaning cloth module 140a and a second cleaning cloth module 140b) may each include a rotating member (e.g., a first rotating member 141a or a second rotating member 141b). The cleaning cloth P may be attached to the lower surface of the rotating members 141a and 141b.

[0076] According to an embodiment, the first rotating member 141a and the second rotating member 141b may be generally disc-shaped, but this disclosure is not limited thereto. According to an embodiment, the diameter of the first rotating member 141a may be set to be substantially the same as or smaller than the diameter of the cleaning cloth P, but this disclosure is not limited thereto. Similarly, the diameter of the second rotating member 141b may be set to be substantially the same as or smaller than the diameter of the cleaning cloth P, but this disclosure is not limited thereto.

[0077] According to an embodiment, the battery 150 may be disposed at the lower part of the robotic vacuum cleaner 100. According to an embodiment, the battery 150 may be configured to be removable downwards from the back surface of the vacuum cleaner body 111, but this disclosure is not limited thereto. For example, the battery 150 may be electrically connected to a drive unit (e.g., Figure 3 The drive unit 360), to supply power to the drive unit 360. For example, the battery 150 may be electrically connected to the travel drive unit (e.g., Figure 3 The travel drive unit 361), to supply power to the travel drive unit 361. For example, the battery 150 may be electrically connected to the cleaning drive unit (e.g., Figure 3 The cleaning drive unit 362 is powered by the cleaning drive unit 362. The battery 150 may include, but is not limited to, a rechargeable secondary battery.

[0078] According to an embodiment, the driving unit (e.g., Figure 3 At least a portion of the drive unit 360 may be disposed within the body 110 of the robotic vacuum cleaner 100. For example, at least a portion of the drive unit 360 may be disposed within an internal accommodating space formed by the vacuum cleaner body 111. The drive unit 360 may include, for example, a motor and / or actuator, and may include a plurality of components for supplying power to each of the travel unit 130 or the cleaning cloth module 140.

[0079] According to an embodiment, the robotic vacuum 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 include liquid materials such as soap or solvents for cleaning. The liquid container may be removably disposed within an internal receiving space of the vacuum cleaner body 111. A user can access the liquid container by separating the vacuum cleaner cover 112 from the vacuum cleaner body 111 and opening the upper part of the vacuum cleaner body 111.

[0080] According to an embodiment, the robotic vacuum cleaner 100 may include a liquid dispenser (not shown). The liquid dispenser may, for example, have one end in fluid communication with a liquid container and another end in fluid communication with a cleaning cloth module 140 disposed below the robotic vacuum cleaner 100. The liquid dispenser may be, for example, a pipe or hose. The robotic vacuum cleaner 100 may supply liquid (e.g., water) to a cleaning cloth P mounted on the cleaning cloth module 140 via the liquid container and / or the liquid dispenser.

[0081] Although not in Figure 1 and Figure 2 As shown, however, the robotic vacuum cleaner 100 may include a control unit (e.g., Figure 3 The control unit 350 is used to generate control commands for controlling the operation of various units or components of the robotic vacuum cleaner 100. According to an embodiment, reference will be made to... Figure 3 The control unit 350 controls and drives the robotic vacuum cleaner 100 in detail.

[0082] Figure 3 This is a functional block diagram illustrating the relationship between components based on the control and operation of a robotic vacuum cleaner according to an embodiment.

[0083] Figure 3 The robotic vacuum cleaner 300 can be used with Figure 1 and Figure 2 The robotic vacuum cleaners are basically the same as or similar to the 100. Figure 3 It shows the relationship with Figure 1 and Figure 2 A block diagram related to the control of the robotic vacuum cleaner 100. For example, Figure 1 and Figure 2 The robotic vacuum cleaner 100 may include Figure 3 The components shown. For example, Figure 3 The robotic vacuum cleaner 300 may include Figure 1 and Figure 2 The components shown.

[0084] Reference Figure 3 The robotic vacuum cleaner 300 may include a detection unit 310, a communication unit 320, an input unit 330, a memory 340, a control unit 350, and / or a drive unit 360.

[0085] According to an embodiment, the robotic vacuum cleaner 300 may include a detection unit 310. The detection unit 310 may include multiple sensors or cameras for detecting the surrounding environment of the robotic vacuum cleaner 300. The detection unit 310 may include, for example, multiple cameras to capture images of various directions of the environment. Distance sensors may include, for example, ultrasonic sensors, radar sensors, and / or lidar (light detection and ranging) sensors, but this disclosure is not limited thereto. The detection unit 310 may include, for example, a microphone or infrared sensor for detecting the surrounding environment. According to an embodiment, the detection unit 310 may detect each cleaning cloth module (e.g., ...) incorporated into the robotic vacuum cleaner 300. Figure 1 The cleaning cloth module 140) is used for each cleaning cloth (e.g., Figure 1 The degree of contamination of the cleaning cloth (P) is not limited thereto.

[0086] In the example, the robotic vacuum cleaner 300 may include a communication unit 320 configured to support sending / receiving signals to / from external sources. In the example, the communication unit 320 may receive wired / wireless signals from external wired / wireless communication systems, external servers, and / or other devices and / or send wired / wireless signals to external wired / wireless communication systems, external servers, and / or other devices according to specified wired / wireless communication protocols. In the example, the communication unit 320 may send and receive data according to wireless internet communication protocols such as WLAN (Wireless LAN), Wi-Fi (Wireless Fidelity), Wi-Fi Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (Global Microwave Access Interoperability), HSDPA (High-Speed ​​Downlink Packet Access), HSUPA (High-Speed ​​Uplink Packet Access), LTE (Long Term Evolution), LTE-A (LTE-A Advanced Long Term Evolution), etc. In this example, communication unit 320 can send and receive data according to one or more short-range communication protocols, including, for example, Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra-Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi, Wi-Fi Direct, and Wireless USB (Universal Serial Bus). In this example, communication unit 320 can receive configuration data signals input by the user on the user's mobile device in the form of wireless signals according to a predetermined wireless communication protocol. In this example, communication unit 320 can receive information and / or commands for controlling the operation of the robotic vacuum cleaner 300 in the form of signals from an external server according to a predetermined wired / wireless communication protocol. Communication unit 320 can transmit the received signals to control unit 350, which will be described later. In this example, communication unit 320 can transmit various data generated or acquired by the robotic vacuum cleaner 300 to, for example, the user's mobile device or an external server in the form of wired / wireless signals according to a predetermined wired / wireless communication protocol.

[0087] In the example, the communication unit 320 may include a module for obtaining the location of the robotic vacuum cleaner 300, such as a GPS (Global Positioning System) module or a Wi-Fi module. When the robotic vacuum cleaner 300 uses a GPS module, it can receive location information based on signals transmitted from GPS satellites. When the robotic vacuum cleaner 300 uses a Wi-Fi module, it can receive location information based on information from a wireless access point (AP) that transmits and receives wireless signals to and from the Wi-Fi module.

[0088] According to an embodiment, the robotic vacuum cleaner 300 may include an input unit 330. The input unit 330 may receive information from a user, such as information about the operating mode of the robotic vacuum cleaner 300. The input unit 330 may include, for example, a keyboard, a dome switch, a touchpad (capacitive or pressure-sensitive), a scroll wheel, a scroll wheel switch, or a remote control. In addition to the aforementioned input unit 330, the user may also use a portable device, such as a terminal, to input information about the operating mode of the robotic vacuum cleaner 300.

[0089] According to an embodiment, the robotic vacuum cleaner 300 may include a memory 340. The memory 340 may include circuitry. According to an embodiment, the memory 340 may store data for supporting various functions of the robotic vacuum cleaner 300. The memory 340 may store, for example, multiple applications (or apps) used in the robotic vacuum cleaner 300, data and / or instructions for operating the robotic vacuum cleaner 300. At least some of the applications may be downloaded wirelessly from an external server. At least some of the applications may be stored in the memory 340 from the time of manufacture for the basic functions of the robotic vacuum cleaner 300. For example, an application may be stored in the memory 340 and driven by a control unit 350 to perform the operation (or function) of the robotic vacuum cleaner 300. According to some embodiments, the memory 340 may be incorporated into the control unit 350. According to an embodiment, the memory 340 may store information for setting the travel route of the robotic vacuum cleaner 300.

[0090] According to an embodiment, the robotic vacuum cleaner 300 may include a control unit 350. According to an embodiment, the control unit 350 may use signals, for example, sent from a detection unit 310, a communication unit 320, or an input unit 330, to control the operation of the robotic vacuum cleaner 300. Although not specifically shown herein, the control unit 350 may include one or more processors.

[0091] According to an embodiment, the control unit 350 may include at least one of, for example, a CPU (central processing unit), an MPU (microprocessor unit), a GPU (graphics processing unit), an APU (accelerated processing unit), a DSP (digital signal processor), an FPGA (field programmable gate array), a CP (control processor), an AP (application processor), a SoC (system-on-chip), or an integrated circuit (IC).

[0092] According to an embodiment, the control unit 350 may include a command receiving unit 351. The command receiving unit 351 may receive drive-related commands input from an external source, for example, via the aforementioned detection unit 310, communication unit 320, or input unit 330. The command receiving unit 351 may receive user commands received from the aforementioned power button 113 and / or control panel 120. The command receiving unit 351 may receive various user commands, including power on / off commands, cleaning start or pause commands, or cleaning mode setting commands.

[0093] According to an embodiment, the control unit 350 may include a cleaning cloth replacement determination unit 352 for determining whether the cleaning cloth P attached to the cleaning cloth module 140 needs to be replaced during the cleaning process of the robotic vacuum cleaner 300. According to an embodiment, the cleaning cloth replacement determination unit 352 may acquire the results detected by a contamination sensor (not shown) disposed in the detection unit 310 and determine whether the cleaning cloth P needs to be replaced based on the acquired information. According to an embodiment, the cleaning cloth replacement determination unit 352 may determine whether to replace the cleaning cloth P based on the cleaning time elapsed since the cleaning cloth P was attached to the cleaning cloth module 140. According to an embodiment, the cleaning cloth replacement determination unit 352 may determine whether to replace the cleaning cloth P based on a command received from the command receiving unit 351.

