Cleaning robot

Abstract

Cleaning robots, comprehensive: a motor (420); a shaft (440) that is coupled to the motor (420); a first element (450) that has the wave (440) and is movable between a first position and a second position that is lower than the first position; a second element (460, 1460) that is screwed to a first element (450); and a cleaning cloth module (500) coupled to the first element (450) and rotating at the same speed as the first element (450), wherein, when the first element (450) rotates in a first direction to move from the first position to the second position, the second element (460, 1460) rotates more slowly than the first element (450), so that the first element (450) moves downwards relative to the second element (460, 1460), and when the first element (450) rotates in the first direction at the second position, the second element (460, 1460) is rotatable at the same speed together with the first element (450).

Description

Technical field

[0001] Several versions of the disclosure relate to a cleaning robot. State of the art

[0002] A cleaning robot (or robotic vacuum cleaner) is a device that automatically cleans a cleaning area as it moves through it without user intervention. Generally, the cleaning robot can perform actions such as vacuuming up foreign matter like dust that has accumulated on a cleaning surface (e.g., a floor) or wiping up foreign matter like dirt that is stuck to the cleaning surface with a cleaning cloth. Some of these cleaning robots include a type of cleaning robot that attaches a cleaning cloth (or mop) to one side and rotates the cloth to wipe away foreign matter adhering to the cleaning surface.

[0003] When cleaning with a cleaning cloth on a robotic cleaning machine, carpets or rugs made of cloth, fabric, or other textiles on a floor can easily become wet and contaminated, or develop a damp odor upon contact with the moisture from the cleaning cloth. While the cleaning robot could navigate around such slightly contaminated objects during automatic cleaning, this could reduce cleaning efficiency.

[0004] When the cleaning robot passes a raised step on the floor during wet cleaning, the raised step can be captured by a cleaning cloth attached to a cleaning cloth module. Disclosure of the invention; Solution to the problem

[0005] A cleaning robot according to one embodiment may comprise: a motor; a shaft coupled to the motor; a first element having the shaft and movable between a first position and a second position lower than the first position; a second element screwed to the first element; and a cleaning cloth module coupled to the first element and rotating at the same speed as the first element. When the first element rotates in a first direction to move from the first position to the second position, the second element rotates more slowly than the first element, so that the first element moves downwards relative to the second element. When the first element rotates in the first direction at the second position, the second element rotates at the same speed together with the first element.

[0006] According to one embodiment, the first element can be formed integrally with the shaft and rotate together with the shaft.

[0007] According to one embodiment, the second element can be configured so that it rotates more slowly than the first element due to frictional force.

[0008] According to one embodiment, the shaft can be configured to move together with the first element when the first element moves between the first position and the second position, which is lower than the first position.

[0009] According to one embodiment, the cleaning robot may further comprise a gear arrangement configured to transmit power from the motor to the shaft, wherein the gear arrangement includes a shaft coupling opening designed to penetrate axially on a central section and configured to allow the shaft to be coupled to it.

[0010] According to one embodiment, the cleaning robot may further include a pressure device configured to press the second element.

[0011] According to one embodiment, the cleaning cloth module can be partially inserted into a lower opening of the first element in order to be coupled to the first element.

[0012] According to one embodiment, the cleaning cloth module may comprise: a magnetic body for magnetic coupling with the first element; and a shielding element arranged below the magnetic body and configured to shield the downward magnetic force of the magnetic body.

[0013] According to one embodiment, the shaft can be partially made of a magnetic material to enable magnetic coupling with the magnetic body of the cleaning cloth module.

[0014] In one embodiment, the first element can comprise at least one guide projection that projects outwards. The second element can comprise at least one inwards recessed guide groove to slidably receive the at least one guide projection.

[0015] According to one embodiment, the second element can include a stop arranged at one end of the at least one guide groove to contact the at least one guide projection, and when the first element rotates in the first direction at the second position, the guide projection can contact the stop and the first element can be fixed relative to the second element in a vertical direction.

[0016] According to one embodiment, the second element can rotate together with the first element in a state in which the at least one guide projection contacts the stop.

[0017] According to one embodiment, the at least one guide projection can be located on an upper outer surface of the first element.

[0018] According to one embodiment, the at least one guide groove is designed such that it extends along a circumferential direction of the second element and has an inclined surface with a predetermined angle.

[0019] According to one embodiment, the second element can include a threshold that extends inwards and is configured to partially support the first element.

[0020] The effects that can be achieved from the embodiments of the disclosure are not limited to those mentioned above, and other effects not mentioned here can be clearly deduced and understood from the following description by persons skilled in the art with average knowledge in the technical field to which the embodiments of the disclosure belong. In other words, unintended effects in the application of the embodiments of the disclosure can also be deduced from the embodiments of the disclosure by persons skilled in the art with average knowledge in the relevant technical field. Brief description of the drawings Fig. Figure 1 is a perspective view of a cleaning robot according to one embodiment; Fig. Figure 2 is a bottom view of a cleaning robot according to one embodiment; Fig. 3 is a functional block diagram illustrating a relationship between components based on the control and operation of a cleaning robot according to one embodiment; Fig. Figure 4 is a perspective view of a cleaning drive unit and a cleaning cloth module according to one embodiment; Fig. 5 is a side view of a cleaning drive unit and a cleaning cloth module according to one embodiment; Fig. 6 is a view in which some components from Fig. 5 are omitted; Fig. Figure 7 is an exploded view of a cleaning drive unit and a cleaning cloth module according to one embodiment; Fig. Figure 8 is a cross-sectional image of a cleaning drive unit according to one embodiment; Fig. 9 is a view describing a gear arrangement of a cleaning drive unit according to one embodiment; Fig. 10A is an upper perspective view of a second element according to one embodiment; Fig. 10B is a cross-sectional image along line XX in Fig. 10A; Fig. 10C is a top view of a second element according to one embodiment; Fig. 10D is a bottom view of a second element according to one embodiment; Fig. 11A is an upper perspective view of a first element according to an embodiment; Fig. 11B is a top view of a first element according to an embodiment; Fig. 12A is an exploded view of a detection unit for the rise according to one embodiment; Fig. 12B is a bottom view of a sensor frame according to one embodiment; Fig. 12C is a side view of a frame according to one embodiment; Fig. Figures 13A to 13E are views describing an operating process of a cleaning drive unit according to a direction of rotation according to an embodiment of the disclosure; Fig. Figure 14 is a perspective view of a cleaning drive unit according to one embodiment; Fig. 15 is a side view of a cleaning drive unit according to one embodiment; Fig. Figure 16 is an exploded view of a cleaning drive unit according to one embodiment; Fig. Figure 17 is a cross-sectional image of a cleaning drive unit according to one embodiment; Fig. are views describing an operating process of a cleaning drive unit in one direction of rotation according to an embodiment; Fig. Figure 19 is an example diagram illustrating a process for attaching and removing a cleaning cloth from a cleaning robot in a docking station according to one embodiment.

