Cleaning robot

Abstract

Cleaning robots, comprehensive: a main body 1 comprising an outer section 11; a pair of drive wheels 21 and 22, which are arranged under the main body; a first engine 31d; a rotating shaft 31a which can be rotated by the first motor; a holder 31b connected to the rotating shaft, to which a cleaning pad 31c with a circular shape is attached; and a second motor 93 configured to drive the holder to enable the cleaning pad attached to the holder to move between a retracted position and an extended position, moving from the retracted position towards the outer section of the main body, wherein in the extended position, when the cleaning pad rotates by the rotation of the rotary shaft, the rotary shaft is arranged within the outer section of the main body.

Description

[Technical area]

[0001] The revelation refers to a cleaning robot. [State of the art]

[0002] A cleaning robot is an electronic device that performs cleaning by autonomously navigating an interior space. The cleaning robot can create a map showing the structure of the interior or any obstacles within it, in order to perform preset operations such as cleaning. Based on this map, it can then navigate the interior and carry out the cleaning process.

[0003] The cleaning robot may include a cleaning pad for mopping a floor. To mop a floor adjacent to obstacles, walls, etc., the cleaning pad may be designed to protrude from the main body of the cleaning robot. Because of this protruding cleaning pad, the outermost surface of the cleaning robot may be larger than its main body. The likelihood of the cleaning robot being obstructed by obstacles while moving can increase with the size of this outermost surface. Furthermore, since the cleaning robot cannot pass through a crack narrower than the width of its outermost surface, it is difficult for the robot to clean such cracks. [Revelation][Technical Solution]

[0004] A cleaning robot according to one embodiment of the disclosure may comprise a main body, wheels, a first shaft, and a first holder. The main body has an outer section extending along a circumference of the main body. The wheels are driveable to move the cleaning robot on a surface to be cleaned. The first holder is coupled to the first rotating shaft and configured to support a first cleaning pad, wherein the first rotating shaft and the first holder are configured such that, when the cleaning robot is on the surface to be cleaned and the first cleaning pad is supported by the first holder: the first rotating shaft is rotatable along an axis of rotation perpendicular to the surface to be cleaned, causing the first holder to rotate and thereby rotate the first cleaning pad to clean the surface.and the first rotating shaft is movable laterally in a direction perpendicular to the axis of rotation into: a retracted position in which the first rotating shaft and the first holder are located under the main body and do not project beyond the outer section of the main body, and an extended position in which the first rotating shaft is located under the main body and does not project beyond the outer section, and the first holder is located partly under the main body and partly projects beyond the outer section of the main body.

[0005] A cleaning robot according to one embodiment of the disclosure may comprise: a main body with an outer section in a circular shape; a pair of drive wheels on a first centerline at a lower section of the main body; and a movable cleaning section in front of the pair of drive wheels. The movable cleaning section comprises: a first holder configured to support a first cleaning pad, a frame rotatably supporting the first holder, and a first motor configured to rotate the first holder and the first cleaning pad. A second holder is configured to support a second cleaning pad and is symmetrical to the first holder with respect to a second centerline perpendicular to the first centerline.The frame is supported by the main body to allow straight movement of the first holder into: a retracted position in which the first holder is located under the main body and does not extend beyond the outer section of the main body, and an extended position in which the first holder is partially located under the main body and partially extends beyond the outer section of the main body. [Description of the characters] Fig. Figure 1 is a schematic perspective view of a cleaning robot according to an embodiment of the disclosure and illustrates a state in which a first cleaning pad arrangement is arranged in a retracted position. Fig. Figure 2 is a schematic rear view of a cleaning robot according to an embodiment of the disclosure and illustrates a state in which a first cleaning pad arrangement is arranged in a retracted position. Fig. Figure 3 is a schematic perspective view of a cleaning robot according to an embodiment of the disclosure and illustrates a state in which a first cleaning pad arrangement is arranged in an extended position. Fig. Figure 4 is a schematic rear view of a cleaning robot according to an embodiment of the disclosure and illustrates a state in which a first cleaning pad arrangement is arranged in an extended position. Fig. Figure 5 is a schematic top view of a cleaning robot according to an embodiment of the disclosure and illustrates a condition in which an upper housing of a main body has been removed. Fig. Figure 6 is a schematic top view of an embodiment of a structure that rotates a first cleaning pad arrangement. Fig. Figure 7 is a perspective view of an embodiment of a structure that moves a first cleaning pad arrangement into a retracted position and an extended position, and illustrates a state in which the first cleaning pad arrangement is in the extended position. Fig. Figure 8 is a perspective view of an embodiment of a structure that moves a first cleaning pad arrangement into a retracted position and an extended position, and illustrates a state in which the first cleaning pad arrangement is in the retracted position. Fig. Figure 9 is a schematic block diagram of an embodiment of a cleaning robot. [Mode of invention]

[0006] The phrase “at least one of a, b or c” refers throughout the entire revelation only to a, only to b, only to c, to both a and b, to both a and c, to both b and c, to all of a, b and c, or to variants thereof.

[0007] General terms currently in widespread use were chosen taking into account their functions in embodiments of the disclosure; however, these terms may be modified according to the intent of a person skilled in the art, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms were chosen arbitrarily by the applicant, and in such cases, the meanings of the terms are explained in detail in the relevant descriptions. Accordingly, the terms used in embodiments of the disclosure should be defined on the basis of their meaning and general descriptions of those embodiments, not simply by their names.

[0008] A singular expression includes the plural expression unless the context clearly indicates a different meaning. The terms used here, including technical or scientific terms, have the same meaning as they are generally understood by an average person in the field.