[0094] According to an embodiment, the control unit 350 may include a path calculation unit 353 for calculating the path of the robotic vacuum cleaner 300. According to an embodiment, the path calculation unit 353 may calculate the path of the robotic vacuum cleaner 300 based on a predetermined algorithm, detection results detected by various sensors disposed in the detection unit 310, and / or user commands received via the command receiving unit 351. According to an embodiment, the path calculation unit 353 may consider detection results from sensors disposed in the detection unit 310 when calculating the path.

[0095] According to an embodiment, when the cleaning cloth replacement determination unit 352 determines that the cleaning cloth P needs to be replaced, the travel path calculation unit 353 can calculate a travel path for moving the robotic vacuum cleaner 300 to a preset position. For example, when the cleaning cloth replacement determination unit 352 determines that the robotic vacuum cleaner 300 needs to replace the cleaning cloth P, the cleaning cloth replacement determination unit 352 can calculate a travel path for driving the robotic vacuum cleaner 300 to the docking station (e.g., Figure 19 The path of the plug-in station (1900).

[0096] According to an embodiment, the control unit 350 may include a drive unit control command unit 354. According to an embodiment, the drive unit control command unit 354 may generate control commands for controlling the various components (e.g., the respective motors and / or actuators of the drive unit 360) of the robot vacuum cleaner 300 based on various commands received from a user or external source via the command receiving unit 351, detection results detected by various sensors disposed in the detection unit 310 of the robot vacuum cleaner 300, and / or the travel path determined by the travel path calculation unit 353.

[0097] According to an embodiment, the various components of the drive unit 360 can be operated according to commands generated by the drive unit control command unit 354. According to an embodiment, the drive unit 360 may include a travel drive unit 361 and a cleaning drive unit 362.

[0098] According to an embodiment, the movement / travel of the robotic vacuum cleaner 300 can be controlled according to commands generated by the drive unit control command unit 354. According to an embodiment, based on the commands generated by the drive unit control command unit 354, various components of the drive unit (e.g., the travel drive unit 361) can be operated to appropriately control the main wheels (e.g., ...). Figure 2 The rotation direction and / or speed of the first main wheel 131a or the second main wheel 131b, thereby allowing the robotic vacuum cleaner 300 to move appropriately in any desired direction.

[0099] According to an embodiment, the travel drive unit 361 may include a pair of travel drive units. Although not specifically shown herein, according to an embodiment, each of the pair of travel drive units 361 may include a motor and an actuator. Each of the pair of travel drive units 361 may be connected to the aforementioned travel unit (e.g., Figure 1 The traveling unit 130, for example, each of the first main wheel 131a and the second main wheel 131b, provides the power required to move the robotic vacuum cleaner 100.

[0100] According to an embodiment, the cleaning cloth module (e.g., Figure 2 The rotation and / or up / down (vertical) movement of the cleaning cloth module 140 can be controlled according to commands generated by the drive unit control command unit 354. For example, the drive unit control command unit 354 can control the individual rotating components of the cleaning cloth module 140 (e.g., Figure 2 The vertical movement of the cleaning cloth module 140 is controlled by adjusting the rotation direction of the rotating components 141a and 141b. In this case, the distance between the cleaning cloth module 140 and the floor surface can be adjusted.

[0101] According to an embodiment, the cleaning drive unit 362 can operate according to commands generated by the drive unit control command unit 354 to appropriately adjust the rotational speed of each of the rotating members 141a and 141b of the cleaning cloth module 140. In this case, the floor cleaning intensity of the robotic vacuum cleaner 300 can be adjusted.

[0102] According to an embodiment, the cleaning drive unit 362 can raise or lower the cleaning cloth module 140 in the vertical direction according to a command generated by the drive unit control command unit 354.

[0103] According to an embodiment, the cleaning drive unit 362 may include a pair of cleaning drive units 362. Although not specifically shown herein, according to an embodiment, each of the pair of cleaning drive units 362 may include a rotary motor and an actuator, and may be connected to each of the cleaning cloth modules 140, for example, the first cleaning cloth module (e.g., Figure 2 The first cleaning cloth module 140a) and the second cleaning cloth module (e.g., Figure 2 The second cleaning cloth module 140b provides the power required to rotate the rotating components 141a and 141b of each cleaning cloth module.

[0104] According to an embodiment, the cleaning cloth module 140 can be separated from the cleaning drive unit 362 according to a command generated by the drive unit control command unit 354. For example, the cleaning drive unit 362 can separate the cleaning cloth module 140 from the cleaning drive unit 362 by causing the cleaning cloth module 140 to move upward by the drive unit control command unit 354. The operation of the robotic vacuum cleaner 300 automatically separating the cleaning cloth module 140 from the cleaning drive unit 362 will be described in more detail later.

[0105] Figure 4 This is a perspective view of the cleaning drive unit and cleaning cloth module according to an embodiment. Figure 5 This is a side view of the cleaning drive unit and cleaning cloth module according to an embodiment. Figure 6 From Figure 5 Some component illustrations have been omitted. Figure 7 This is an exploded perspective view of the cleaning drive unit and cleaning cloth module according to an embodiment. Figure 8 This is a cross-sectional view of the cleaning drive unit and cleaning cloth module according to an embodiment.

[0106] Figures 4 to 8 The cleaning drive unit 400 shown may have the same characteristics as the reference unit. Figure 3 The cleaning drive unit 362 described has a basically the same construction and function. Figures 4 to 8 The cleaning drive unit 400 shown can be installed as a component of the robotic vacuum cleaner 100 described above. Figures 4 to 8The cleaning drive unit 400 shown can be electrically connected to Figure 3 Control unit (e.g., Figure 3 Control unit 350). Figures 4 to 8 The cleaning drive unit 400 shown is merely an example, and the structure of the cleaning drive unit 400 is not limited to the structure shown. The robotic vacuum cleaner 100 may include a cleaning cloth module 500.

[0107] Reference Figures 4 to 8 The cleaning drive unit 400 may include a housing 410, a motor 420, a gear assembly 430, a shaft 440, a first component 450, a second component 460, a one-way rotating body 470, a one-way rotating gear 475, and / or a rise detection unit 480. For example, a gear assembly (e.g., for transmitting power generated by the motor 420) may be used to transmit power generated by the motor 420. Figure 9 The components of the gear assembly 430 can be housed in the housing 410. Figures 4 to 8 The cleaning cloth module 500 shown may have the same characteristics as the referenced module. Figure 1 and Figure 2 The structure and shape of the described cleaning cloth module 140 are the same.

[0108] According to an embodiment, the housing 410 may form a receiving space therein. At least one of the gear assembly 430, the first member 450, the second member 460, the one-way rotating body 470, or the one-way rotating gear 475 may be disposed within the housing 410. The housing 410 may be configured to accommodate multiple structures for rotating and / or moving the cleaning cloth module 500 up and down. As shown, the housing 410 may be formed as a single housing 410 having multiple sub-housings combined with each other.

[0109] According to an embodiment, an opening 411 may be formed in the lower portion of the housing 410. The opening 411 may be a portion formed to allow the first member 450 and the shaft 440 to pass through it (as described later). The first member 450 may be coupled to the cleaning cloth module 500 through the opening 411. The shaft 440 may be coupled to the cleaning cloth module 500 through the opening 411.

[0110] According to an embodiment, the gear assembly 430 may include a shaft-engaged gear portion 432. The shaft-engaged gear portion 432 may be configured to transmit power from the motor 420 to the shaft 440. The shaft-engaged gear portion 432 may be disposed above the second member 460.

[0111] According to an embodiment, the shaft-engaged gear portion 432 may include a shaft extension 4321. The shaft extension 4321 may extend axially from the lower center of the shaft-engaged gear portion 432. The diameter of the shaft extension 4321 may be smaller than the diameter of the first member 450 or the second member 460, which will be described later.

[0112] According to an embodiment, the shaft extension 4321 may include a shaft engagement opening 4321a, into which at least a portion of the shaft 440 is inserted. The shaft engagement opening 4321a may be formed to pass vertically (or axially) through the shaft engagement gear portion 432. The shaft engagement opening 4321a may be formed in the central portion of the shaft engagement gear portion 432. The shaft 440 may be engaged with the shaft engagement gear portion 432 by being inserted into an opening formed inside the shaft extension 4321. With a portion of the shaft 440 inserted into the shaft engagement opening 4321a, the shaft 440 can move vertically through the vertical free space of the shaft engagement opening 4321a. For example, when the cleaning cloth module 500 is lifted upward, the shaft 440 may pass through the shaft engagement opening 4321a to press the rise detection unit 480.

[0113] According to an embodiment, the shaft engagement opening 4321a may have an angular cross-section. For example, the shaft engagement opening 4321a may be formed as a polygonal column passing through the shaft engagement gear portion 432. The cross-sectional shape of the shaft engagement opening 4321a may correspond to the cross-sectional shape of the shaft 440. For example, when the shaft 440 has a rectangular cross-section, the shaft engagement opening 4321a may also have a rectangular cross-section. Due to having such a polygonal cross-section, the power of the motor 420 can be transmitted to the shaft 440 engaged with the shaft engagement gear portion 432. However, the shape of the shaft engagement opening 4321a is not limited to this and may have an elliptical shape.

[0114] According to an embodiment, the width of the shaft engagement opening 4321a may be greater than the width of the shaft 440. This width difference can be provided to allow the shaft 440 to be inserted into the shaft engagement opening 4321a.