[0021] The following description refers to the attached drawings, and specific examples that can be implemented are shown as examples in the drawings. Other examples can also be used and structural modifications made without leaving the scope of the various examples. embodiment of the invention

[0022] Various embodiments used to illustrate the principles of disclosure in the Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12, Fig. 13, Fig. 14, Fig. 15, Fig. 16, Fig. 17, Fig. 18 to Fig. The provisions of paragraph 19 and this patent document disclosed below serve only illustrative purposes and should in no way be construed as limiting the scope of protection of the disclosure. A person skilled in the art will understand that the principles of the disclosure can be implemented in any suitably designed system or apparatus.

[0023] Several embodiments of the disclosure are described in detail below with reference to the drawings, so that those skilled in the art with average expertise in the technical field to which the disclosure relates can easily carry out the disclosed invention. However, the disclosure can be implemented in various forms and is not limited to the embodiments described herein. In connection with the description of the drawings, the same or similar reference numerals may be used for the same or similar components. Furthermore, for the sake of clarity and brevity, representations of known functions and configurations may be omitted from the drawings and the accompanying descriptions.

[0024] Fig. Figure 1 is a perspective view of a cleaning robot according to one embodiment. Fig. Figure 2 is a bottom view of a cleaning robot according to one embodiment;

[0025] With reference to the Fig. 1 and Fig. 2 According to one embodiment, a cleaning robot 100 can be in a state in which a cleaning cloth P (e.g., a wet mop or a dry mop), which can be in contact with a surface to be cleaned (e.g., a floor surface), is mounted on a cleaning cloth module 140 in a lower part thereof. The cleaning robot 100 can include a cleaning cloth module 140. The cleaning robot 100 can use the cleaning cloth P mounted on the cleaning cloth module 140 to perform cleaning (or mopping) to remove foreign substances from the surface to be cleaned. For example, the cleaning robot 100 can rotate the mounted cleaning cloth P and use the frictional force generated by the rotation of the cleaning cloth P between the cleaning cloth P and the floor surface to remove foreign substances from the floor surface.

[0026] When the cleaning robot 100 moves through an area during its cleaning process where wet cleaning should be avoided, such as on a carpet, the cleaning cloth module 140 can be raised and lowered to move it away from the carpet. The following describes the mechanism for raising and lowering the cleaning cloth module 140 of the cleaning robot 100.

[0027] According to one embodiment, the cleaning robot 100 can comprise a main body 110, a control panel 120, a drive unit 130, a cleaning cloth module 140 and a battery 150.

[0028] In one embodiment, the main body 110 can form a substantial feature of the cleaning robot 100. In another embodiment, the main body 110 can comprise a cleaning body 111 and a cleaning cover 112. In another embodiment, the cleaning body 111 can form the external appearance of a lower part that is positioned adjacent to a floor surface (or a surface to be cleaned) while the cleaning robot 100 is being powered for cleaning, and a side part that extends upward from an edge of the lower part to form one side of the cleaning robot 100. Although not explicitly shown, in another embodiment, the cleaning robot 100 can include a bumper on one side of the cleaning body 111 to mitigate an external impact.

[0029] In one embodiment, a power button 113 can be arranged on one side of the cleaning robot body 111. According to this embodiment, the power button 113 can be switched on and off by a user to turn the cleaning robot 100 on and off. The power button 113 can, for example, be designed as a type of momentary switch, but is not limited to this.

[0030] According to one embodiment, the cleaner body 111 can be designed such that its top is open. According to another embodiment, an interior space can be formed within the cleaner body 111, in which various components (e.g., a drive unit 360 or a liquid container) are located. Fig. 3) are arranged for the operation of the cleaning robot 100.

[0031] In one embodiment, the cleaner cover 112 can form an upper outer surface of the cleaning robot 100. In another embodiment, the cleaner cover 112 can be coupled to an upper surface of the cleaner body 111. In another embodiment, the cleaner cover 112 can be designed to cover an opening in the cleaner body 111. In yet another embodiment, the cleaner cover 112 can be detachably coupled to the cleaner body 111. After removing the cleaner cover 112, the user can access the components in the main body 110 through the opening in the cleaner body 111. In yet another embodiment, the cleaner body 111 and the cleaner cover 112 can be formed as a single piece.

[0032] According to one embodiment, the control panel 120 can be arranged in an upper section of the cleaning robot 100. For example, the control panel 120 can be arranged on the upper surface of the cleaner cover 112, but the disclosure is not limited to this.

[0033] In one embodiment, the control panel 120 can receive various commands from the user for operating the cleaning robot 100. In another embodiment, the control panel 120 can include an input device such as a button, a switch, or a touch panel. In such a case, the cleaning robot 100 can receive commands (e.g., start / stop cleaning or change cleaning mode) related to its operation from the user via the control panel 120. In yet another embodiment, the control panel 120 can include an input device for receiving various commands entered by the user via an external control unit in the form of an infrared signal, and the disclosure is not limited to such a specific form.

[0034] In one embodiment, the control panel 120 can provide the user with information about the current operating status of the cleaning robot 100. In another embodiment, the control panel 120 can include a display device, such as a screen. In this case, the cleaning robot 100 can visually present information about its current status (e.g., current cleaning mode or battery status) to the user via the display device. In one embodiment, the input device or display device described above can be integrated as a single unit on the control panel 120, but the disclosure is not limited to this.

[0035] In one embodiment, the drive unit 130 can be arranged on the rear side of the cleaning body 111. In another embodiment, the drive unit 130 can be configured to allow free movement of the cleaning robot 100. The cleaning robot 100 can move freely throughout the entire cleaning area by means of the drive unit 130.

[0036] According to one embodiment, the drive unit 130 can comprise one or more wheels which are equipped with a drive unit (e.g. a drive unit 361). Fig. 3) connected and driven by it to rotate. The drive unit 130 can, for example, comprise a pair of main wheels (e.g., a first main wheel 131a and a second main wheel 131b). According to one embodiment, the first main wheel 131a and the second main wheel 131b can be arranged to maintain the balance of the cleaning robot 100. The first main wheel 131a and the second main wheel 131b can, for example, be arranged on opposite edges of the rear of the cleaner body 111.

[0037] According to one embodiment, the drive unit 130 can comprise a first auxiliary wheel 132 or a second auxiliary wheel 133. According to another embodiment, the first auxiliary wheel 132 and the second auxiliary wheel 133 can each be arranged on a front side (e.g., in the F direction) and a 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 arranged.

[0038] The direction of travel of the cleaning robot 100 can be determined by controlling the movement of the first main wheel 131a and the second main wheel 131b. For example, the cleaning robot 100 can move forward (e.g., in the F direction) or backward (e.g., in the R direction) if each of the first main wheels 131a and the second main wheel 131b is controlled at the same speed. Conversely, if the first main wheel 131a and the second main wheel 131b are controlled at different speeds, the cleaning robot 100 can change its direction of travel based on a preset direction.

[0039] According to one embodiment, each of the first auxiliary wheel 132 and the second auxiliary wheel 133 can be arranged such that the cleaning robot 100 is balanced when the cleaning robot 100 moves forward (e.g., in the F direction) or backward (e.g., in the R direction). The first auxiliary wheel 132 can, for example, be arranged on a front (e.g., in the F direction) or rear side of the cleaning body 111. The second auxiliary wheel 133 can, for example, be arranged on the rear (e.g., in the R direction) of the rear surface of the cleaning body 111.