[0009] If a section in the specification "contains" a component, it may contain another component, rather than excluding the existence of other components, unless otherwise stated. Furthermore, the terms "... section," "module," etc., as described in the specification refer to a unit for processing at least one function or operation, which may be implemented by hardware, software, or a combination of hardware and software.

[0010] The phrase "configured to" used here can be replaced, for example, by "suitable for with the capability to," "designed for," "adapted for," "made for," or "capable of." With regard to hardware, the phrase "configured to do this" does not necessarily mean "specifically designed for this." Instead, in some cases, the phrase "a system configured to do this" can mean that "a system is capable of doing this, along with other devices and parts." For example, the phrase "a processor configured to do A, B, and C" can mean a dedicated processor for performing A, B, and C (e.g., an embedded processor) or a general-purpose processor (e.g., a central processing unit or an application processor) capable of performing A, B, and C by executing one or more software programs stored in memory.

[0011] Furthermore, throughout the entire disclosure, when a component is “coupled” or “connected” to another component, this is to be understood as meaning that a component is directly connected to another component or that a component is indirectly coupled or connected to another component via an interposed component, unless otherwise described.

[0012] Embodiments of the disclosure are described in detail below with reference to the accompanying figures, so that a person skilled in the art can easily implement the disclosure. However, the disclosure can be implemented in various forms and is not limited to the embodiments described here. To clarify the disclosure, parts not related to the description have been omitted from the figures, and throughout the specification, identical reference numerals refer to identical parts. Embodiments of the disclosure are described in detail below with reference to the accompanying figures.

[0013] A cleaning robot is a robotic device capable of autonomously navigating an interior space for cleaning purposes. The interior space can refer to an area where the cleaning robot has essentially free movement. For example, the interior of a house, an office, etc. The objective of this disclosure is to provide a cleaning robot capable of effectively cleaning a floor adjacent to an obstacle. A further objective of this disclosure is to provide a cleaning robot capable of stable navigation.

[0014] The Fig. 1 and Fig. Figures 2 and 2 are a schematic perspective view and a rear view of a cleaning robot according to an embodiment of the disclosure and show a state in which a first cleaning pad is placed in a retracted position. Fig. 3 and Fig. Figures 4 and 4 are a schematic perspective view and a rear view of a cleaning robot according to an embodiment of the disclosure and show a state in which a first cleaning pad is arranged in an extended position. With reference to the Fig. 1 and Fig. 2. According to one embodiment of the disclosure, a cleaning robot may comprise a main body 1, a pair of drive wheels 21 and 22 and a first cleaning pad arrangement 31.

[0015] The main body 1 can have an overall circular shape. The main body 1 can contain a housing that accommodates various components of the cleaning robot. The housing can comprise an upper housing, a lower housing, and a side housing. The side housing can be integrated into the upper housing or the lower housing, or it can be separate from the upper and lower housings. The main body 1 can have an outer section 11 with a circular shape. The main body 1 with the outer section 11, which has a circular shape, can be advantageous for changing the direction of the cleaning robot. If the cleaning robot encounters an obstacle, it can perform an evasive maneuver, such as a change of direction.For example, in the case of a cleaning robot with a tetragonal outer section, a portion of the outer section located far from the center of rotation may collide with an obstacle when the robot turns in place. To avoid this, the cleaning device with the tetragonal outer section may need to move backward a certain distance from the obstacle before turning. However, in the case of a cleaning robot with a circular outer section, the robot can either turn in place when it encounters an obstacle or change direction to avoid it. Therefore, stable movement and effective changes of direction are possible.

[0016] A light detection and ranging (LiDAR) module 12 can be provided on the main body 1. The cleaning robot can use the LiDAR module 12 to explore an interior space and create a map of the exterior. To obtain information about the interior surrounding the main body 1, at least a section of the LiDAR module 12 can protrude from the main body 1, for example, a top surface. The LiDAR module 12 can include a LiDAR sensor. The LiDAR sensor can comprise a light-emitting section configured to project light, such as a laser, outwards, and a light-receiving section configured to receive reflected laser light.To obtain information about the interior within a 360-degree range based on the cleaning robot's position, the LiDAR module 12 or the LiDAR sensor can be rotated relative to the main body 1 by a drive motor (not shown). Using the LiDAR sensor, the cleaning robot can explore the interior and create a map by detecting its structure and obstacles. The LiDAR module 12 can analyze the time difference between the laser's emission into the interior and its return reflected by an object or obstacle, as well as the signal intensity, to obtain information about the object's or obstacle's distance, position, direction, material, etc. The cleaning robot can use the LiDAR module 12 to explore the interior and obtain geometric information about the positions and structures of walls, objects, or obstacles within the interior.

[0017] The cleaning robot includes wheels that can be driven to move the cleaning robot on a surface to be cleaned. The wheels can comprise a pair of drive wheels 21 and 22. The pair of drive wheels 21 and 22 can be attached to a lower section of the main body 1. The pair of drive wheels 21 and 22 can be arranged parallel to each other on a first centerline L1. The first centerline L1 can be a line passing through the center of the main body 1. The first centerline L1 can be a line perpendicular to a direction of travel of the main body 1. The pair of drive wheels 21 and 22 can be arranged symmetrically with respect to the center CC of the main body 1 on the first centerline L1. The pair of drive wheels 21 and 22 can drive the cleaning robot. The pair of drive wheels 21 and 22 can be driven by a pair of drive motors 23 and 24. Fig. 5) Depending on the combination of rotational speed and direction of rotation of the pair of drive wheels 21 and 22, the cleaning robot can perform operations such as forward movement, backward movement, change of direction (rotation), etc. during cleaning.