[0115] According to an embodiment, the cleaning drive unit 400 may further include a first bearing 492. The first bearing 492 may be disposed around the shaft-engaged gear portion 432. When the shaft-engaged gear portion 432 rotates, the first bearing 492 may reduce the frictional force with the fixed partition wall (e.g., a portion of the housing 410) surrounding the shaft-engaged gear portion 432, thereby reducing the loss of rotational force. Furthermore, by providing the first bearing 492, wear of the shaft-engaged gear portion 432 and the surrounding partition wall due to frictional force can be prevented or reduced.

[0116] According to an embodiment, shaft 440 can be rotated by receiving power from motor 420. Shaft 440 can be coupled to gear assembly 430 to receive power from motor 420. Shaft 440 can be configured such that the lower side of housing 410 protrudes. One end of shaft 440 can be coupled to cleaning cloth module 500. For example, shaft 440 can selectively rise or fall depending on the direction of rotation of motor 420.

[0117] According to an embodiment, shaft 440 can be directly coupled to gear assembly 430 to receive power from motor 420. Shaft 440 can be coupled to shaft-coupled gear portion 432 to receive power from motor 420. Shaft 440 can be positioned below shaft-coupled gear portion 432. Shaft 440 can be configured to extend along the length direction of shaft extension 4321 of shaft-coupled gear portion 432. The axis of rotation of shaft 440 can be substantially the same as the axis of rotation of shaft-coupled gear portion 432.

[0118] According to an embodiment, shaft 440 may include a first magnet 442. Shaft 440 can be magnetically coupled to cleaning cloth module 500. The first magnet 442 may be disposed at the lower end of shaft 440. The first magnet 442 may be disposed, for example, at the end of shaft 440 facing cleaning cloth module 500. The first magnet 442 may be disposed, for example, below locking claw 441. The first magnet 442 may be magnetically coupled to a second magnet 530 of cleaning cloth module 500, which will be described later. For example, at least a portion of shaft 440 may be formed using a magnetic material.

[0119] According to the embodiment, a shaft extension 4321 is provided in the shaft engagement gear portion 432, thereby increasing the engagement area between the shaft 440 and the shaft engagement gear portion 432. For example, when the length of the shaft extension 4321 increases, the contact area between the shaft 440 and the shaft engagement opening 4321a can be increased. Due to this shape of the shaft extension 4321, the contact area between the shaft 440 and the shaft engagement gear portion 432 can be increased, resulting in more stable power transmission to the shaft 440.

[0120] According to an embodiment, shaft 440 can be configured as a rotating shaft for fixing cleaning cloth module 500. Since shaft 440, which is coupled to shaft coupling gear portion 432, is configured to extend axially to cleaning cloth module 500, shaft 440 can be used to fix cleaning cloth module 500 so that cleaning cloth module 500 can be well centered and protected from centrifugal force and vibration generated by rotation.

[0121] According to an embodiment, the shaft 440 and the first component 450 may be integrally constructed. For example, they may be injection molded into a single component having the shaft 440 and the first component 450 joined together.

[0122] Various structures or methods can be applied to raise and / or lower the shaft 440 and the cleaning cloth module 500. For example, a drive unit for rotating the shaft 440 and another drive unit for vertically moving the shaft 440 can be provided to control the movement of the shaft 440. A structure (one drive unit) using a motor 420 to rotate or move the shaft vertically will be described in detail with reference to embodiments of this disclosure.

[0123] According to an embodiment, a first member 450 may be coupled to a shaft 440. The first member 450 may receive power from the shaft 440. The first member 450 may use the power transmitted from the shaft 440 to perform rotational and / or vertical movements. The first member 450 may be coupled to move vertically together with the shaft 440. The first member 450 may be referred to as a first bushing.

[0124] According to an embodiment, the first member 450 may have a generally cylindrical shape. The width of the first member 450 may be greater than the width of the shaft 440.

[0125] According to an embodiment, the first member 450 may include a first hollow portion 451. The first hollow portion 451 may be configured to allow the shaft 440 to pass through it.

[0126] According to an embodiment, the first hollow portion 451 may have an angular cross-section. For example, the cross-sectional shape of the first hollow portion 451 may correspond to the cross-sectional shape of the shaft 440. For example, when the shaft 440 has a generally rectangular cross-section, the first hollow portion 451 may also have a generally rectangular cross-section. In this way, since the first hollow portion 451 has a polygonal cross-section, the power of the shaft 440 can be transmitted to the first member 450. However, the shape of the first hollow portion 451 is not limited to this, and may have an elliptical shape.

[0127] According to an embodiment, the shaft 440 can penetrate the first hollow portion 451 of the first member 450, and the locking claw 441 formed on the lower side of the shaft 440 can be engaged with the circumferential surface of the first hollow portion 451, thereby engaging with the first member 450.

[0128] According to an embodiment, the first member 450 may include a guide protrusion 452. The guide protrusion 452 may project outwardly along the outer peripheral surface of the first member 450. The guide protrusion 452 may have a threaded shape, for example, formed to be inclined along the circumferential direction of the first member 450. The guide protrusion 452 may be positioned on the upper part of the first member 450. The guide protrusion 452 may be inserted into a guide groove 462 of the second member 460, which will be described later, and may be configured to move along the guide groove 462. The first member 450 may be vertically moved by rotating the guide protrusion 452 along the extension direction of the guide groove 462.

[0129] The first component 450 and the shaft 440 may be in a separate configuration as shown in the figure, but are not limited thereto, and may have a shape in which the first component 450 and the shaft 440 are integrally formed. For example, the first component 450 and the shaft 440 may be injection molded as a single unit. When the first component 450 and the shaft 440 are integrally formed, the first component 450 may be directly coupled to the shaft coupling gear portion 432.

[0130] According to an embodiment, the second member 460 may be coupled to the first member 450. The second member 460 and the first member 450 may be coupled to each other by a threaded connection. The first member 450 may be inserted into the second member 460 by a threaded connection. The second member 460 may be disposed outside the first member 450. For example, the width of the second member 460 may be greater than the width of the first member 450. For example, the second member 460 may be referred to as a second bushing.

[0131] According to an embodiment, the second member 460 may be configured to support the first member 450. The second member 460 may reduce the vibration of the first member 450 when it rotates through the shaft 440. The second member 460 may reduce the lateral vibration of the first member 450.

[0132] According to an embodiment, the second member 460 may include a guide groove 462. The guide groove 462 may be formed on the inner surface of the second member 460. The guide groove 462 may be formed to be inclined and extend in a circumferential direction on the inner peripheral surface of the second member 460. The guide groove 462 may, for example, have a shape such as a threaded groove.

[0133] According to an embodiment, the length of the guide groove 462 of the second component 460 may be greater than or equal to the circumferential length of the second component 460.

[0134] According to an embodiment, the guide protrusion 452 of the first member 450 can be engaged with the guide groove 462 of the second member 460. When the first member 450 is engaged with the second member 460 and rotates relative to the second member 460, the guide protrusion 452 can move along the guide groove 462, allowing the first member 450 to move up and down. The guide groove 462 may have an inclined path, allowing the first member 450 to move up or down while rotating.

[0135] According to an embodiment, the size of the guide protrusion 452 of the first member 450 may be smaller than the size of the guide groove 462 of the second member 460. For example, the protruding length of the guide protrusion 452 may be smaller than the depth of the guide groove 462. For example, the width of the guide protrusion 452 may be smaller than the width of the guide groove 462.

[0136] The vertical movement distance of the cleaning cloth module 500 according to its number of rotations can be adjusted based on the tilt angle of the guide groove 462 formed on the inner surface of the second member 460.

[0137] According to an embodiment, the guide groove 462 may include a stop disposed at its lower end. The stop can prevent the first member 450 from moving downward by generating resistance to the rotational force on the guide protrusion 452 of the first member 450. When the guide protrusion 452 contacts the stop, the second member 460 can receive the rotational force from the first member 450 and rotate together with the first member 450.

[0138] According to an embodiment, the second member 460 may be configured to have both an open upper and lower portion. For example, a portion of the shaft-engaging gear portion 432 (e.g., shaft extension 4321) may be configured to pass through the open upper portion of the second member 460. For example, a portion of the first member 450 may be configured to pass through the open lower portion of the second member 460.

[0139] According to an embodiment, the second member 460 may include a tooth 464. The tooth 464 may be formed to project outward from the outer peripheral surface 460a of the second member 460. The tooth 464 may be configured to mesh with a unidirectional rotary gear 475, which will be described later.

[0140] The first component 450 and the second component 460 may be configured to be housed in a housing space formed in the housing 410.

[0141] According to the embodiment, the shaft-engaged gear portion 432, the first member 450, and the second member 460 can rotate about a rotation axis C in the same axial direction. Here, the rotation axis C can be perpendicular to the cleaning cloth module 500. For example, the rotation axis C can be perpendicular to the floor surface in contact with the cleaning cloth P. Due to this structure of the rotation axis C, the contact area between the cleaning cloth P and the floor surface can be increased. Due to the structure of the rotation axis C, the rotational force of the shaft-engaged gear portion 432 can be effectively transmitted to the cleaning cloth module 500. Furthermore, due to the structure of the rotation axis C, the loss of torque transmitted from the shaft-engaged gear portion 432 to the cleaning cloth module 500 can be reduced.

[0142] When the cleaning cloth module 500 rotates under the rotational force of the shaft 440, the shaft 440 can rotate stably through the threaded connection structure of the first member 450 and the second member 460, so as to transmit the precise rotational force to the cleaning cloth module. For example, when the shaft 440 rotates, the vibration of the shaft 440 can be reduced because the first member 450 and the second member 460 are used to support the shaft 440. In the cleaning drive unit 400 according to the embodiment of the present disclosure, due to this stable transmission structure of rotational force, the power transmission efficiency can be increased and the loss of torque transmitted to the cleaning cloth module 500 can be reduced.