[0040] According to one embodiment, the cleaning cloth module 140 can be arranged in the lower part of the cleaning robot 100. The cleaning cloth module 140 can, for example, be arranged on the rear of the cleaning body 111. According to another embodiment, the cleaning cloth module 140 can be arranged on a front side of the rear (e.g., in the F-direction) of the cleaning body 111, but the disclosure is not limited to this. A cleaning cloth P (e.g., a wet mop or a dry mop) for cleaning a surface to be cleaned, such as a floor surface, can be detachably coupled to the cleaning cloth module 140.

[0041] In one embodiment, the cleaning cloth module 140, together with the cleaning cloth P mounted on the cleaning cloth module 140, can rotate clockwise or counterclockwise. When the cleaning cloth module 140 rotates together with the attached cleaning cloth P, friction can occur between the cleaning cloth P and the floor surface, enabling the cleaning robot 100 to remove foreign matter from the floor surface.

[0042] According to one embodiment, the cleaning cloth module 140 can be positioned in a vertical direction of the cleaning robot 100 (or in a direction substantially perpendicular to the floor) (e.g., in a U- or D-direction of Fig. 1) rise or fall within a predetermined range.

[0043] According to one embodiment, the cleaning cloth module 140 can comprise a first cleaning cloth module 140a or a second cleaning cloth module 140b. The first cleaning cloth module 140a and the second cleaning cloth module 140b can be configured to be identical in operation, structure, and shape.

[0044] According to one embodiment, the cleaning cloth module 140 (e.g., the first cleaning cloth module 140a and the second cleaning cloth module 140b) can each comprise a rotating element (e.g., a first rotating element 141a or a second rotating element 141b). The cleaning cloth P can be attached to the lower surfaces of the rotating elements 141a and 141b.

[0045] In one embodiment, the first rotating element 141a and the second rotating element 141b can together have a disc shape, but the disclosure is not limited to this. In another embodiment, the diameter of the first rotating element 141a can be set to be substantially equal to or smaller than the diameter of the cleaning cloth P, but the disclosure is not limited to this. Likewise, the diameter of the second rotating element 141b can be set to be substantially equal to or smaller than the diameter of the cleaning cloth P, but is not limited to this.

[0046] According to one embodiment, the battery 150 can be arranged in a lower part of the cleaning robot 100. According to another embodiment, the battery 150 can be arranged to be removable downwards from the rear of the cleaning body 111, but the disclosure is not limited to this. For example, the battery 150 can be electrically connected to a drive unit (e.g., a 360° drive unit). Fig. 3) be connected to supply power to the drive unit 360. For example, the battery 150 can be electrically connected to a drive unit (e.g., a drive unit 361 from Fig. 3) be connected to supply power to the drive unit 361. For example, the battery 150 can be electrically connected to a cleaning drive unit (e.g., a cleaning drive unit 362 from Fig. 3) be connected to power the cleaning drive unit 362. The battery 150 may include, but is not limited to, a rechargeable secondary battery.

[0047] According to one embodiment, at least a part of the drive unit (e.g., the 360° drive unit) can be Fig. 3) be arranged within the main body 110 of the cleaning robot 100. For example, at least part of the drive unit 360 can be arranged in an internal receiving space formed by the cleaning body 111. The drive unit 360 can, for example, include a motor and / or an actuator and can include several components for supplying energy to the drive unit 130 or the cleaning cloth module 140.

[0048] In one embodiment, the cleaning robot 100 can include a liquid container (not shown) configured to hold liquid for wet cleaning. The liquid stored in the container can be, for example, water, but is not limited to this and can include a liquid material such as soap or solvent used for cleaning. The liquid container can be removably arranged in the inner receiving space of the cleaner body 111. The user can access the liquid container by separating the cleaner cover 112 from the cleaner body 111 and opening the upper part of the cleaner body 111.

[0049] In one embodiment, the cleaning robot 100 can include a liquid distributor (not shown). The liquid distributor can, for example, have one end that communicates fluidically with the liquid reservoir and another end that communicates fluidically with the cleaning cloth module 140 arranged under the cleaning robot 100. The liquid distributor can, for example, be a hose. The cleaning robot 100 can supply liquid (e.g., water) via the liquid reservoir and / or the liquid distributor to the cleaning cloth P, which is attached to the cleaning cloth module 140.

[0050] Although in the Fig. 1 and Fig. 2 not shown, the cleaning robot 100 can have a control unit (e.g. a control unit 350 of the Fig. 3) include generating control commands for the operation of each unit or component of the cleaning robot 100. According to one embodiment, the control and operation of the cleaning robot 100 is detailed by the control unit 350 with reference to Fig. 3 described.

[0051] Fig. Figure 3 is a functional block diagram illustrating a relationship between components based on the control and operation of a cleaning robot according to one embodiment.

[0052] A cleaning robot 300 made of Fig. 3 can be essentially the same as or similar to the cleaning robot 100 from the Fig. be. Fig. Figure 3 shows a block diagram for controlling the cleaning robot 100 from the Fig. For example, the one in the Fig. 1 and Fig. 2 cleaning robots shown, 100 which are in Fig. The 3 components shown include, for example, the 300 cleaning robot. Fig. 3 the in Fig. 1 and Fig. The two components shown are included.

[0053] Referring to Fig. 3. The cleaning robot 300 can 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.

[0054] According to one embodiment, the cleaning robot 300 can include the detection unit 310. The detection unit 310 can include a plurality of sensors or cameras for detecting the environmental conditions of the cleaning robot 300. For example, the detection unit 310 can include a plurality of cameras to photograph different directions of the environment. A distance sensor can, for example, include an ultrasonic sensor, a radar sensor, and / or a LiDAR (Light Detection and Ranging) sensor, but the disclosure is not limited thereto. The detection unit 310 can, for example, include a microphone or an infrared sensor for detecting the environmental conditions. According to one embodiment, the detection unit 310 can determine the degree of soiling of each cleaning cloth (e.g., the cleaning cloth P in Fig. 1) which comes with each cleaning cloth module (e.g. the cleaning cloth module 140 in Fig. 1) the cleaning robot 300 is coupled and is to be used for cleaning, but the disclosure is not limited to this.

[0055] In one example, the cleaning robot 300 can include the communication unit 320, which is configured to support sending / receiving signals to / from external sources. In another example, the communication unit 320 can receive and / or transmit wired / wireless signals between an external wired / wireless communication system, an external server, and / or other devices according to a defined wired / wireless communication protocol. In another example, the communication unit 320 can transmit and receive data according to a wireless internet communication protocol such as WLAN (Wireless LAN), Wi-Fi (Wireless Fidelity), Wi-Fi Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), or similar.In one example, the Communication Unit 320 can transmit and receive data according to one or more short-range communication protocols, such as Bluetooth, RFID (Radio-Frequency Identification), IrDA (Infrared Data Association), UWB (Ultra-Wide Band), ZigBee, NFC (Near Field Communication), Wi-Fi, Wi-Fi Direct, Wireless USB (Universal Serial Bus), or similar protocols. In another example, the Communication Unit 320 can receive a configuration data signal entered by a user on their mobile device as a wireless signal according to a predefined wireless communication protocol. In yet another example, the Communication Unit 320 can receive information and / or a command to control the operation of the Cleaning Robot 300 from an external server as a signal according to a predefined wireless communication protocol.The communication unit 320 can transmit the various received signals to the control unit 350, which will be described later. For example, the communication unit 320 can transmit various data generated by or received from the cleaning robot 300, for instance, in the form of a wired / wireless signal according to a predefined wired / wireless communication protocol, to a user's mobile device or to an external server.