[0018] A structure can be considered in which a pair of cleaning pads is arranged on the lower section of the main body 1 in a direction perpendicular to the cleaning robot's direction of travel, and the cleaning robot is driven while the pair of cleaning pads rotates. The friction between the pair of cleaning pads and the floor (the surface to be cleaned) can vary depending on the floor's properties, and consequently, the cleaning robot may move diagonally instead of straight when moving forward or backward. Furthermore, the cleaning robot may rotate unintentionally. Since the cleaning robot's travel speed is determined by the rotational speed of the pair of cleaning pads, there may be instances where the robot's movement is incompatible with the cleaning capacity of the pair of cleaning pads.This means that the cleaning capacity of the pair of cleaning pads may be limited by the driving speed of the cleaning robot.

[0019] According to the cleaning robot of the disclosure, the pair of drive wheels 21 and 22 can be used to drive the cleaning robot. Accordingly, the rotational speed of the first cleaning pad arrangement 31 can be controlled independently of the travel speed of the cleaning robot. In this way, a cleaning robot can be implemented that is capable of moving stably and without limitation in cleaning capacity.

[0020] The first cleaning pad assembly 31 can be provided on the lower section of the main body 1. The first cleaning pad assembly 31 can be arranged in front of the pair of drive wheels 21 and 22. The first cleaning pad assembly 31 can comprise a cleaning pad (first cleaning pad) 31c and a holder (first holder) 31b that supports the cleaning pad 31c. The cleaning pad 31c can be made of a fabric material, e.g., a fabric with fur, etc. The shape of the cleaning pad 31c need not be limited to specific shapes. In the embodiment of the disclosure, the cleaning pad 31c can be a circular fabric pad. The first cleaning pad assembly 31 can be rotated about a rotating shaft (first rotating shaft) 31a. The first cleaning pad assembly 31 can wipe the floor of the interior while rotating about the rotating shaft 31a. A structure that rotates the first cleaning pad assembly 31 is described below.The first cleaning pad arrangement 31 can be arranged on one side with respect to a center line of the direction of travel, i.e. a second center line L2.

[0021] The first cleaning pad assembly 31 can be movably arranged on the main body 1 in a retracted position beneath the main body 1 and an extended position, in which it partially projects from the main body 1. In the retracted position, the first holder 31b can be arranged beneath the main body 1 such that the holder 31b, which carries the cleaning pad 31c, does not project from the outer section 11 of the main body 1. In the extended position, the holder 31b can partially project from the outer section 11 of the main body 1. A structure that moves the first cleaning pad assembly 31 into the retracted and extended positions is described below.

[0022] An alternative in which, instead of the first cleaning pad arrangement 31, a fixed tetragonal cleaning pad 3' is used, projecting outwards from the main body 1, as shown in the dotted line in Fig. As shown in Figure 4, this can be considered. By using the stationary tetragonal cleaning pad 3', a floor adjacent to obstacles, such as walls, etc., a crack under an overhead obstacle, etc., can be cleaned. However, if the cleaning robot needs to turn to avoid an obstacle, it can move backward a certain distance before turning to avoid colliding with the obstacle. Since the width of the stationary tetragonal cleaning pad 3' is greater than the width of the main body 1, the possibility of the cleaning robot being obstructed by an obstacle while moving can be relatively high, and a space narrower than that of the stationary tetragonal cleaning pad 3', such as the space between the legs of a chair, etc., cannot be cleaned because the cleaning robot is unable to navigate through it.

[0023] According to the cleaning robot of the revelation, the first cleaning pad arrangement 31 can be moved into the retracted position when cleaning a large room, as shown in the Fig. 1 and Fig. Figure 2 shows that the first cleaning pad assembly 31 can be positioned further inward than the outer section 11 of the main body 1. Accordingly, the possibility of interference from an obstacle during the cleaning robot's movement can be relatively low, and when performing the turning maneuver to avoid an obstacle, the cleaning robot can turn immediately without reversing. Furthermore, the cleaning robot can easily clean a narrow space as long as the width of the space is greater than the width of the main body 1. When the cleaning robot is cleaning a floor adjacent to obstacles, such as walls, a crack under an overhead obstacle, etc., the first cleaning pad assembly 31 can be extended, as shown in Figure 2. Fig. 3 and Fig. 4 shown. For example, if a wall or obstacle is detected while the cleaning robot is driving, the first cleaning pad assembly 31 can be moved into the extended position, as shown in the Fig. 3 and Fig. Figure 4 shows that the cleaning robot can clean a floor adjacent to an obstacle by moving in such a way that the first cleaning pad assembly 31 can follow the obstacle. Once the cleaning robot has traversed a room with an obstacle, the first cleaning pad assembly 31 can be moved back into the retracted position, as shown in the Fig. 1 and Fig. Figure 2 shows that, according to the disclosure, the cleaning robot can have a narrow outer edge and effectively clean a floor adjacent to an obstacle.

[0024] In the extended position, there can be no specific limitation on the degree of projection of the first cleaning pad assembly 31. In the extended position, the projection of the first cleaning pad assembly 31 may need to be large enough to allow the main body 1 to clean a floor adjacent to an obstacle without being obstructed by the obstacle. In the extended position, the pivot shaft 31a of the first cleaning pad assembly 31 can be located inside the main body 1. This means that the pivot shaft 31a of the first cleaning pad assembly 31 cannot project from the outer section 11 of the main body 1 in the extended position.For example, if the first cleaning pad assembly 31 protrudes and thus positions the rotating shaft 31a from the outer section 11 of the main body 1, a support structure for the rotating shaft 31a may need to be formed to a position where the rotating shaft 31a protrudes from the outer section 11 of the main body 1. In this case, the outer shape of the cleaning robot may be such that the support structure protrudes from the outer section 11 of the main body 1, and consequently, the main body 1 of the cleaning robot may not maintain a circular overall shape, even in its retracted state. The cleaning robot with such a protruding support structure may have a large turning radius to avoid obstacles, and when the cleaning robot is turning near obstacles, it may first need to reverse before turning so that the protruding support structure is not obstructed by the obstacle.According to the cleaning robot of the disclosure, the outer section 11 of the main body 1 can maintain the circular overall shape in the retracted state, since the rotating shaft 31a of the first cleaning pad arrangement 31 is located inside the main body 1 in the extended position, resulting in stable and efficient driving.