[0143] According to an embodiment, the cleaning drive unit 400 may further include a second bearing 493. The second bearing 493 may be disposed outside the second member 460. The second bearing 493 may be configured to surround a portion of the outer peripheral surface of the second member 460 in the circumferential direction. The second bearing 493 may be disposed between the second member 460 and the housing 410. The second bearing 493 may reduce the frictional force between the second member 460 and the inner wall of the housing 410.

[0144] According to an embodiment, a unidirectional rotating body 470 may be disposed within the housing 410. The unidirectional rotating body 470 may be configured to rotate only along either a first direction or a second direction. For example, the unidirectional rotating body 470 may be configured to rotate only along either a clockwise or counterclockwise direction. For example, the unidirectional rotating body 470 may be configured to rotate only along either a forward or reverse direction. For example, the unidirectional rotating body 470 may be a unidirectional bearing capable of rotating only in one direction, but is not limited thereto. The unidirectional rotating body 470 may have an open cylindrical shape.

[0145] According to an embodiment, the unidirectional rotator 470 may be configured such that the second member 460, which is directly or indirectly coupled to the unidirectional rotator 470, rotates only in one direction.

[0146] According to an embodiment, the unidirectional rotating body 470 may be manufactured in the form of a roller or beads. The unidirectional rotating body 470 may include a clutch mechanism that operates according to the direction of rotation therein. The clutch mechanism can be used to allow or prevent rotation by moving the roller or beads according to the direction of rotation.

[0147] According to an embodiment, a one-way rotating gear 475 may be coupled to a one-way rotating body 470. According to an embodiment, the one-way rotating gear 475 may be coupled to a second member 460. For example, the one-way rotating gear 475 may mesh with the teeth 464 of the second member 460. The one-way rotating gear 475 may be configured to rotate together with the second member 460 when the second member 460 rotates. The power transmitted from the second member 460 by the one-way rotating gear 475 may be transmitted to the one-way rotating body 470.

[0148] According to an embodiment, the one-way rotating gear 475 can be coupled to the one-way rotating body 470 so that it rotates only in one direction. Therefore, the second member 460 coupled to the one-way rotating gear 475 can also rotate only in one direction. For example, the second member 460 can only rotate with the one-way rotating gear 475 when the motor 420 rotates in a first direction (e.g., forward). For example, when the motor 420 rotates in a second direction (e.g., reverse), the second member 460 may not rotate due to the one-way rotating gear 475 and the one-way rotating body 470.

[0149] According to an embodiment, the rise detection unit 480 may be disposed on the upper side of the housing 410. The rise detection unit 480 can detect whether the vertically moving shaft 440 has moved upward to its maximum extent. The rise detection unit 480 can also detect whether the vertically moving cleaning cloth module 500 has moved upward to its maximum extent. The rise detection unit 480 may include, for example, an infrared sensor, but is not limited thereto. A detailed description of the operation method and structure of the rise detection unit 480 will be presented later.

[0150] According to an embodiment, the cleaning drive unit 400 may further include a pressing device 491. The pressing device 491 may be disposed, for example, in a housing 410. The pressing device 491 may be configured to surround the outer peripheral surface of the second member 460. The width of the pressing device 491 may be greater than the width of the second member 460. The pressing device 491 may be configured to press the second member 460 downwards. By pressing the second member 460, the pressing device 491 can cause the first member 450 coupled to the second member 460 and the cleaning cloth module 500 coupled to the first member 450 to move downwards. That is, the pressing device 491 may be configured to press the cleaning cloth module 500 downwards.

[0151] The pressing device 491 can press the cleaning cloth module 500 downward to increase the friction between the cleaning cloth P attached to the cleaning cloth module 500 and the floor surface. The pressing device 491 can increase the cleaning effect by increasing the friction between the cleaning cloth P and the floor surface. The pressing device 491 can be, for example, an elastomer. For example, the pressing device 491 may include a spring. For example, in the case where the pressing device 491 includes a spring, the repulsive force (or elastic restoring force) of the spring can be used to further press the cleaning cloth P against the floor surface. However, this disclosure is not limited thereto, and the pressing device 491 may include any configuration that a person skilled in the art can arrange to press the cleaning cloth module 500 against the floor in a downward direction.

[0152] The pressing device 491 can reduce the impact applied to the cleaning cloth module 500. When in a robotic vacuum cleaner (e.g., Figure 1 When any obstacle forming a step on the floor surface during the cleaning process of the robotic vacuum cleaner 100 collides with the cleaning cloth module 500, the pressing device 491 can mitigate the impact applied to the cleaning cloth module 500. Therefore, the pressing device 491 can be provided to prevent the cleaning drive unit 400 from being damaged by any obstacle located on the floor surface.

[0153] According to an embodiment, the cleaning cloth module 500 may be coupled to the first component 450. The cleaning cloth module 500 may be coupled to the first component 450 to rotate together with the first component 450, or to move up and down together.

[0154] According to an embodiment, the cleaning cloth module 500 may include a rotating member 510 and a connecting protrusion 520. The rotating member 510 may be generally disc-shaped, but its shape is not limited thereto.

[0155] According to an embodiment, the engaging protrusion 520 may project upward from the center of the rotating member 510. The engaging protrusion 520 may be a portion that engages with the first member 450 and / or the shaft 440. For example, the cleaning cloth module 500 may be engaged with the first member 450 by inserting the engaging protrusion 520 into a lower opening of the first member 450.

[0156] According to an embodiment, the engaging protrusion 520 may include a hook groove 521. The hook groove 521 may be formed with a portion of the side of the engaging protrusion 520 cut out. The hook groove 521 may be a portion that engages with a hook protruding from the inner surface of the first member 450 when engaged with the first member 450. The first member 450 and the cleaning cloth module 500 may be engaged with each other via the hook engagement through the hook groove 521.

[0157] According to an embodiment, the connecting protrusion 520 may have a polygonal cross-sectional shape. Because the connecting protrusion 520 has a polygonal cross-section, the power of the motor 420 can be transmitted to the cleaning cloth module 500 connected to the first member 450.

[0158] According to an embodiment, the cleaning cloth module 500 may include a second magnet 530. The second magnet 530 may be disposed on the engaging protrusion 520. The second magnet 530 may be disposed inside the engaging protrusion 520.

[0159] According to an embodiment, the cleaning cloth module 500 may include a shielding member 531. The shielding member 531 may be disposed below the second magnet 530. The shielding member 531 may be configured to shield part of the magnetic force of the second magnet 530. The shielding member 531 can be used to shield the second magnet 530 so that the magnetic force of the second magnet 530 does not point downwards (e.g., to the surface to be cleaned). By disposing the shielding member 531 below the second magnet 530, foreign objects such as metal scraps remaining on the floor can be prevented from adhering to the cleaning cloth module 500 by magnetic force during wet cleaning of the floor surface using the cleaning cloth module 500. The shielding member 531 may be integrally formed with the second magnet 530, for example, but this disclosure is not limited thereto.

[0160] According to an embodiment, the cleaning cloth module 500 may include a cover member 540. The cover member 540 may be configured to cover the shielding member 531. The bottom of the shielding member 531 may be covered by the cover member 540. Since the cover member 540 covers the bottom of the shielding member 531, the appearance is improved, making the shielding member 531 invisible from the outside. In addition, the cover member 540 prevents the shielding member 531 from falling downwards.

[0161] According to an embodiment, the cleaning cloth module 500 can receive power (or torque) from the motor 420 to rotate and clean the floor surface. The cleaning cloth module 500 can be rotated by receiving power (or torque) from the motor 420 from the shaft 440 and / or the first member 450 coupled to the cleaning cloth module 500.

[0162] The cleaning cloth P can be attached to the bottom surface of the cleaning cloth module 500. When the shaft 440 and the cleaning cloth module 500 rotate via the operation of the motor 420, the cleaning cloth P attached to the cleaning cloth module 500 can also rotate together. When the robotic vacuum cleaner (e.g., Figure 1 When the robotic vacuum cleaner 100 moves, the cleaning cloth P can rotate in contact with the floor surface, thereby cleaning the floor surface.

[0163] According to an embodiment, the cleaning cloth P may be attached to or bonded to the cleaning cloth module 500. The cleaning cloth P may be attached to or bonded to, for example, the bottom surface of the rotating member 510. The cleaning cloth P may be attached to or bonded to the rotating member 510 using, for example, a magnet or Velcro, but this disclosure is not limited thereto.

[0164] Figure 9 This is a diagram illustrating the gear assembly structure of a cleaning drive unit according to an embodiment.

[0165] Figure 9 The gear assembly 430 shown can be used with Figures 4 to 8 The gear assembly 430 shown is substantially the same or similar. Figure 9 The gear assembly 430 shown may be included in Figures 4 to 8 The cleaning drive unit 400 shown is configured with... Figure 9 Among the components of the gear assembly 430 shown, for those with Figures 4 to 8 The components of the gear assembly 430 shown are substantially the same or similar to those of the other components, and are referred to by the same reference numerals. Figure 9 The number, shape, and type of gears in the gear assembly 430 shown are merely examples, and this disclosure is not limited to the examples shown.

[0166] Reference Figure 9 The motor 420 may include a worm gear forming part 421 disposed on the rotating shaft.

[0167] Reference Figure 9 The gear assembly 430 can mesh with the worm gear forming part 421 of the motor 420 to receive power (or torque) from the motor 420.

[0168] According to an embodiment, the gear assembly 430 may include a power transmission gear portion 431 and a shaft engagement gear portion 432. The gear assembly 430 may be positioned on the upper part of the housing 410. The motor 420 may generate power and transmit rotational force to the gear assembly 430.