[0056] In one example, the communication unit 320 can include a module for determining the position of the cleaning robot 300, such as a GPS (Global Positioning System) module or a Wi-Fi module. If the cleaning robot 300 uses the GPS module, it can receive information about its position using signals transmitted by a GPS satellite. If the cleaning robot 300 uses the Wi-Fi module, it can obtain information about its position based on information from a wireless access point (AP) that transmits and receives a wireless signal to the Wi-Fi module.

[0057] According to one embodiment, the cleaning robot 300 can include the input unit 330. The input unit 330 can, for example, receive information about an operating mode of the cleaning robot 300 from a user. The input module 330 can, for example, include a keyboard, a push button, a touch panel (capacitive or pressure-sensitive), a rotary dial, a rotary switch, or a remote control. In addition to the aforementioned input unit 330, the user can input information about the operating mode of the cleaning robot 300 using a portable device such as a terminal.

[0058] In one embodiment, the cleaning robot 300 can include memory 340. Memory 340 can include a circuit. According to one embodiment, memory 340 can store data to support various functions of the cleaning robot 300. For example, memory 340 can store a variety of application programs (or applications) used in the cleaning robot 300, data for the operation of the cleaning robot 300, and / or instructions. At least some of the application programs can be downloaded from an external server via wireless communication. At least some of the application programs can be stored in memory 340 from the time of factory release for the basic functionality of the cleaning robot 300.For example, the application program can be stored in memory 340 and operated by the control unit 350 to perform the operation (or functions) of the cleaning robot 300. According to some embodiments, memory 340 can be integrated as part of the control unit 350. In one embodiment, memory 340 can store information for defining a travel route for the cleaning robot 300.

[0059] In one embodiment, the cleaning robot 300 can include the control unit 350. According to this embodiment, the control unit 350 can control the operation of the cleaning robot 300, for example, using signals transmitted by the detection unit 310, the communication unit 320, or the input unit 330. Although not explicitly shown here, the control unit 350 can include one or more processors.

[0060] According to one embodiment, the control unit 350 may, for example, comprise at least one of: a central processing unit (CPU), a microprocessor unit (MPU), a graphics processing unit (GPU), an accelerated processing unit (APU), a digital signal processor (DSP), a field-programmable gate array (FPGA), a control processor (CP), an application processor (AP), a system-on-chip (SoC) or an integrated circuit (IC).

[0061] In one embodiment, the control unit 350 can include a command receiving unit 351. The command input unit 351 can receive a driving-related command that is entered externally, for example, via the detection unit 310, the communication unit 320, or the input unit 330 described above. The command input unit 351 can receive a user command received from the power button 113 and / or the control panel 120 described above. The command receiving unit 351 can receive any user command, including a power on / off command, a cleaning start or pause command, or a cleaning mode setting command.

[0062] In one embodiment, the control unit 350 can include a cleaning cloth change determination unit 352 to determine whether a cleaning cloth P, which is coupled to the cleaning cloth module 140, needs to be replaced during a cleaning process of the cleaning robot 300. In another embodiment, the cleaning cloth change determination unit 352 can receive a detection result from a contamination sensor (not shown) provided in the detection unit 310 and determine, based on the information received, whether the cleaning cloth P needs to be replaced. In yet another embodiment, the cleaning cloth change determination unit 352 can determine whether the cleaning cloth P needs to be replaced based on the cleaning time elapsed after the cleaning cloth P was attached to the cleaning cloth module 140.According to one embodiment, the cleaning cloth change determination unit 352 can determine whether the cleaning cloth P needs to be replaced based on a command received from the command receiving unit 351.

[0063] In one embodiment, the control unit 350 can include a path calculation unit 353 for calculating a path for the cleaning robot 300. In another embodiment, the path calculation unit 353 can calculate the path of the cleaning robot 300 based on a predefined algorithm, a detection result from various sensors acquired by the detection unit 310, and / or a user command received by the command reception unit 351. In yet another embodiment, the path calculation unit 353 can calculate the path taking into account a detection result from the sensors provided in the detection unit 310.

[0064] According to one embodiment, when the cleaning cloth change determination unit 352 determines that the cleaning cloth P needs to be replaced, it can cause the path calculation unit 353 to calculate a path for moving the cleaning robot 300 to a preset position. For example, when the cleaning cloth change determination unit 352 determines that the cleaning robot 300 needs to change the cleaning cloth P, it can calculate a path for controlling the cleaning robot 300 to a docking station (e.g., a docking station 1900 in Fig. 19) calculate.

[0065] According to one embodiment, the control unit 350 can comprise a drive unit control command unit 354. According to one embodiment, the drive unit control command unit 354 can generate a control command for controlling each component of the drive unit 360 of the cleaning robot 300, for example, each motor and / or actuator of the respective drive unit 360, based on various commands received from the user or externally by the command receiving unit 351, a detection result detected by various sensors of the detection unit 310 of the cleaning robot 300, and / or a travel path determined by the travel path calculation unit 353.

[0066] According to one embodiment, each component of the drive unit 360 can operate according to a command generated by the drive unit control unit 354. According to one embodiment, the drive unit 360 can comprise a travel drive unit 361 and a cleaning drive unit 362.

[0067] According to one embodiment, the driving / movement of the cleaning robot 300 can be controlled according to a command generated by the drive unit control unit 354. According to another embodiment, according to a command generated by the drive unit control unit 354, each component of the drive unit (e.g., the drive unit 361) can be operated to control the direction of rotation and / or speed of the main wheel (e.g., the first main wheel 131a or the second main wheel 131b). Fig. 2) to control accordingly, enabling the cleaning robot 300 to move in any required direction.

[0068] According to one embodiment, the drive unit 361 can comprise a pair of drive units. Although not specifically shown here, according to one embodiment, each of the two drive units 361 can comprise a motor and an actuator. Each of the paired drive units 361 can be connected to the drive unit described above (e.g., the drive unit 130 in Fig. 1) be connected, for example to the first main wheel 131a and the second main wheel 131b respectively, to provide the energy required for the movement of the cleaning robot 100.

[0069] According to one embodiment, the rotation and / or upward / downward (vertical) movement of the cleaning cloth module (e.g., the cleaning cloth module 140 of Fig. 2) be controlled according to a command generated by the drive unit control command unit 354. For example, the drive unit control command unit 354 can control the vertical movement of the cleaning cloth module 140 by setting the direction of rotation of each rotating element (e.g., the rotating elements 141a and 141b in Fig. 2) of the cleaning cloth module 140. In such a case, a distance between the cleaning cloth module 140 and the floor surface can be adjusted.