[0025] The first cleaning pad assembly 31 can be moved along a straight path L3 into the retract position and the retract position. The straight path L3 can, for example, be located between the first center line L1 and the second center line L2. No other components can be located along the path of movement of the first cleaning pad assembly 31. Accordingly, the space occupied by the movement of the first cleaning pad assembly 31 may need to be minimized. According to the cleaning robot of the disclosure, the space occupied by the movement of the first cleaning pad assembly 31 can be minimized if the first cleaning pad assembly moves along the straight path L3. In this way, the degrees of freedom in the arrangement of the components that make up the cleaning robot can be increased, and the mechanism for the movement of the first cleaning pad assembly 31 can be simplified.

[0026] According to one embodiment of the disclosure, the cleaning robot may also include a second cleaning pad assembly 32 provided on the lower section of the main body 1. The second cleaning pad assembly 32 may be arranged in front of a pair of drive wheels 21 and 22. The second cleaning pad assembly 32 may comprise a cleaning pad (second cleaning pad) 32c and a holder (second holder) 32b that supports the cleaning pad 32c. The cleaning pad 32c may be a circular fabric pad, e.g., a circular fabric with fur, etc. The second cleaning pad 32 may be rotated about a rotating shaft (second rotating shaft) 32a. The second cleaning pad assembly 32 may wipe the floor of the interior while rotating about the rotating shaft 32a. The structure that rotates the second cleaning pad assembly 32 may be identical to the structure that rotates the first cleaning pad assembly 31. The second cleaning pad arrangement 32 can have a fixed position.For example, the first cleaning pad assembly 31 and the second cleaning pad assembly 32 are arranged symmetrically with respect to the second centerline L2, which is perpendicular to the first centerline L1. The second centerline L2 can be a line that intersects the center CC of the cleaning robot. When the first cleaning pad assembly 31 is in the retracted position, the second cleaning pad assembly 32 is arranged symmetrically to the first cleaning pad assembly 31 with respect to the second centerline L2. Such a configuration can facilitate stable movement of the cleaning robot. When the first cleaning pad assembly 31 is in the extended position, since the cleaning robot generally travels along obstacles, the asymmetry between the first cleaning pad assembly 31 and the second cleaning pad assembly 32 does not significantly affect the straight-line movement of the cleaning robot.

[0027] With reference to the Fig. 2 and Fig. 4. According to one embodiment of the disclosure, the cleaning robot may further comprise a front roller 4. The front roller 4 may be arranged on the lower section of the main body 1. The front roller 4 may be arranged in front of the pair of drive wheels 21 and 22. The front roller 4 may be arranged in front of the first center line L1. The front roller 4 may be arranged as far away as possible from the pair of drive wheels 21 and 22. The front roller 4 may be arranged on the second center line L2. Since the front roller 4, together with the pair of drive wheels 21 and 22, is arranged in the form of an isosceles triangle, the front roller 4 can stably support the front section of the main body 1 with respect to the floor of the interior. The front roller 4 may be arranged adjacent to the first cleaning pad arrangement 31.The front roller 4 can be positioned between the first cleaning pad arrangement 31 and the second cleaning pad arrangement 32.

[0028] The front roller 4 can support the front section of the main body 1 with respect to the floor of the interior. In a structure where the first cleaning pad assembly 31 and / or the second cleaning pad assembly 32 support the weight of the main body 1 with respect to the floor of the interior, a relatively high load can be exerted on a motor configured to rotate the first cleaning pad assembly 31 and / or the second cleaning pad assembly 32. According to an embodiment of the cleaning robot of the disclosure, since the front section of the main body 1 is supported with respect to the floor of the interior by the front roller 4, the load exerted on the motor configured to rotate the first cleaning pad assembly 31 and / or the second cleaning pad assembly 32 can be reduced.Accordingly, the reliability of the cleaning robot can be increased, and the effect of reducing power consumption by the motor configured to rotate the first cleaning pad arrangement 31 and / or the second cleaning pad arrangement 32 can be achieved.

[0029] With reference to the Fig. 2 and Fig. 4. According to one embodiment of the disclosure, the cleaning robot may further comprise a rear roller 5. The rear roller 5 may be arranged on the lower section of the main body 1. The rear roller 5 may be arranged behind the pair of drive wheels 21 and 22. The rear roller 5 may be arranged behind the first center line L1. The rear roller 5 may be arranged as far away as possible from the pair of drive wheels 21 and 22. The rear roller 5 may be arranged on the second center line L2. Since the rear roller 5, together with the pair of drive wheels 21 and 22, is arranged in the form of an isosceles triangle, the rear roller 5 can stably support the rear section of the main body 1 with respect to the floor of the interior. The rear roller 5 may, for example, be a swivel caster.