[0169] According to an embodiment, the power transmission gear section 431 may include at least one gear. For example, the power transmission gear section 431 may include a first gear 4311 and a second gear 4312. However, this disclosure is not limited thereto, and the power transmission gear section 431 may include one gear or three or more gears. Hereinafter, for ease of description, a power transmission gear section 431 including a first gear 4311 and a second gear 4312 will be described as an example.

[0170] According to an embodiment, the first gear 4311 may be a two-stage gear. The first gear 4311 may include, for example, a first-1 gear and a first-2 gear with different diameters.

[0171] The first gear 4311 may be configured to mesh with the worm forming portion 421. The first gear 4311 may be, for example, a worm wheel. For example, the first gear of the first gear 4311 may mesh with the worm forming portion 421. The first gear 4311 may be configured to transmit power from the motor 420 to the second gear 4312.

[0172] The second gear 4312 may be configured to mesh with the first gear 4311. For example, the first-second gear of the first gear 4311 may mesh with the second gear 4312. The second gear 4312 may mesh with the shaft-engaged gear section 432. The second gear 4312 may be configured to transmit power from the first gear 4311 to the shaft-engaged gear section 432.

[0173] The shaft-connecting gear portion 432 can be connected to a shaft (e.g., Figure 8 (Shaft 440). The shaft-engaged gear section 432 can transmit the power of the second gear 4312 to the shaft 440. The shaft 440 can directly receive the rotational power of the shaft-engaged gear section 432. For example, the shaft 440 can directly receive power from the gear assembly 430.

[0174] Figure 10a This is a top perspective view of the second component according to the embodiment. Figure 10b It is along Figure 10a The cross-sectional view of line XX. Figure 10c This is a plan view showing the second component according to an embodiment. Figure 10d This is a bottom view of the second component according to the embodiment.

[0175] Figures 10a to 10d The second component 460 shown can be coupled with Figures 4 to 8 The second component shown (e.g., Figure 8 The second component (460) is basically the same as or similar to it. Figures 10a to 10d In the construction of the second component 460, the use and reference are discussed. Figures 4 to 8 The same reference numerals are used to describe the constructions.

[0176] According to an embodiment, the second member 460 may include a guide groove 462 positioned inward. At least one guide groove 462 may be formed on the inner circumferential surface of the second member 460. For example, three guide grooves 462 may be provided as shown. The number or shape of the guide grooves 462 shown is merely an example, and the shapes shown are not intended to limit the scope of this disclosure. For example, the guide groove 462 may include a first guide groove 4621, a second guide groove 4622, and a third guide groove 4623. The first guide groove 4621, the second guide groove 4622, and the third guide groove 4623 may extend to be inclined at substantially the same angle along the circumferential direction on the inner circumferential surface of the second member 460.

[0177] According to an embodiment, the second member 460 may include a guide protrusion insertion hole 465. The guide protrusion insertion hole 465 may be formed on, for example, the upper surface of the second member 460. The guide protrusion insertion hole 465 may refer to the portion formed for a guide protrusion 452 to pass through and be inserted into a guide groove 462 when the first member 450 is attached to the second member 460. A plurality of guide protrusion insertion holes 465 may be formed. The number of guide protrusion insertion holes 465 may correspond to the number of guide grooves 462.

[0178] The second component 460 is housed in the housing (e.g., Figure 8 In the state of the housing 410, the guide protrusion insertion hole 465 can be closed by the inner wall of the housing 410. Therefore, when the first member 450 moves upward relative to the second member 460, the inner wall of the housing 410 that closes the guide protrusion insertion hole 465 can be used as a stop.

[0179] According to an embodiment, the second member 460 may include a step 463 located at its lower end. The step 463 may be formed to extend from the lower end of the outer peripheral surface 460a of the second member 460. The step 463 may be formed to extend inward from the outer peripheral surface 460a. The step 463 may be configured to support the first member 450 when the first member 450 moves downward until the guide protrusion 452 is positioned on the stop of the guide groove 462.

[0180] Figure 11a This is a top perspective view of the first component according to an embodiment. Figure 11b This is a plan view of the first component according to an embodiment.

[0181] Figure 11a and Figure 11b The first component 450 shown can be coupled with Figures 4 to 8 The first component shown (e.g., Figure 8 The first component (450) is basically the same as or similar to it. Figure 11a and Figure 11b In the first component 450 of the assembly, use and reference Figures 4 to 8 The same reference numerals are used to describe the constructions.

[0182] According to an embodiment, the first member 450 may have an open shape with its upper and lower surfaces exposed. The first member 450 may have, for example, a generally cylindrical shape.

[0183] According to an embodiment, at least one guide protrusion 452 may be disposed on the outer peripheral surface of the first member 450. The guide protrusion 452 may be positioned on the upper part of the first member 450. For example, three guide protrusions 452 may be disposed as shown. For example, the number of guide protrusions 452 may be set to correspond to guide grooves (e.g., Figure 10a The number of guide grooves 462 is shown. The number or arrangement of guide protrusions 452 shown is merely an example, and the shapes shown do not limit the scope of this disclosure. For example, guide protrusions 452 may include a first guide protrusion 4521, a second guide protrusion 4522, and a third guide protrusion 4523. The first guide protrusion 4521, the second guide protrusion 4522, and the third guide protrusion 4523 may be arranged to be spaced apart from each other at equal intervals.

[0184] According to an embodiment, the guide protrusion 452 can be tilted and protruded at a specific angle to be rotatably coupled to the second member (e.g., Figure 10a The guide groove of the second component 460 (e.g., Figure 10a The guide groove 462). The guide protrusion 452 may be tilted and protrude at a specific angle along the circumferential direction of the first member 450. The tilt angle of the guide protrusion 452 may correspond to the tilt angle of the guide groove 462.

[0185] According to an embodiment, the first member 450 may include a support portion 453 supporting the first hollow portion 451. The support portion 453 may extend toward the interior of the outer peripheral surface 450a. The support portion 453 may refer to the portion extending inward from the inner surface of the first member 450 and connecting to the first hollow portion 451. Multiple support portions 453 may be provided. The support portion 453 may be located on the upper part of the first member 450, but is not limited thereto.

[0186] According to an embodiment, the first member 450 may include a mating groove 454 formed therein at its lower portion. The mating groove 454 (the groove formed at the lower portion) may be a groove defined by the outer peripheral surface 450a of the first member 450, the first hollow portion 451, and the support portion 453.

[0187] According to an embodiment, the cleaning cloth module (e.g., Figure 8 The cleaning cloth module 500 can be coupled to the coupling groove 454. The coupling protrusions of the cleaning cloth module 500 (e.g., Figure 8 The connecting protrusions 520 can be inserted into the connecting grooves 454 so that they are connected to each other.

[0188] According to an embodiment, the coupling groove 454 may have a polygonal cross-sectional shape. The cross-sectional shape of the coupling groove 454 may correspond to the cross-sectional shape of the coupling protrusion 520 of the cleaning cloth module 500. The horizontal dimension of the coupling groove 454 may, for example, be larger than the horizontal dimension of the coupling protrusion 520.

[0189] Figure 12a This is an exploded perspective view of the rise detection unit according to an embodiment. Figure 12b This is a bottom view of the sensor frame according to an embodiment. Figure 12c This is a side view of the frame according to an embodiment.

[0190] Figures 12a to 12c The rise detection unit 480 shown can be used with a reference Figures 4 to 8 The described rise detection unit (e.g., Figure 8 The rising detection unit 480 is basically the same as or similar to the rising detection unit. Figures 12a to 12c Among the components of the rise detection unit 480, the reference is used. Figures 4 to 8 The components described use the same reference numerals.

[0191] Reference Figures 12a to 12c The rise detection unit 480 may include a sensor frame 481, a sensor 482, a pressing part 483, and / or a spring 484. The rise detection unit 480 may be disposed in the housing (e.g., Figure 4 The upper side of the housing 410. The rise detection unit 480 may be formed with its lower part open. Shaft (e.g., Figure 8 The upper end of the shaft 440 can selectively pass through the open lower part of the rise detection unit 480.

[0192] According to an embodiment, the sensor frame 481 may be configured such that the sensor 482, the pressing part 483, or the spring 484 is received or mounted therein.

[0193] According to an embodiment, the pressing part 483 can be accommodated in the sensor frame 481. When the rise detection unit 480 is mounted on the housing 410, the pressing part 483 can be disposed on the upper side of the shaft 440. The pressing part 483 can be disposed on the rotation axis of the shaft 440. When the shaft 440, which is capable of moving up and down, rises a predetermined distance or greater, the pressing part 483 can be pressed upwards to move it.

[0194] According to an embodiment, the spring 484 may be configured to press down on the pressing part 483. The pressing part 483 may be pressed upward by the shaft 440. When the pressing of the shaft 440 is released, the pressing part 483 may return to the position before pressing by the spring 484 (hereinafter referred to as the "unpressed position").

[0195] According to an embodiment, sensor 482 may be configured as a pair. For example, sensor 482 may include an infrared sensor. Sensor 482 may include a light emitter 4821 and a detector 4822. Light emitter 4821 may be an optical device configured to emit light (e.g., infrared light). Detector 4822 may be a device configured to detect the light (e.g., infrared light) emitted by light emitter 4821.

[0196] According to an embodiment, the sensor frame 481 may include a pair of sensor mounting portions 4811, which arrange the pair of sensors 482 in a facing-to-face state, spaced apart from each other.

[0197] According to an embodiment, the sensor frame 481 may include through holes 4812. Through holes 4812 may be formed in a pair of sensor mounting portions 4811. When a pair of sensors 482 are mounted on the sensor mounting portions 4811, one through hole 4812 may be positioned to allow light generated by the light emitter 4821 to pass through it. When a pair of sensors 482 are mounted on the sensor mounting portions 4811, the other through hole 4812 may be positioned to allow light generated by the light emitter 4821 to pass through it to reach the detector 4822.