[0070] According to one embodiment, the cleaning drive unit 362 can be operated to adjust the rotational speed of each of the rotating elements 141a and 141b of the cleaning cloth module 140 according to a command generated by the drive unit control unit 354. In this case, the cleaning intensity of the cleaning robot 300 can be adjusted.

[0071] According to one embodiment, the cleaning drive unit 362 can raise or lower the cleaning cloth module 140 in the vertical direction according to a command from the drive unit control unit 354.

[0072] According to one embodiment, the cleaning drive unit 362 can comprise a pair of cleaning drive units 362. Although not explicitly shown here, according to one embodiment, each of the paired cleaning drive units 362 can comprise a rotary motor and an actuator and be connected to each cleaning cloth module 140, for example, a first cleaning cloth module (e.g., the first cleaning cloth module 140a from Fig. 2) and a second cleaning cloth module (e.g. the second cleaning cloth module 140b from Fig. 2) be connected to provide the energy required to rotate the rotating elements 141a and 141b of each cleaning cloth module.

[0073] According to one embodiment, the cleaning cloth module 140 can be separated from the cleaning drive unit 362 by a command generated by the drive unit control unit 354. For example, the cleaning drive 362 can separate the cleaning cloth module 140 from the cleaning drive by moving the cleaning cloth module 140 upwards through the drive unit control unit 354. An operation of the cleaning robot 300 in which the cleaning cloth module 140 is automatically separated from the cleaning drive unit 362 will be described in more detail later.

[0074] Fig. Figure 4 is a perspective view of a cleaning drive unit and a cleaning cloth module according to one embodiment. Fig. Figure 5 shows a side view of a cleaning drive unit and a cleaning cloth module according to one embodiment. Fig. Figure 6 shows a view where some components are from Fig. 5 (clutch mechanism) were omitted. Fig. Figure 7 shows an exploded view of a cleaning drive unit and a cleaning cloth module according to one embodiment. Fig. Figure 8 shows a cross-sectional image of a cleaning drive unit and a cleaning cloth module according to one embodiment.

[0075] One in the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. The cleaning drive unit 400 shown in Figure 8 can have essentially the same configuration and function as the one referred to in Figure 8. Fig. 3 cleaning drive unit 362 described. The in the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. The cleaning drive unit 400 shown in Figure 8 can be mounted as a component of the cleaning robot 100 described above. The [unclear text] Fig. , Fig. , Fig. , Fig. until Fig. The illustrated cleaning drive unit 400 can be electrically connected to the control unit of Fig. 3 (e.g., the control unit 350 of Fig. 3) be connected. The ones in the Fig. The cleaning drive unit 400 shown (bumper) up to 8 (diameter) is only exemplary, and the design of the cleaning drive unit 400 is not limited to the structure shown. The cleaning robot 100 can include a cleaning cloth module 500.

[0076] With reference to the Fig. , Fig. , Fig. , Fig. until Fig. The cleaning drive unit 400 can comprise a housing 410, a motor 420, a gear assembly 430, a shaft 440, a first element 450, a second element 460, a unidirectional rotating body 470, a unidirectional rotating gear 475, and / or a rise detection unit 480. For example, components such as a gear assembly (e.g., the gear assembly 430 in Fig. 9) to transmit the power generated by the motor 420 within the housing 410. The [unclear text] in the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. The cleaning cloth module 500 shown in Figure 8 can have the same structure and shape as the cleaning cloth module 140, which is described in the following sections: Fig. 1 and Fig. 2 was described.

[0077] In one embodiment, the housing 410 can form a receiving space within it. At least one of the gear assembly 430, the first element 450, the second element 460, the unidirectional rotating body 470, or the unidirectional rotating gear 475 can be arranged within the housing 410. The housing 410 can be configured to accommodate a variety of configurations for rotating and / or moving the cleaning cloth module 500 up and down. As shown, the housing 410 can form a housing 410 in which several sub-housings are combined together.

[0078] According to one embodiment, an opening 411 can be formed in a lower part of the housing 410. The opening 411 can be a region configured such that the first element 450 and the shaft 440 can pass through it, as described later. The first element 450 can be coupled to the cleaning cloth module 500 through the opening 411. The shaft 440 can be coupled to the cleaning cloth module 500 through the opening 411.

[0079] According to one embodiment, the transmission arrangement 430 can include a power coupling transmission part 432. The power coupling transmission part 432 can be arranged to transmit the power of the motor 420 to the shaft 440. The power coupling transmission part 432 can be arranged above the second element 460.

[0080] According to one embodiment, the power coupling gear part 432 can comprise a shaft extension part 4321. The shaft extension part 4321 can extend axially from a central lower part of the power coupling gear part 432. The shaft extension part 4321 can have a diameter that is smaller than that of the first element 450 or the second element 460, which are described later.

[0081] According to one embodiment, the shaft extension part 4321 can include a shaft coupling opening 4321a into which at least a portion of the shaft 440 is inserted. The shaft coupling opening 4321a can be configured to extend perpendicularly (or axially) through the power coupling gear part 432. The shaft coupling opening 4321a can be located in a central region of the power coupling gear part 432. The shaft 440 can be coupled to the power coupling gear part 432 by inserting it into an opening formed in the shaft extension part 4321. In a state where a portion of the shaft 440 is inserted into the shaft coupling opening 4321a, the shaft 440 can be vertically movable through the upper and lower clearances of the shaft coupling opening 4321a.For example, the shaft 440 can pass through the shaft coupling opening 4321a to push the rise detection unit 480 when the cleaning cloth module 500 is lifted upwards.

[0082] In one embodiment, the shaft coupling opening 4321a can have an angled cross-section. For example, the shaft coupling opening 4321a can be polygonal and columnar, extending through the power coupling gear part 432. The cross-sectional shape of the shaft coupling opening 4321a can correspond to the cross-sectional shape of the shaft 440. For example, if the shaft 440 has a rectangular cross-section, the shaft coupling opening 4321a can also have a rectangular cross-section. Due to such a polygonal cross-section, the power of the motor 420 can be transmitted to the shaft 440 coupled to the power coupling gear part 432. However, the shape of the shaft coupling opening 4321a is not limited to this and can also have an elliptical shape.

[0083] According to one embodiment, the width of the shaft coupling opening 4321a can be greater than the width of the shaft 440. Such a width difference can be provided for the shaft 440 in order to be inserted into the shaft coupling opening 4321a.

[0084] According to one embodiment, the cleaning drive unit 400 can further comprise a first bearing 492. The first bearing 492 can be arranged around the power coupling gear part 432. While the power coupling gear part 432 rotates, the first bearing 492 can reduce frictional force with a fixed partition (e.g., a part of the housing 410) around the power coupling gear part 432, thereby reducing the loss of rotational force. Furthermore, the provision of the first bearing 492 can prevent or reduce wear on the power coupling gear part 432 and the surrounding partition due to frictional force.

[0085] In one embodiment, the shaft 440 can be rotated by receiving drive force from the motor 420. The shaft 440 can be coupled to the gear assembly 430 to receive power from the motor 420. The shaft 440 can be arranged such that a lower part of the housing 410 protrudes. An end section of the shaft 440 can be coupled to the cleaning cloth module 500. For example, the shaft 440 can selectively rise or fall depending on the direction of rotation of the motor 420.