[0030] With reference to the Fig. 2 and Fig. 4. According to one embodiment of the disclosure, the cleaning robot may further comprise at least one fall prevention sensor 7 configured to detect a floor. The fall prevention sensor 7 can detect the presence of a floor and a groove, etc., embedded in the floor by shining light onto the floor and receiving reflected light. Based on a detection signal from the fall prevention sensor 7, the cleaning robot can detect a groove, a step, etc., and perform an avoidance (detour) operation. The fall prevention sensor 7 may be positioned in front of the pair of drive wheels 21 and 22 to prevent the pair of drive wheels 21 and 22 from falling into a groove, a step, etc. The fall prevention sensor 7 may be positioned in a plurality of locations.The cleaning robot of the disclosure can include six fall prevention sensors 7, wherein two fall prevention sensors 7 are arranged near the front roller 4 and four fall prevention sensors 7 are arranged adjacent to each of the pair of drive wheels 21 and 22. However, the number of fall protection sensors 7 is not limited thereto, and more fall protection sensors 7 can also be arranged in suitable positions.

[0031] With reference to the Fig. 2 and Fig. 4. According to one embodiment of the disclosure, the cleaning robot can further comprise a rear cleaning pad 6. The rear cleaning pad 6 can be attached to the lower section of the main body 1 and wipe the floor of the interior at a fixed position. The rear cleaning pad 6 can be located behind the pair of drive wheels 21 and 22. The rear cleaning pad 6 can be located behind the first center line L1. The rear cleaning pad 6 can be located between the pair of drive wheels 21 and 22 and the rear roller 5. The rear cleaning pad 6 can be made of a fabric, e.g., a fabric with fur, etc. For example, the rear cleaning pad 6 can wipe the floor of the interior a second time after the first cleaning pad arrangement 31 and the second cleaning pad arrangement 32. This can improve the cleaning effect.

[0032] In one embodiment of the disclosure, the cleaning robot can be a wet cleaning robot. The cleaning pad 31c of the first cleaning pad assembly 31 and the cleaning pad 32c of the second cleaning pad 32 can be wet cleaning pads. The rear cleaning pad 6 can be a dry pad. The rear cleaning pad 6 removes the remaining water from the floor of the interior after cleaning has been performed by the first cleaning pad assembly 31 and the second cleaning pad 32.

[0033] Fig. Figure 5 is a schematic top view of the cleaning robot according to an embodiment of the disclosure and illustrates a state in which an upper housing of the main body 1 has been removed. As described above, the cleaning pad 31c of the first cleaning pad arrangement 31 and the cleaning pad 32c of the second cleaning pad 32 can be wet cleaning pads. With reference to Fig. According to one embodiment of the disclosure, the cleaning robot can further include a water tank 8 that stores water which is supplied to the first cleaning pad assembly 31 and the second cleaning pad 32. The water tank 8 can be located in the central section of the main body 1. For example, the water tank 8 can be located between the pair of drive wheels 21 and 22. The water tank 8 can also be located at the rear of the first cleaning pad assembly 31 and the second cleaning pad 32. The water stored in the water tank 8 can be supplied to the first cleaning pad assembly 31 and the second cleaning pad 32 by a pump (not shown). For example, a water supply tube 81 can be branched into a first water supply tube 82 and a second water supply tube 83.The end sections of each of the first water supply pipe 82 and the second water supply pipe 83 can be arranged adjacent to the first cleaning pad 31c and the second cleaning pad 32c, respectively. The pump (not shown) can supply the water in the water tank 8 to the first cleaning pad 31c and the second cleaning pad 32c via the water supply pipe 81, the first water supply pipe 82, and the second water supply pipe 83. Although not shown in the figures, a sensor is configured to detect the residual water level in the water tank 8. When the sensor detects that the residual water level in the water tank 8 is less than or equal to a reference level, a low residual water indicator can be displayed on a user interface (not shown).The upper housing can be detached from the main body 1 to refill water into the water tank 8, and then reattached to the main body 1, or the water tank 8 can be detached from the main body 1 to refill water, and then reattached to the main body 1.

[0034] Fig. Figure 6 is a schematic top view of an embodiment of a structure that rotates the first cleaning pad arrangement 31. Referring to the Fig. 3 and Fig. 6. The structure that rotates the first cleaning pad assembly 31 can include a first motor 31d. The rotating shaft 31a can, for example, be connected to the holder 31b, which carries the cleaning pad 31c, or extend from the holder 31b. The first motor 31d can be connected to the rotating shaft 31a by at least one power transmission element to rotate the rotating shaft 31a. The rotating shaft 31a can, for example, be coupled to a gear 31e. A worm gear 31f can be coupled to a rotating shaft of the first motor 31d. The worm gear 31f can mesh with a pinion 31g. The pinion 31g can be connected to the gear 31e, with a reduction gear 31h arranged between them. In such a configuration, the first cleaning pad arrangement 31 can be rotated around the rotating shaft 31a by driving the first motor 31d.

[0035] The structure that rotates the second cleaning pad assembly 32 can be identical to the structure that rotates the first cleaning pad assembly 31. The rotating shaft 32a can, for example, be connected to the holder that carries the cleaning pad 32c or extend from the holder. A motor 32d can be connected to the rotating shaft 32a by at least one power transmission element to rotate the rotating shaft 32a. The rotating shaft 32a can, for example, be coupled to a gear 32e. A worm gear 32f can be coupled to a rotating shaft of the motor 32d. The worm gear 32f can engage with a pinion 32g. The pinion 32g can be connected to the gear 32e, with a reduction gear 32h arranged between them. In such a configuration, the second cleaning pad assembly 32 can be rotated about the rotating shaft 32a by driving the motor 32d. The second cleaning pad arrangement 32 can be arranged in a fixed position.The motor 32d with the worm gear 32f, the gear 32e, the pinion 32g and the reduction gear 32h can be arranged in a frame 32i, and the frame 32i can be attached to the main body 1.