[0198] According to an embodiment, when the pressing part 483 is in the unpressed position, the pressing part 483 can close the space between a pair of through holes 4812. When the pressing part 483 is not pressed by the shaft 440, the detector 4822 can be positioned to not detect the light generated by the light emitter 4821.

[0199] According to an embodiment, the space between a pair of through holes 4812 can be opened by pressing the pressing part 483 upward with the shaft 440. When the pressing part 483 is pressed by the shaft 440 and the space between the pair of through holes 4812 is opened, the detector 4822 can detect the light generated by the light emitter 4821. As will be described later, when the detector 4822 detects the light generated by the light emitter 4821, the control unit (e.g., Figure 3 The control unit 350 can determine that the upward movement of the first component 450 (or shaft 440 or cleaning cloth module 500) has been completed.

[0200] Figures 13a to 13e This is a diagram illustrating the operation of the cleaning drive unit according to the embodiment, based on the direction of rotation.

[0201] Figures 13a to 13e The cleaning drive unit 400 shown may have the same characteristics as... Figures 4 to 8 The cleaning drive unit shown (e.g., Figure 4 The cleaning drive unit 400 has a basically the same or similar structure. Figures 13a to 13e Among the components of the cleaning drive unit 400 shown, for reference... Figures 4 to 8 Components that are substantially the same or similar to those described are referred to using the same reference numerals.

[0202] The shaft-engaged gear unit 432, which will be described later, can rotate along a first direction and a second direction by rotating the motor 420. The first direction may refer to, for example, the forward direction. The second direction may be the opposite direction to the first direction. The second direction may refer to, for example, the reverse direction.

[0203] According to an embodiment, the cleaning cloth module 500 can be raised or lowered according to the rotation direction of the motor 420. For example, when the motor 420 rotates in a first direction (or forward), the cleaning cloth module 500 can be lowered. For example, when the motor 420 rotates in a second direction (or reverse), the cleaning cloth module 500 can be raised.

[0204] According to embodiments of the present disclosure, the cleaning drive unit 400 can easily raise and lower the cleaning cloth module 500 using only the rotational force of the motor 420 without the need for separate operation by the user.

[0205] Figure 13a The cleaning drive unit 400 is shown in a state where the cleaning cloth P is in close contact with the floor surface (hereinafter referred to as the "first state"). The first state may refer to, for example, a state where the shaft 440 is lowered to its maximum extent. The first state may refer to, for example, a state where the first member 450 is lowered to its maximum extent. The first state may refer to, for example, a state where the first member 450 is supported by the locking claw 441 of the second member 460. The first state may refer to, for example, a state where the guide protrusion 452 of the first member 450 is in contact with the stop of the second member 460.

[0206] Figure 13b The diagram illustrates the operation of rotating the shaft-engaging gear 432 in the second direction to move the cleaning cloth module 500 upward. When the shaft-engaging gear 432 rotates in the second direction via the rotation of the motor 420, the shaft 440 engaged with the shaft-engaging gear 432 can also rotate in the second direction. In this case, the first member 450 can rotate in the second direction by receiving power from the shaft 440.

[0207] exist Figure 13b In this configuration, the second member 460 may be prevented from rotating by a unidirectional rotatable body 470. The unidirectional rotatable body 470 may refer to a rotatable body that allows rotation only in one direction. The unidirectional rotatable body 470 may be configured, for example, such that the second member 460 rotates only in the first direction.

[0208] Because the second component 460 is hindered from rotating by the unidirectional rotating body 470, the first component 450 can rotate relative to the second component 460 in a second direction. In this case, the first component 450 can move upward as the guide protrusion 452 of the first component 450 moves along the guide groove 462 of the second component 460. The cleaning cloth module 500 and the shaft 440 attached to the first component 450 can also move upward.

[0209] Figure 13c The cleaning drive unit 400 is shown with the cleaning cloth module 500 in its fully raised state (hereinafter referred to as the "second state"). The second state may refer, for example, to a state where the first member 450 is raised to its maximum extent. The second state may also refer, for example, to a state where the first member 450 reaches the upper surface of the second member 460.

[0210] According to the embodiment, when the cleaning cloth module 500 reaches the second state, the drive of the motor 420 can be interrupted. By moving upwards, the shaft 440 presses upwards against the pressing part 483, which can be detected by the sensor 482, as described above. Figures 12a to 12c The sensing signal from sensor 482 can be sent to the control unit (e.g., ...). Figure 3 In response, the control unit 350 can determine that the cleaning cloth module 500 has reached the second state. When the control unit 350 determines that the cleaning cloth module 500 has reached the second state, it can stop the operation of the motor 420.

[0211] According to the embodiment, unlike the one shown, even if the rising detection unit 480 is omitted, it can be determined that the cleaning cloth module 500 has reached the second state by detecting that the upward movement of the first component 450 has stopped and the current load of the motor 420 has increased.

[0212] Because the robotic vacuum cleaner 100 automatically raises the cleaning cloth module 500 to separate the cleaning cloth P from the floor surface, additional contamination caused by the cleaning cloth P on floor surfaces with carpets or similar items (where wet cleaning is not required) can be prevented. Furthermore, when the robotic vacuum cleaner 100 passes through obstacles forming relatively small steps during cleaning, it can automatically raise the cleaning cloth module 500 to prevent collisions between the cleaning cloth module 500 and the obstacles.

[0213] According to an embodiment, in the second state, the cleaning cloth module 500 and the shaft 440 can be separated from each other. When moving between the first and second states, the moving distance of the cleaning cloth module 500 can be shorter than the moving distance of the shaft 440. The shaft 440 can be configured to move further upward after the cleaning cloth module 500 has risen to its highest position. Therefore, as the distance between the shaft 440 and the cleaning cloth module 500 increases, the magnetic coupling between the shaft 440 and the cleaning cloth module 500 can be released and the shaft 440 and the cleaning cloth module 500 can be separated.

[0214] Figure 13d The diagram illustrates the operation of rotating the shaft-engaging gear 432 along a first direction to move the cleaning cloth module 500 downward. When the shaft-engaging gear 432 rotates along the first direction via the rotation of the motor 420, the shaft 440 engaged with the shaft-engaging gear 432 can also rotate along the first direction. In this case, the first member 450 can receive power from the shaft 440 to rotate along the first direction.

[0215] exist Figure 13d In this configuration, the second component 460 receives power from the first component 450, but it can rotate along the first direction at a slower speed than the first component 450. For example, the second component 460 may rotate slower than the first component 450 due to friction with the second bearing 493 and / or the one-way rotating gear 475. Therefore, the first component 450 can rotate relative to the second component 460 along the first direction. In this case, the first component 450 can move downwards as the guide protrusion 452 of the first component 450 moves along the guide groove 462 of the second component 460. The cleaning cloth module 500 and the shaft 440, which are attached to the first component 450, can also move downwards.

[0216] Figure 13e The cleaning drive unit 400 is shown in a state where the cleaning cloth module 500 is lowered to its maximum extent (e.g., a first state). When the cleaning cloth module 500 is lowered to its maximum extent, the guide protrusion 452 of the first member 450 can contact the stop of the second member 460. Here, when the first member 450 rotates and presses the stop, the second member 460 can also rotate together with the first member 450 in a first direction. For example, in the first state, the rotational speed of the first member 450 in the first direction can be substantially the same as the rotational speed of the second member 460 in the first direction.

[0217] Figure 14 This is a perspective view of the cleaning drive unit and cleaning cloth module according to an embodiment. Figure 15 This is a side view of the cleaning drive unit and cleaning cloth module according to an embodiment. Figure 16 This is an exploded perspective view of the cleaning drive unit and cleaning cloth module according to an embodiment. Figure 17This is a cross-sectional view of the cleaning drive unit and cleaning cloth module according to an embodiment.

[0218] Figures 14 to 17 The cleaning drive unit 1400 shown may include in Figures 1 to 3 robotic vacuum cleaners (e.g., Figure 1 Robot vacuum cleaner 100 or Figure 3 In the robotic vacuum cleaner 300). Figures 14 to 17 The cleaning drive unit 1400 shown can replace Figure 3 Cleaning drive unit (e.g., Figure 3 Cleaning drive unit 362). Figures 14 to 17 The cleaning drive unit 1400 shown can be electrically connected to Figure 3 Control unit (e.g., Figure 3 Control unit 350). In Figures 14 to 17 Among the components of the cleaning drive unit 1400 shown, for those related to Figures 4 to 12c The cleaning drive unit shown (e.g., Figure 4 The components of the cleaning drive unit 400 are basically the same as those of the other components and use the same reference numerals. Figures 14 to 17 The cleaning drive unit 1400 shown is merely an example, and the structure of the cleaning drive unit 1400 is not limited to the structure shown.

[0219] Reference Figures 14 to 17 The cleaning drive unit 1400 may include a housing 410, a motor 420, a gear assembly 430, a shaft 440, a first component 450, a second component 1460, a unidirectional rotating body 1470, and / or a rise detection unit 480.

[0220] According to an embodiment, the second member 1460 may be coupled to the first member 450. The second member 1460 and the first member 450 may be coupled to each other by a threaded connection. The first member 450 may be inserted into the second member 1460 by a threaded connection. The second member 1460 may be disposed outside the first member 450. For example, the width of the second member 1460 may be greater than the width of the first member 450. For example, the second member 1460 may be referred to as a second bushing.

[0221] According to an embodiment, the second member 1460 may be configured to support the first member 450. The second member 1460 may reduce the vibration of the first member 450 when it rotates through the shaft 440. The second member 1460 may reduce the lateral vibration of the first member 450.

[0222] According to an embodiment, the second member 1460 may include a guide groove 1462. The guide groove 1462 may be formed on the inner surface of the second member 1460. The guide groove 1462 may be formed to be inclined and extend in a circumferential direction on the inner peripheral surface of the second member 1460. The guide groove 1462 may have a shape such as, for example, a threaded groove.