[0086] In one embodiment, the shaft 440 can be directly coupled to the gear assembly 430 to obtain power from the motor 420. The shaft 440 can also be coupled to the power coupling gear unit 432 to obtain power from the motor 420. The shaft 440 can be arranged below the power coupling gear unit 432. The shaft 440 can be arranged to extend along a longitudinal direction of the shaft extension section 4321 of the power coupling gear unit 432. The axis of rotation of the shaft 440 can be essentially the same as the axis of rotation of the power coupling gear unit 432.

[0087] In one embodiment, the shaft 440 can comprise a first magnetic body 442. The shaft 440 can be magnetically coupled to the cleaning cloth module 500. The first magnetic body 442 can be arranged at the lower end of the shaft 440. For example, the first magnetic body 442 can be arranged at an end of the shaft 440 facing the cleaning cloth module 500. The first magnetic body 442 can, for example, be arranged below a locking lug 441. The first magnetic body 442 can be magnetically coupled to a second magnetic body 530 of the cleaning cloth module 500, which will be described later. For example, at least one section of the shaft 440 can be made of magnetic material.

[0088] In one embodiment, the shaft extension section 4321 of the power coupling gear section 432 is provided, thus increasing the coupling area between the shaft 440 and the power coupling gear section 432. For example, with increasing length of the shaft extension section 4321, the contact area between the shaft 440 and the shaft coupling opening 4321a can increase. Due to this shape of the shaft extension section 4321, the contact area between the shaft 440 and the power coupling gear section 432 can increase, thereby transmitting power to the shaft 440 more stably.

[0089] According to one embodiment, the shaft 440 can be configured to fix a rotational axis of the cleaning cloth module 500. Since the shaft 440, which is coupled to the force-coupling gear part 432, extends axially to the cleaning cloth module 500, the shaft 440 can serve to fix the cleaning cloth module 500 in such a way that it is well centered by the centrifugal force and by vibrations generated by the rotation.

[0090] According to one embodiment, the shaft 440 and the first element 450 can be formed in one piece. For example, they can be injection molded together to form a single component with the shape of the shaft 440 and the first element 450.

[0091] Various structures or methods can be used 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 moving the shaft 440 vertically can be provided to control the movement of the shaft 440. Referring to one embodiment of the disclosure, the structure for rotating or raising and lowering the shaft by means of the motor 420, which is a drive unit, is described in detail.

[0092] In one embodiment, the first element 450 can be coupled to the shaft 440. The first element 450 can receive power from the shaft 440. The first element 450 can perform a rotational movement and / or a vertical movement with the force transmitted by the shaft 440. The first element 450 can be coupled such that it moves up and down together with the shaft 440. The first element 450 can also be referred to as the first bushing.

[0093] In one embodiment, the first element 450 can have a substantially cylindrical shape. The width of the first element 450 can be greater than the width of the shaft 440.

[0094] According to one embodiment, the first element 450 can comprise a first hollow section 451. The first hollow section 451 can be arranged such that the shaft 440 can pass through it.

[0095] According to one embodiment, the first hollow section 451 can have an angled cross-section. For example, the shape of the first hollow section 451 can correspond to a cross-sectional shape of the shaft 440. For example, if the shaft 440 has a substantially rectangular cross-section, the first hollow section 451 can also have a substantially rectangular cross-section. Since the first hollow section 451 has a polygonal cross-section, the force of the shaft 440 can be transmitted to the first element 450. However, the shape of the first hollow section 451 is not limited to this and can have an elliptical shape.

[0096] According to one embodiment, the shaft 440 can penetrate the first hollow section 451 of the first element 450, and the locking lug 441 formed on the underside of the shaft 440 can engage on a circumferential surface of the first hollow section 451, thereby coupling it to the first element 450.

[0097] In one embodiment, the first element 450 can comprise a guide projection 452. The guide projection 452 can project outwards along an outer circumferential surface of the first element 450. The guide projection 452 can, for example, have a threaded form that is inclined along the circumferential direction of the first element 450. The guide projection 452 can be arranged in an upper part of the first element 450. The guide projection 452 can be inserted into a guide groove 462 of the second element 460, which will be described later, and is configured such that it can move along the guide groove 462. The first element 450 can be moved vertically by rotating the guide projection 452 in the direction of extension of the guide groove 462.

[0098] The first element 450 and the shaft 440 can be joined in separate configurations, as shown, but are not limited to this, and can have a shape such that the first element 450 is formed integrally with the shaft 440. For example, the first element 450 and the shaft 440 can be injection-molded into a single unit. When the first element 450 and the shaft 440 are formed integrally, the first element 450 can be directly coupled to the power coupling transmission part 432.

[0099] In one embodiment, the second element 460 can be coupled to the first element 450. The second element 460 and the first element 450 can be coupled to each other by a threaded connection. The first element 450 can be inserted into the second element 460 to form a threaded connection. The second element 460 can be arranged outside the first element 450. For example, the width of the second element 460 can be greater than the width of the first element 450. For example, the second element 460 can be referred to as a second bushing.

[0100] In one embodiment, the second element 460 can be arranged to support the first element 450. The second element 460 can reduce vibrations while the first element 450 is rotated by the shaft 440. The second element 460 can reduce the transverse vibrations of the first element 450.

[0101] In one embodiment, the second element 460 can comprise the guide groove 462. The guide groove 462 can be formed on an inner surface of the second element 460. The guide groove 462 can be formed obliquely in the circumferential direction on an inner circumferential surface of the second element 460. The guide groove 462 can, for example, have a shape similar to a threaded groove.

[0102] According to one embodiment, the length of the guide groove 462 of the second element 460 can be greater than or equal to the circumferential length of the second element 460.

[0103] In one embodiment, the guide projection 452 of the first element 450 can be coupled to the guide groove 462 of the second element 460. When the first element 450 rotates relative to the second element 460 in a state where the first element 450 is coupled to the second element 460, the guide projection 452 can move along the guide groove 462, allowing the first element 450 to move up and down. The guide groove 462 can have an inclined profile, allowing the first element 450 to move up or down as it rotates.

[0104] In one embodiment, the size of the guide projection 452 of the first element 450 can be smaller than the size of the guide groove 462 of the second element 460. For example, the length of the guide projection 452 can be less than the depth of the guide groove 462. For example, the width of the guide projection 452 can be less than the width of the guide groove 462.

[0105] The vertical movement distance corresponding to the number of revolutions of the cleaning cloth module 500 can be adjusted based on an inclination angle of the guide groove 462, which is formed on the inner surface of the second element 460.

[0106] In one embodiment, the guide groove 462 can include a stop 466 located at its lower end. The stop 466 prevents the first element 450 from moving downwards by creating resistance to the rotational force of the guide projection 452 of the first element 450. When the guide projection 452 abuts the stop 466, the second element 460 can absorb the rotational force from the first element 450 and rotate together with the first element 450.

[0107] According to one embodiment, the second element 460 can be configured such that its upper and lower sections are open. For example, a section (e.g., the shaft extension part 4321) of the power coupling gear part 432 can be arranged to extend through the open upper side of the first element 450. For example, a portion of the first element 450 can be configured to extend through the open recess of the first element 450.