[0036] The Fig. 7 and Fig. Figure 8 shows perspective views of embodiments of structures that move the first cleaning pad arrangement 31 into the extension position and into the retraction position, respectively. Fig. Figure 7 shows the first cleaning pad arrangement 31, which is arranged in the extended position, and Fig. Figure 8 shows the first cleaning pad arrangement 31, which is arranged in the retracted position. Referring to the Fig. 6 to 8, the first motor 31d, together with the first cleaning pad assembly 31, can be moved into the retracted and extended positions. In such a configuration, the relative position of the first motor 31d and the first cleaning pad assembly 31 cannot be changed, even when the first cleaning pad assembly 31 is moved into the retracted and extended positions. Accordingly, the electrical connection structure that connects the first motor 31d to the first cleaning pad assembly 31 can be simplified.

[0037] With reference to Fig. 6. A movable cleaning section 300 can comprise the first cleaning pad assembly 31, a frame 31i, and the first motor 31d. The first cleaning pad assembly 31 can be rotatably supported by the frame 31i. For example, the holder 31b, which supports the cleaning pad 31c, can be rotatably arranged in the frame 31i. The first motor 31d, which comprises the worm gear 31f, the gear 31e, the pinion 31g, and the reduction gear 31h, can be arranged in the frame 31i, and the frame 31i can be movably supported by the main body 1. The frame 31i can be supported by the main body 1, which allows a straight movement of the first cleaning pad arrangement 31 into the retracted position, in which the first cleaning pad arrangement 31 is placed inside the main body 1, and into the extended position, in which the first cleaning pad arrangement 31 partially protrudes from the outer section 11 of the main body 1.The main body 1 can, for example, contain a pair of rails (i.e., rails 13a and 13b) that extend along the straight path of motion L3 (. Fig. 4) extends. The frame 31i can be slidably mounted along the pair of rails 13a and 13b. An opening 14 can be provided on the main body 1, e.g., on the lower housing, which opens along the straight path of movement L3. The rotary shaft 32a can be inserted from the lower section of the main body 1 through the opening 14 into the main body 1 and rotatably supported by the frame 31i.

[0038] The following describes an embodiment of a structure that moves the movable cleaning section 300 into the retracted position and into the retracted position along the movable cleaning section 300. With reference to the Fig. 6 to 8 can comprise an embodiment of the structure that moves the movable cleaning section 300, a rack and pinion drive 91, a pinion 92 that engages with the rack and pinion drive 91, and a second motor 93 that rotates the pinion 92. The rack and pinion drive 91 can extend from the frame 31i along the straight path of travel L3. The second motor 93 can be arranged on the main body 1, e.g., on the lower housing. By rotating the second motor 93 forwards and backwards, the movable cleaning section 300 can be moved in a straight line into the retracted position ( Fig. 8) and into the extension position ( Fig. 7) be moved.

[0039] Fig. Figure 9 is a schematic block diagram of an embodiment of a cleaning robot. With reference to Fig. 9. The cleaning robot can contain a processor 1000 and a memory 1001. Although not shown in the figures, the cleaning robot can also contain a power module 1002. The power module 1002 can power the drive motors 23 and 24, the first motor 31d and the motor 32d that rotate the first cleaning pad assembly 31 and the second cleaning pad assembly 32, the second motor 93 that moves the first cleaning pad assembly 31, the motor that rotates the LiDAR module 12, the pump that supplies water to the first cleaning pad assembly 31 and the second cleaning pad assembly 32, an input / output module (not shown), various sensors, including the fall prevention sensor 7, etc. The power module 1002 can include a battery, a power driver circuit, a converter, and a transformer circuit.Although not shown in the figures, a charging port connected to a docking station to recharge the battery may be provided on the main body 1.

[0040] The LiDAR module 12 can be a rotatable sensor configured to emit a laser and receive geographic information, including at least the distance, position, direction, or material of an object reflecting the emitted laser. The LiDAR module 12 can receive geographic information within a radius of, for example, 6 m from its current position. The LiDAR module 12 can then transmit this geographic information to the processor 1000.

[0041] The processor 1000 can execute one or more instructions of a program stored in memory 1001. The processor 1000 contains hardware components that perform arithmetic, logical, and input / output operations, as well as signal processing. The processor 1000 may include at least one central processing unit (CPU), microprocessor, graphics processing unit (GPU), application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), or field-programmable gate arrays (FPGAs); however, the disclosure is not limited to these. Fig.Figure 9 illustrates the processor 1000 as a single element; however, the disclosure is not limited to this. In one embodiment of the disclosure, the processor 1000 can be composed of one or more elements. In one embodiment of the disclosure, the processor 1000 can include an artificial intelligence (AI) processor configured to perform AI learning. In this case, the AI ​​processor uses a learning network model of an AI system to recognize the type of object or obstacle located indoors. The AI ​​processor can be manufactured as a dedicated hardware chip for AI or as part of an existing general-purpose processor (e.g., CPU or application processor) or a dedicated graphics processor (e.g., graphics processing unit) and embedded in the cleaning robot 100.

[0042] The memory 1001 can store instructions for creating a map of the interior. In one embodiment of the disclosure, instructions and program code that can be read by the processor 1000 can be stored in the memory 1001. The memory 1001 can comprise at least one storage medium, such as a flash memory medium, a hard disk storage medium, a multimedia card micro storage medium, a card storage medium (e.g., SD or XD storage, etc.), random access memory (RAM), static RAM (SRAM), read-only memory (ROM), electrically erasable programmable ROM (EEPROM), programmable ROM (PROM), or an optical disk. In one embodiment of the disclosure, the cleaning robot can operate a web storage or cloud server that is accessible via a network and performs the storage function.The processor 1000 can execute the instructions or program codes stored in memory 1001.