[0223] According to an embodiment, the length of the guide groove 1462 of the second component 1460 may be greater than or equal to the circumferential length of the second component 1460.

[0224] According to an embodiment, the guide protrusion 452 of the first member 450 can be engaged with the guide groove 1462 of the second member 1460. When the first member 450 is engaged with the second member 1460 and rotates relative to the second member 1460, the guide protrusion 452 can move along the guide groove 1462, thus allowing the first member 450 to move up and down. The guide groove 1462 may have an inclined path, allowing the first member 450 to move up or down while rotating.

[0225] According to an embodiment, the size of the guide protrusion 452 of the first member 450 may be smaller than the size of the guide groove 1462 of the second member 1460. For example, the protruding length of the guide protrusion 452 may be smaller than the depth of the guide groove 1462. For example, the width of the guide protrusion 452 may be smaller than the width of the guide groove 1462.

[0226] The vertical movement distance of the cleaning cloth module 500 according to its number of rotations can be adjusted based on the tilt angle of the guide groove 1462 formed on the inner surface of the second member 1460.

[0227] According to an embodiment, the guide groove 1462 may include a stop disposed at its lower end. The stop can prevent the first member 450 from moving downward by generating resistance to the rotational force on the guide protrusion 452 of the first member 450. When the guide protrusion 452 contacts the stop, the second member 1460 can receive the rotational force from the first member 450 and rotate together with the first member 450.

[0228] According to an embodiment, the second member 1460 may be configured to be open at both its upper and lower portions. For example, a portion of the shaft-engaging gear portion 432 (e.g., shaft extension 4321) may be configured to pass through the open upper portion of the second member 1460. For example, a portion of the first member 450 may be configured to pass through the open lower portion of the second member 1460.

[0229] According to an embodiment, a unidirectional rotating body 1470 may be disposed within the housing 410. The unidirectional rotating body 1470 may be configured to rotate only along either a first direction or a second direction. For example, the unidirectional rotating body 1470 may be configured to rotate only along either a clockwise or counterclockwise direction. For example, the unidirectional rotating body 1470 may be configured to rotate only along either a forward or reverse direction. For example, the unidirectional rotating body may be a one-way bearing capable of rotating only in one direction, but is not limited thereto. The unidirectional rotating body 1470 may have an open cylindrical shape.

[0230] According to an embodiment, the unidirectional rotating body 1470 may be manufactured in the form of a roller or beads. The unidirectional rotating body 1470 may include a clutch mechanism that operates according to the direction of rotation therein. The clutch mechanism may be used to allow or prevent rotation by moving the roller or beads according to the direction of rotation.

[0231] According to an embodiment, the unidirectional rotating body 1470 may be configured to surround the outer peripheral surface of the second member 1460. The diameter of the unidirectional rotating body 1470 may be larger than the diameter of the second member 1460. The unidirectional rotating body 1470 may be configured to be disposed between the second member 1460 and the housing 410 to act as a bearing and to allow the second member 1460 to rotate in only one direction.

[0232] and Figures 4 to 8 The second component (e.g., Figure 8 The second component (460) is different. Figures 14 to 17 The second member 1460 may be configured, for example, to omit the teeth formed on its outer peripheral surface (e.g., Figure 8 (464 teeth).

[0233] According to an embodiment, the cleaning drive unit 1400 may further include a pressing device 1490. The pressing device 1490 may, for example, be disposed between the cleaning cloth module 500 and the shaft 440. The pressing device 1490 may be configured to push the cleaning cloth module 500 and the shaft 440 in opposite directions. For example, the pressing device 1490 may press the cleaning cloth module 500 downwards to make the cleaning cloth P come into close contact with the floor surface.

[0234] The pressing device 1490 can press the cleaning cloth module 500 downward to increase the friction between the cleaning cloth P attached to the cleaning cloth module 500 and the floor surface. The pressing device 1490 can increase the cleaning effect by increasing the friction between the cleaning cloth P and the floor surface. The pressing device 1490 can be, for example, an elastomer. For example, the pressing device 1490 can be a spring. For example, in the case where the pressing device 1490 includes a spring, the repulsive force (or elastic restoring force) of the spring can be used to make the cleaning cloth P come into close contact with the floor surface. However, this disclosure is not limited thereto, and the pressing device 1490 can include any configuration that a person skilled in the art can arrange to press the cleaning cloth module 500 in a downward direction.

[0235] The pressing device 1490 can reduce the impact applied to the cleaning cloth module 500. When in a robotic vacuum cleaner (e.g., Figure 1 When an obstacle forming a step on the floor surface collides with the cleaning cloth module 500 during the cleaning process of the robotic vacuum cleaner 100, the pressing device 1490 can mitigate the impact applied to the cleaning cloth module 500. As a result, the pressing device 1490 can be provided to prevent the cleaning drive unit 1400 from being damaged by any obstacle located on the floor surface.

[0236] Although not shown here, the cleaning cloth module 500 according to the embodiment may also include, as Figure 7 The shielding member shown is used to shield the magnetic force below the second magnet 530 (e.g., Figure 7 Shielding component 531). Figure 16 and Figure 17 The cleaning cloth module 500 shown is available. Figure 7 and Figure 8 The cleaning cloth module shown (e.g., Figure 7 Replace the cleaning cloth module 500.

[0237] Figures 18a to 18e This is a diagram illustrating the operation of a cleaning drive unit according to an embodiment of the present disclosure, based on the direction of rotation.

[0238] Figures 18a to 18e The cleaning drive unit 1400 shown can be connected to Figures 14 to 17 The cleaning drive unit shown (e.g., Figure 14 The cleaning drive unit (1400) is basically the same as or similar to that of the cleaning drive unit. Figures 18a to 18e Among the components of the cleaning drive unit 1400 shown, for reference... Figures 14 to 17 Components that are substantially the same or similar to those described are referred to using the same reference numerals.

[0239] The shaft-engaged gear unit 432, which will be described later, can rotate along a first direction and a second direction by rotating the motor 420. The first direction may refer to, for example, the forward direction. The second direction may be the opposite direction to the first direction. The second direction may refer to, for example, the reverse direction.

[0240] According to an embodiment, the cleaning cloth module 500 can be raised or lowered according to the rotation direction of the motor 420. For example, when the motor 420 rotates in a first direction (or forward), the cleaning cloth module 500 can be lowered. For example, when the motor 420 rotates in a second direction (or reverse), the cleaning cloth module 500 can be raised.

[0241] According to embodiments of the present disclosure, the cleaning drive unit 1400 can easily raise and lower the cleaning cloth module 500 using only the rotational force of the motor 420, without the need for separate operation by the user.

[0242] Figure 18a The cleaning drive unit 1400 is shown in a state where the cleaning cloth P is in close contact with the floor surface (hereinafter referred to as the "first state"). The first state may refer to, for example, a state where the shaft 440 is lowered to its maximum extent. The first state may refer to, for example, a state where the first member 450 is lowered to its maximum extent. The first state may refer to, for example, a state where the first member 450 is supported by the locking claw 441 of the second member 1460. The first state may refer to, for example, a state where the guide protrusion 452 of the first member 450 is in contact with the stop of the second member 1460.

[0243] Figure 18b The diagram illustrates the operation of rotating the shaft-engaging gear 432 in the second direction to move the cleaning cloth module 500 upward. When the shaft-engaging gear 432 rotates in the second direction via the rotation of the motor 420, the shaft 440 engaged with the shaft-engaging gear 432 can also rotate in the second direction. In this case, the first member 450 can rotate in the second direction by receiving power from the shaft 440.

[0244] Reference Figure 18b The second member 1460 may be prevented from rotating by the unidirectional rotator 1470. The unidirectional rotator 1470 may refer to a rotator that is only allowed to rotate in one direction. The unidirectional rotator 1470 may be configured, for example, such that the second member 1460 rotates only in the first direction.

[0245] Because the second component 1460 is hindered from rotating by the unidirectional rotating body 1470, the first component 450 can rotate relative to the second component 1460 in a second direction. In this case, the first component 450 can move upward as the guide protrusion 452 of the first component 450 moves along the guide groove 1462 of the second component 1460. The cleaning cloth module 500 and the shaft 440, which are attached to the first component 450, can also move upward together.

[0246] Figure 18c The cleaning drive unit 1400 is shown with the cleaning cloth module 500 in its fully raised state (hereinafter referred to as the "second state"). The second state may refer, for example, to a state where the first member 450 is raised to its maximum extent. The second state may refer, for example, to a state where the first member 450 reaches the upper surface of the second member 1460.

[0247] According to the embodiment, when the cleaning cloth module 500 reaches the second state, the drive of the motor 420 can be interrupted. By moving upwards, the shaft 440 presses upwards against the pressing part 483, which can be detected by the sensor 482, as described above. Figures 12a to 12c The sensor 482 sends a sensing signal to the control unit 350, and in response to the sensing signal, the control unit 350 determines that the cleaning cloth module 500 has reached the second state. When the control unit 350 determines that the cleaning cloth module 500 has reached the second state, it can stop the operation of the motor 420.

[0248] According to the embodiment, unlike the one shown, even if the rising detection unit 480 is omitted, it can be determined that the cleaning cloth module 500 has reached the second state by detecting that the upward movement of the first component 450 has stopped and the current load of the motor 420 has increased.

[0249] Because the robotic vacuum cleaner 100 automatically raises the cleaning cloth module 500 to separate the cleaning cloth P from the floor surface, additional contamination caused by the cleaning cloth P to floor areas that do not require wet cleaning (such as carpets) is prevented. Furthermore, when the robotic vacuum cleaner 100 passes through obstacles forming relatively small steps during cleaning, it can automatically raise the cleaning cloth module 500 to prevent collisions between the cleaning cloth module 500 and the obstacles.