[0108] According to one embodiment, the second element 460 can comprise a toothed section 464. The toothed section 464 can be configured such that it projects outwards from the outer circumferential surface 460a of the second element 460. The toothed section 464 can be arranged such that it engages with a unidirectional rotary gear 475, which will be described later.

[0109] The first element 450 and the second element 460 can be arranged so that they are housed in a receiving space formed in the housing 410.

[0110] In one embodiment, the power coupling gear part 432, the first element 450, and the second element 460 can rotate about a rotational axis C in the same axial direction. Here, the rotational axis C can be perpendicular to the cleaning cloth module 500. For example, the rotational axis C can be perpendicular to the floor surface with which the cleaning cloth P is in contact. Due to this structure of the rotational axis C, the area in which the cleaning cloth P is in contact with the floor surface can be increased. Because of the structure of the rotational axis C, the rotational force of the power coupling gear part 432 can be efficiently transmitted to the cleaning cloth module 500. Furthermore, the torque loss transmitted from the power coupling gear part 432 to the cleaning cloth module 500 can be reduced due to the structure of the rotational axis C.

[0111] When the cleaning cloth module 500 rotates due to the torque of the shaft 440, the shaft 440 can rotate stably by means of the threaded coupling structure of the first element 450 and the second element 460 to transmit a precise torque to the cleaning cloth module. For example, as the shaft 440 rotates, its vibration can be reduced because the first element 450 and the second element 460 serve to support the shaft 440. In the cleaning drive unit 400 according to one embodiment of the disclosure, the power transmission efficiency can be increased due to such a stable torque transmission structure, and the torque loss transmitted to the cleaning cloth module 500 can be reduced.

[0112] According to one embodiment, the cleaning drive unit 400 can further comprise a second bearing 493. The second bearing 493 can be arranged outside the second element 460. The second bearing 493 can be arranged to surround a section of the outer circumferential surface of the second element 460 in the circumferential direction. The second bearing 493 can be arranged between the second element 460 and the housing 410. The second bearing 493 can reduce the frictional force between the second element 460 and the inner wall of the housing 410.

[0113] In one embodiment, the unidirectional rotating body 470 can be arranged in the housing 410. The unidirectional rotating body 470 can be configured to rotate only in either the first direction or the second direction. For example, the unidirectional rotating body 470 can be configured to rotate only in either one of the two directions, clockwise or counterclockwise. For example, the unidirectional rotating body 470 can be configured to rotate only in either a forward direction or a reverse direction. For example, the unidirectional rotating body 470 can be a one-way bearing that can rotate in only one direction, but is not limited to this. The unidirectional rotating body 470 can have an open cylindrical shape.

[0114] According to one embodiment, the unidirectional rotating body 470 can be arranged such that the second element 460, which is directly or indirectly coupled to the unidirectional rotating body 470, rotates only in one direction.

[0115] According to one embodiment, the unidirectional rotating body 470 can be manufactured in the form of a roller or a bead. The unidirectional rotating body 470 can include a coupling mechanism that operates according to a specific direction of rotation. The coupling mechanism can serve to enable or prevent rotation by moving the roller or bead according to the direction of rotation.

[0116] In one embodiment, the unidirectional rotary gear 475 can be coupled to the unidirectional rotating body 470. In another embodiment, the unidirectional rotary gear 475 can be coupled to the second element 460. For example, the unidirectional rotary gear 475 can mesh with the tooth section 464 of the second element 460. The unidirectional rotary gear 475 is configured to rotate together with the second element 460 when the second element 460 is rotated. The force of the unidirectional rotary gear 475, transmitted by the second element 460, can be transmitted to the unidirectional rotating body 470.

[0117] In one embodiment, the unidirectional rotary gear 475 can be coupled to the unidirectional rotating body 470 to rotate in only one direction. Accordingly, the second element 460, which engages with the unidirectional rotary gear 475, can also rotate in only one direction. For example, the second element 460 can only rotate together with the unidirectional rotary gear 475 if the second element 460 is rotated in a direction corresponding to the rotation of the motor 420 in the first direction (e.g., the forward direction). For example, the second element 460 cannot be rotated by the unidirectional rotary gear 475 and the unidirectional rotating body 470 in a direction corresponding to the rotation of the motor 420 in the second direction (e.g., the reverse direction).

[0118] In one embodiment, the detection unit for the rise 480 can be arranged on the top side of the housing 410. The detection unit for the rise 480 can detect whether the shaft 440, which moves up or down, has moved to its maximum upward position. The detection unit for the rise 480 can detect whether the cleaning cloth module 500, which moves up or down, has moved to its maximum upward position. The detection unit for the rise 480 can, for example, include an infrared sensor, but is not limited to this. A detailed description of the operation and structure of the detection unit for the rise 480 will be presented later.

[0119] According to one embodiment, the cleaning drive unit 400 can further comprise a pressure device 491. The pressure device 491 can, for example, be arranged in the housing 410. The pressure device 491 can be arranged to surround the outer circumferential surface of the second element 460. The width of the pressure device 491 can be greater than the width of the second element 460. The pressure device 491 can be arranged such that it presses the second element 460 downwards. By pressing the second element 460, the pressure device 491 can move downwards the first element 450 coupled to the second element 460 and the cleaning cloth module 500 coupled to the first element 450. That is, the pressure device 491 can be configured to press the cleaning cloth module 500 downwards.

[0120] The pressure device 491 can press the cleaning cloth module 500 downwards to increase the frictional force between the cleaning cloth P attached to the cleaning cloth module 500 and the floor surface. The pressure device 491 can enhance the cleaning effect by increasing the frictional force between the cleaning cloth P and the floor surface. The pressure device 491 can, for example, be an elastic body. For instance, the pressure device 491 can include a spring. For example, in the pressure device 491 that includes a spring, a restoring force (or elastic restoring force) of the spring can be used to press the cleaning cloth P more firmly against the floor surface. However, disclosure is not limited to this, and the pressure device 491 can include any configuration that a competent person can arrange to press the cleaning cloth module 500 downwards against the floor.

[0121] The pressure device 491 can mitigate a shock exerted on the cleaning cloth module 500. If an obstacle forming a threshold on the floor surface collides with the cleaning cloth module 500 during the cleaning process of the cleaning robot, the pressure device 491 can mitigate the shock exerted on the cleaning cloth module 500. Accordingly, the pressure device 491 can be provided to prevent the cleaning drive unit 400 from being damaged by an obstacle that might be located on the floor surface.

[0122] In one embodiment, the cleaning cloth module 500 can be coupled to the first element 450. The cleaning cloth module 500 can be coupled to the first element 450 to rotate together with the first element 450, or to move up and down together.

[0123] According to one embodiment, the cleaning cloth module 500 can comprise a rotating element 510 and a coupling projection 520. The rotating element 510 can have a substantially disc-shaped form, but the shape is not limited to this.