[0043] The Processor 1000 can explore the interior based on an initial position, which is the current position of the cleaning robot, using the LiDAR module 12. The Processor 1000 can obtain geographical information from the LiDAR module 12 about an empty space, a wall, an object, or the distance, position, and direction of any obstacle detected in the interior. In one embodiment of the disclosure, the Processor 1000 can obtain information about obstacles present in the interior, such as ledges, furniture, household appliances, pets, etc., from a proximity sensor (not shown). The Processor 1000 can create a map of the interior using the information acquired via the LiDAR module 12 and the proximity sensor.The Processor 1000 can use Simultaneous Localization and Mapping (SLAM) technology to identify the position of the cleaning robot on a map, define a movement target for the cleaning robot, and control the cleaning robot to perform the cleaning.

[0044] The processor 1000 can control the drive motors 23 and 24 based on the map to drive the pair of drive wheels 21 and 22 and, furthermore, to propel the cleaning robot. The processor 1000 can control the drive motors 23 and 24 based on the map to propel the cleaning robot without collisions with obstacles. If a groove, step, etc., is detected based on the detection signal from the fall prevention sensor 7, the processor 1000 can control the drive motors 23 and 24 to avoid such a groove, step, etc. When the cleaning robot is moving in a room without obstacles, the processor 1000 can control the second motor 93 based on the map to move the first cleaning pad assembly 31 into the retracted position. When the cleaning robot approaches an obstacle, such as a wall, etc.Based on the card, the processor 1000 can control the second motor 93 to move the first cleaning pad assembly 31 into the extended position. In this way, a floor adjacent to obstacles such as walls, etc., can be cleaned effectively.

[0045] A cleaning robot according to one embodiment of the disclosure may comprise: a main body with an outer section extending along a circumference of the main body; wheels that are driveable to move the cleaning robot on a surface to be cleaned; a first rotating shaft; and a first holder coupled to the first rotating shaft and configured to support a first cleaning pad, wherein the first rotating shaft and the first holder are configured such that, when the cleaning robot is on the surface to be cleaned and the first cleaning pad is supported by the first holder: the first rotating shaft can rotate along an axis of rotation perpendicular to the surface to be cleaned, causing the first holder to rotate and thereby causing the first cleaning pad to rotate to clean the surface.and the first rotating shaft is laterally movable in a direction perpendicular to the axis of rotation into: a retracted position in which the first rotating shaft and the first holder are located under the main body and do not project beyond the outer section of the main body, and an extended position in which the first rotating shaft is located under the main body and does not project beyond the outer section, and the first holder is located partly under the main body and partly projects beyond the outer section of the main body.

[0046] According to one embodiment, the outer section of the main body can have a circular shape.

[0047] According to one embodiment, the cleaning robot may include: a first motor configured to rotate the first rotating shaft, wherein the first motor is laterally movable and is located under the main body in both the retracted and extended positions and does not extend beyond the outer section of the main body.

[0048] According to one embodiment, the cleaning robot may comprise: a second rotating shaft; and a second holder coupled to the second rotating shaft and configured to support a second cleaning pad, wherein the second rotating shaft and the second holder are configured such that, when the cleaning robot is on the surface to be cleaned and the second cleaning pad is supported by the second holder, the second rotating shaft is rotatable along an axis of rotation perpendicular to the surface to be cleaned in order to cause the second holder to rotate and thereby rotate the second cleaning pad to clean the surface.

[0049] According to one embodiment, the wheels can comprise a pair of drive wheels, wherein the wheels of the pair of drive wheels are parallel to each other on a first centerline of the main body, and the first holder and the second holder are symmetrical with respect to a second centerline perpendicular to the first centerline.

[0050] According to one embodiment, the cleaning robot can have a front roller in front of the pair of drive wheels.

[0051] According to one embodiment, the front roller can be located on the second center line, which runs perpendicular to the first center line.

[0052] According to one embodiment, the front roller can be adjacent to the first holder.

[0053] According to one embodiment, the cleaning robot can have a rear wheel behind the wheels.

[0054] According to one embodiment, the cleaning robot can include a rear holder configured to carry a rear cleaning pad behind the wheels.

[0055] According to one embodiment, the wheels may comprise a pair of wheels, and the cleaning robot may include: a water tank between the wheels of the pair of wheels, configured to store water that is supplied to the first cleaning pad when the first cleaning pad is carried by the first holder.

[0056] According to one embodiment, the first holder can be moved along a straight path of movement into the retracted position and the extended position.

[0057] According to one embodiment, the cleaning robot may include: a frame supported by the main body and configured to rotatably support the first holder to allow the first holder to move into the retracted and extended positions; a rack and pinion drive extending from the frame; a pinion engaging with the rack and pinion drive; and a second motor configured to rotate the pinion.

[0058] According to one embodiment, the cleaning robot may have at least one fall prevention sensor in front of the wheels, configured to detect the surface.

[0059] A cleaning robot according to one embodiment of the disclosure may comprise: a main body with an outer section in a circular shape; a pair of drive wheels on a first center line on a lower section of the main body;a movable cleaning section in front of the pair of drive wheels, comprising: a first holder configured to support a first cleaning pad, a frame rotatably supporting the first holder, a first motor configured to rotate the first holder and the first cleaning pad, and a second holder configured to support a second cleaning pad, and symmetrical to the first holder with respect to a second centerline perpendicular to the first centerline, the frame being supported by the main body to allow straight movement of the first holder into: a retracted position in which the first holder is located below the main body and does not extend beyond the outer portion of the main body, and an extended position in which the first holder is partially located below the main body and partially extends beyond the outer portion of the main body.

[0060] According to one embodiment, the cleaning robot can include a front roller on the second center line between the first holder and the second holder.

[0061] According to one embodiment, the cleaning robot can include a rear wheel on the second centerline behind the first centerline.