[0250] According to an embodiment, in the second state, the cleaning cloth module 500 and the shaft 440 are separable. When moving between the first and second states, the moving distance of the cleaning cloth module 500 may be shorter than the moving distance of the shaft 440. The shaft 440 may be configured to move further upward after the cleaning cloth module 500 has risen to its highest position. Therefore, as the distance between the shaft 440 and the cleaning cloth module 500 increases, the magnetic coupling between the shaft 440 and the cleaning cloth module 500 can be released, and the shaft 440 and the cleaning cloth module 500 can be separated from each other.

[0251] Figure 18dThe diagram illustrates the operation of rotating the shaft-engaging gear 432 along a first direction to move the cleaning cloth module 500 downward. When the shaft-engaging gear 432 rotates along the first direction via the rotation of the motor 420, the shaft 440 engaged with the shaft-engaging gear 432 can also rotate along the first direction. In this case, the first member 450 can receive power from the shaft 440 and rotate along the first direction.

[0252] Reference Figure 18d The second component 1460 receives power from the first component 450, but can rotate along the first direction at a slower speed than the first component 450. For example, the second component 1460 can rotate slower than the first component 450 due to friction with the unidirectional rotating body 1470. Therefore, the first component 450 can rotate relative to the second component 1460 along the first direction. In this case, the first component 450 can move downward as the guide protrusion 452 of the first component 450 moves along the guide groove 1462 of the second component 1460. The cleaning cloth module 500 and the shaft 440, which are attached to the first component 450, can also move downward together.

[0253] Figure 18e The cleaning drive unit 1400 is shown in a state where the cleaning cloth module 500 is lowered to its maximum extent (e.g., a first state). When the cleaning cloth module 500 is lowered to its maximum extent, the guide protrusion 452 of the first member 450 can contact the stop of the second member 1460. Here, when the first member 450 rotates and presses the stop, the second member 1460 can also rotate together with the first member 450 in a first direction. For example, in the first state, the rotational speed of the first member 450 in the first direction can be substantially the same as the rotational speed of the second member 1460 in the first direction.

[0254] Figure 19 This is an example diagram illustrating the process of attaching and detaching a cleaning cloth of a robotic vacuum cleaner in a plug-in station according to an embodiment of the present disclosure.

[0255] Reference Figure 19 The robotic vacuum cleaner 100 can perform the attachment and removal processes of the cleaning cloth at the insertion station 1900. In an embodiment, when it is determined that the cleaning cloth needs to be replaced, the robotic vacuum cleaner 100 can move to the insertion station 1900, which is integrally provided with a cleaning cloth supply unit 1910 for receiving new cleaning cloths P and a cleaning cloth collection unit 1920 for collecting used cleaning cloths P. According to an embodiment, as... Figure 19 As shown in (a), the cleaning cloth collection unit 1920 may be located downstream of the cleaning cloth supply unit 1910 relative to the robotic vacuum cleaner 100 in the direction of entry toward the plug station 1900, but this disclosure is not limited thereto.

[0256] like Figure 19 As shown in (b), the robotic vacuum cleaner 100 arriving at the insertion station 1900 can be positioned appropriately on the cleaning cloth collection unit 1920, and then the operation of removing the cleaning cloth P can be performed to remove the used cleaning cloth P from the cleaning cloth module located below (e.g., Figure 4 or Figure 14 The used cleaning cloth P separated from the cleaning cloth module 500 is then stored in the cleaning cloth collection unit 1920 located below.

[0257] Then, as Figure 19 As shown in (c), the robotic vacuum cleaner 100 can move backward to position itself appropriately on the cleaning cloth supply unit 1910, and then perform an operation to attach a new cleaning cloth P supplied from the cleaning cloth supply unit 1910 to the cleaning cloth module 500. Afterward, the robotic vacuum cleaner 100 can leave the insertion station 1900 and resume cleaning.

[0258] According to various embodiments of this disclosure, a threaded lifting structure can be used to move the cleaning cloth module up and down.

[0259] Various embodiments of this disclosure may have a structure capable of lifting the cleaning cloth from the floor surface as it passes through an object (such as a carpet or mat) that may become contaminated upon contact with the cleaning cloth.

[0260] Various embodiments of this disclosure may have a structure capable of lifting a cleaning cloth from the floor surface so that the cleaning cloth does not get stuck on the steps when passing over them.

[0261] According to various embodiments of this disclosure, the robotic vacuum cleaner can move the cleaning cloth module up and down or rotate it according to the rotation direction of the motor used to rotate the cleaning cloth module.

[0262] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the disclosure. For example, unless the context clearly indicates only the singular, an element expressed in the singular should be understood as a concept that includes multiple elements. As used in this disclosure, each of the phrases such as “A or B,” “at least one of A and B,” “at least one of A or B,” “A, B or C,” “at least one of A, B and C,” and “at least one of A, B or C” may include any one of the items listed together in the corresponding phrase of the plurality of phrases, or all possible combinations thereof. Furthermore, it should be understood that the term “and / or” as used herein is intended to cover any and all possible combinations of one or more of the listed items. As used in this disclosure, terms such as “comprising,” “including,” “having,” “constructed as,” etc., are intended only to indicate the presence of the features, components, parts, or combinations thereof described in this disclosure, and the use of these terms is not intended to exclude the possibility of the presence or addition of one or more other features, components, parts, or combinations thereof. As used herein, expressions such as “first” and “second” may refer to various components of any order and / or importance, and are used only to distinguish one component from another, and are not intended to limit the corresponding component to this.

[0263] As used in this disclosure, depending on the context, the expression "constructed as" may be used interchangeably with, for example, "suitable for," "capable of," "designed as," "modified as," "manufactured as," "capable of," etc. The term "constructed as" does not necessarily mean only "specifically designed as" in hardware. Rather, in some cases, the expression "a device constructed as" may mean that the device, together with another device or component, is "capable of." For example, the phrase "a device constructed (adapted) to perform A, B, and C" may imply a dedicated device for performing the respective operations or a general-purpose device capable of performing various operations including the respective operations.

[0264] Furthermore, the terms “upper,” “lower,” and “forward / backward direction” used in this disclosure are defined based on the accompanying drawings, and the shape and position of the individual components are not limited by these terms.

[0265] Although the foregoing description in this disclosure is generally about specific embodiments, this disclosure is not limited to these specific embodiments, and it will be understood that it covers all kinds of modifications, equivalents and / or alternatives to the various embodiments.

Claims

1. A robotic vacuum cleaner, comprising: Electric motor; The shaft is configured to rotate via the motor; The first component is configured to receive rotational forces from the shaft and includes outwardly projecting guide protrusions; as well as The second component includes a guide groove formed on its inner side, and the second component is coupled to the first component such that the guide protrusion can slide along the guide groove. The first member is configured to rotate relative to the second member, such that the guide protrusion moves along the guide groove and moves upward or downward relative to the second member. The shaft is configured to rotate together with the first component.

2. The robotic vacuum cleaner of claim 1, further comprising a cleaning cloth module coupled to the first component to receive rotational forces from the first component.

3. The robotic vacuum cleaner according to claim 2, wherein, The cleaning cloth module is configured to move upward or downward together with the first component.

4. The robotic vacuum cleaner according to claim 1, wherein the robotic vacuum cleaner further comprises a unidirectional rotating body, the unidirectional rotating body being directly or indirectly coupled to the second component, such that the second component can only rotate in one direction.

5. The robotic vacuum cleaner according to claim 4, wherein, The unidirectional rotating body surrounds the outer peripheral surface of the second component.

6. The robotic vacuum cleaner according to claim 4, in, The second component includes teeth having a gear shape projecting outward from the outer peripheral surface of the second component, and The robotic vacuum cleaner includes a one-way rotating gear, which meshes with the teeth to connect the second component and the one-way rotating body.

7. The robotic vacuum cleaner according to claim 1, wherein, The second component includes a stop located at the end of the guide groove to stop the movement of the guide protrusion.

8. The robotic vacuum cleaner according to claim 1, wherein, The second component includes a guide protrusion insertion hole located on the upper surface of the second component and configured to allow the guide protrusion to be inserted into the guide groove.

9. The robotic vacuum cleaner according to claim 1, wherein, The second member includes a step extending inward from the lower end of the outer peripheral surface of the second member to selectively support the first member.

10. The robotic vacuum cleaner according to claim 1, wherein, The guide protrusion is located on the outer side of the upper part of the first component.

11. The robotic vacuum cleaner of claim 1, further comprising a gear assembly configured to transmit power from the motor to the shaft. in, The motor includes a worm gear forming portion configured to engage with the gear assembly, and The gear assembly includes: The power transmission gear section is coupled to the worm gear forming section of the motor; and The shaft-connected gear unit is connected to the power transmission gear unit and the shaft.

12. The robotic vacuum cleaner according to claim 11, wherein, The shaft-connected gear portion includes a shaft extension portion that extends axially downward from the center of the shaft-connected gear portion. The shaft extension includes a shaft engagement opening, which is formed to extend axially through the central portion of the shaft engagement gear and is configured to allow the shaft to engage with the shaft engagement opening. The shaft-gear assembly, the shaft, and the first component are configured to rotate together about the same axis of rotation.

13. The robotic vacuum cleaner according to claim 1, wherein, The guide groove extends in a threaded groove shape along the circumferential direction of the second member.

14. The robotic vacuum cleaner according to claim 1, wherein, The shaft includes a first magnet disposed at the lower end of the shaft.

15. The robotic vacuum cleaner according to claim 14, further comprising: A cleaning cloth module includes a second magnet coupled to a first magnet and a shielding member disposed below the second magnet and configured to shield against magnetic forces pointing downward toward the second magnet. The cleaning cloth module is configured to receive rotational power from at least one of the shaft and the first member.

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