[0062] According to one embodiment, the cleaning robot may include a rear support between the first center line and the rear wheel, configured to carry a rear cleaning pad.

[0063] According to one embodiment, the cleaning robot may include a water tank between the drive wheels of the pair of drive wheels, configured to store water supplied to the first cleaning pad.

[0064] According to one embodiment, the cleaning robot may include a rack and pinion drive extending from the frame, a pinion engaging with the rack and pinion drive, and a second motor coupled to the main body and configured to rotate the pinion.

[0065] According to the aforementioned embodiment of the disclosure, the cleaning robot can drive effectively and stably.

[0066] It should be noted that the term "under the main body" refers to what is below the top surface of the main body when viewed from above, in a top-down perspective, while the cleaning robot is on the floor. For example, the rotating shaft in the retract and extend positions may be at least partially inside the main body and still be located underneath it, as it is situated below a top surface of the main body.

[0067] Further aspects of the invention relate to the aspects listed below: Aspect 1: Cleaning robot, comprising: a main body 1 with an outer section 11 extending along a circumference of the main body; wheels 21, 22, 5, which are driveable to move the cleaning robot on a surface to be cleaned; a first rotating shaft 31a; and a first holder 31b coupled to the first rotating shaft and configured to support a first cleaning pad 31c, wherein the first rotating shaft and the first holder are configured such that, when the cleaning robot is on the surface to be cleaned and the first cleaning pad is supported by the first holder: the first rotating shaft is rotatable along an axis of rotation perpendicular to the surface to be cleaned to cause the first holder to rotate and thereby rotate the first cleaning pad to clean the surface, and the first rotating shaft is laterally movable in a direction perpendicular to the axis of rotation in: a retracted position,in which the first rotating shaft and the first holder are located under the main body and do not extend beyond the outer section of the main body, and an extension position in which the first rotating shaft is located under the main body and does not extend beyond the outer section, and the first holder is located partly under the main body and partly extends beyond the outer section of the main body. Aspect 2: The cleaning robot according to Aspect 1, wherein the outer section of the main body has a circular shape. Aspect 3: The cleaning robot according to Aspect 1, further comprising: a first motor 31d configured to rotate the first rotating shaft, the first motor being laterally movable and being located under the main body in both the retracted position and the extended position, and not projecting beyond the outer section of the main body. Aspect 4: The cleaning robot according to Aspect 1, further comprising: a second rotating shaft 32a; and a second holder 32b coupled to the second rotating shaft and configured to support a second cleaning pad 32c, wherein the second rotating shaft and the second holder are configured such that, when the cleaning robot is on the surface to be cleaned and the second cleaning pad is supported by the second holder, the second rotating shaft is rotatable along an axis of rotation perpendicular to the surface to be cleaned in order to cause the second holder to rotate and thereby rotate the second cleaning pad to clean the surface. Aspect 5: The cleaning robot according to aspect 4, wherein: the wheels comprise a pair of drive wheels 21, 22, wherein the wheels of the pair of drive wheels are parallel to each other on a first center line L1 of the main body, and the first holder and the second holder are symmetrical with respect to a second center line L2, which is perpendicular to the first center line. Aspect 6: The cleaning robot according to aspect 5, further comprising: a front roller 4 in front of the pair of drive wheels. Aspect 7: The cleaning robot according to aspect 6, where the front roller is on the second center line perpendicular to the first center line. Aspect 8: The cleaning robot according to aspect 6, with the front roller adjacent to the first holder. Aspect 9: The cleaning robot according to aspect 1, further comprising: a rear wheel 5 behind the wheels. Aspect 10: The cleaning robot according to aspect 9, further comprising: a rear cleaning pad 6 behind the wheels. Aspect 11: The cleaning robot according to Aspect 1, wherein the wheels comprise a pair of wheels, and further comprising: a water tank 8 between the wheels of the pair of wheels, configured to store water supplied to the first cleaning pad when the first cleaning pad is carried by the first holder. Aspect 12: The cleaning robot according to aspect 1, wherein the first holder can be moved along a straight movement path L3 into the entry position and the exit position. Aspect 13: The cleaning robot according to Aspect 12, comprising: a frame 31i, which is supported by the main body and is configured to rotatably support the first holder to cause the first holder to move into the retracted position and the extended position; a rack and pinion 91 extending from the frame; a pinion 92 engaging with the rack and pinion; and a second motor 93 configured to rotate the pinion. Aspect 14: The cleaning robot according to Aspect 1, further comprising: at least one fall prevention sensor 7 in front of the wheels, configured to detect the surface. Aspect 15: A cleaning robot comprising: a main body 1 having an outer section 11 with a circular shape; a pair of drive wheels 21, 22 on a first centerline L1 on a lower section of the main body; a movable cleaning section 300 in front of the pair of drive wheels, comprising: a first holder 31b configured to support a first cleaning pad 31c, a frame 31i rotatably supporting the first holder, a first motor 31d configured to rotate the first holder and the first cleaning pad, and a second holder 32b configured to support a second cleaning pad 32c, and symmetrical to the first holder with respect to a second centerline L2 perpendicular to the first centerline, the frame being supported by the main body to allow straight movement of the first holder into: a retracted position,in which the first holder is located under the main body and does not project beyond the outer section of the main body, and an extended position in which the first holder is partially located under the main body and partially projects beyond the outer section of the main body. Although embodiments of the disclosure have been shown and described in detail with reference to the accompanying figures, a person skilled in the art may make various modifications and changes to the descriptions. For example, correct results may also be obtained if the processes described above are carried out in a different order than described and / or if the aforementioned components, such as computer systems, modules, etc., are coupled or combined in a different way, replaced, or exchanged by other components or equivalents.

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