[0124] In one embodiment, the coupling projection 520 can protrude upwards from the center of the rotating element 510. The coupling projection 520 can be a part that is coupled to the first element 450 and / or the shaft 440. For example, the cleaning cloth module 500 can be coupled to the first element 450 by inserting the coupling projection 520 into the lower opening of the first element 450.

[0125] In one embodiment, the coupling projection 520 can include a hook groove 521. The hook groove 521 can be configured in a state where it is milled laterally into the coupling projection 520. The hook groove 521 can be a part that engages with the hook projecting from the inner surface of the first element 450 when it is coupled to the first element 450. The first element 450 and the cleaning cloth module 500 can be coupled to each other via the hook groove 521 by means of hook coupling.

[0126] According to one embodiment, the coupling projection 520 can have a polygonal cross-sectional shape. Since the coupling projection 520 has a polygonal cross-section, the power of the motor 420 can be transferred to the cleaning cloth module 500 coupled to the first element 450.

[0127] According to one embodiment, the cleaning cloth module 500 can comprise a second magnetic body 530. The second magnetic body 530 can be arranged on the coupling projection 520. The second magnetic body 530 can be arranged above the coupling projection 520.

[0128] In one embodiment, the cleaning cloth module 500 can include a shielding element 531. The shielding element 531 can be arranged below the second magnetic body 530. The shielding element 531 can be configured to shield a portion of the magnetic force of the second magnetic body 530. The shielding element 531 can serve to shield the second magnetic body 530 so that its magnetic force is not directed towards the underside (e.g., the surface to be cleaned). By arranging the shielding element 531 below the second magnetic body 530, it can be prevented that foreign matter, such as pieces of iron remaining on the floor, adheres to the cleaning cloth module 500 due to the magnetic force during wet cleaning of the floor surface using the cleaning cloth module 500.The shielding element 531 can, for example, be formed integrally with the second magnetic body 530, but the disclosure is not limited to this.

[0129] In one embodiment, the cleaning cloth module 500 can include a cover element 540. The cover element 540 can be arranged to cover the shielding element 531. The lower part of the shielding element 531 can be covered by the cover element 540. While the cover element 540 covers the lower part of the shielding element 531, the external appearance can be improved so that the shielding element 531 is not visible from the outside. Furthermore, the cover element 540 can prevent the shielding element 531 from being detached downwards.

[0130] In one 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 rotate by receiving the power (or torque) of the motor 420 from the shaft 440 and / or the first element 450, which is coupled to the cleaning cloth module 500.

[0131] The cleaning cloth P can be attached to the underside of the cleaning cloth module 500. When the motor 420 is operating, and the shaft 440 and the cleaning cloth module 500 are rotating, the cleaning cloth P attached to the cleaning cloth module 500 can also rotate. The cleaning cloth P can be used while the cleaning robot (e.g., the cleaning robot 100) is moving. Fig. 1) moves, rotates in contact with the floor surface and cleans the floor surface.

[0132] According to one embodiment, the cleaning cloth P can be attached or coupled to the cleaning cloth module 500. The cleaning cloth P can, for example, be attached or coupled to an underside of the rotating element 510. The cleaning cloth P can be attached or coupled to the rotating element 510, for example, by means of a magnet or hook-and-loop fastener, but the disclosure is not limited to this.

[0133] Fig. Figure 9 is a view describing a gear arrangement structure of a cleaning drive unit according to one embodiment.

[0134] The in Fig. The gear arrangement 430 shown in 9 can be essentially the same or similar to that shown in the Fig. , Fig. , Fig. , Fig. until Fig. The gear arrangement shown is 430. Fig. The gear arrangement 430 shown in 9 can be used in the Fig. , Fig. , Fig. , Fig. until Fig. The cleaning drive unit 400 shown is included. The components from which the unit is made are described in Fig. The gear arrangement 430 shown in Figure 9 consists of components that are essentially the same or similar to those in the Fig. , Fig. , Fig. , Fig. until Fig. The gear arrangement 430 shown uses the same reference numerals. Number of gears, shape of gears, type of gears and the like in the Fig. The gear arrangement shown in Figure 9 is merely an example, and the disclosure is not limited to the form shown.

[0135] Referring to Fig. 9 The motor 420 can include a worm-shaped section 421 which is attached to a rotary axis.

[0136] Referring to Fig. 9 The gear arrangement 430 can engage with the worm-shaped section 421 of the motor 420 to receive power (or torque) from the motor 420.

[0137] In one embodiment, the transmission assembly 430 can comprise a power transmission transmission part 431 and a power coupling transmission part 432. The transmission assembly 430 can be positioned above the housing 410. The motor 420 can generate energy and transmit the torque to the transmission assembly 430.

[0138] According to one embodiment, the power transmission gear part 431 can comprise at least one gear. For example, the power transmission gear part 431 can comprise a first gear 4311 and a second gear 4312. However, the disclosure is not limited thereto, and the power transmission gear part 431 can comprise one gear or three or more gears. For the sake of simplicity, the power transmission gear part 431 comprising the first gear 4311 and the second gear 4312 is described below as an example.

[0139] According to one embodiment, the first gear 4311 can be a two-stage gear. For example, the first gear 4311 can comprise a first-1 gear and a first-2 gear with different diameters.

[0140] The first gear 4311 can be arranged to mesh with the worm-shaped section 421. The first gear 4311 can, for example, be a worm gear. The first gear 4311 can be arranged to transmit the power of the motor 420 to the second gear 4312.

[0141] The second gear 4312 can be arranged to mesh with the first gear 4311. For example, the first gear of the first gear 4311 can mesh with the second gear 4312. The second gear 4312 can mesh with the power coupling transmission part 432. The second gear 4312 can be arranged to transmit the force from the first gear 4311 to the power coupling transmission part 432.

[0142] The shaft coupling gear part 432 can be coupled to a shaft (e.g. the shaft 440 from Fig. 8) The power coupling gear part 432 may transmit the power of the second gear 4312 to the shaft 440. The shaft 440 can directly receive the torque of the power coupling gear part 432. For example, the shaft 440 can directly receive power from the gear assembly 430.

[0143] Fig. Figure 10A is a perspective view of a second element according to one embodiment. Fig. Figure 10B shows a cross-sectional image along line XX of Fig. 10A. Fig. Figure 10C is a top view showing a second element according to one embodiment. Fig. Figure 10D shows a top view of a second element according to one embodiment;

[0144] The in the Fig. The second element 460 shown in 10A to 10D can be essentially the same as or similar to the one shown in the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. 8 shown second element (e.g. the second element 460 in Fig. 8) be. Among the configurations of the second element 460 in the Fig. 10A to 10D are used for the already established based on the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. The same reference symbols are used in the 8 described configurations.

[0145] In one embodiment, the second element 460 may comprise an inwardly directed guide groove 462. At least one guide groove 462 may be formed on an inner circumferential surface of the second element 460. For example, three guide grooves 462 may be formed, as shown. The number or shape of the illustrated guide groove 462 is only an example, and the shape shown is not intended to limit the scope of disclosure. For example, the guide groove 462 may comprise 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 at substantially the same angle along the circumferential direction on the inner circumferential surface of the second element 460.

[0146] In one embodiment, the second element 460 can include a guide projection insertion hole 465. The guide projection insertion hole 465 can, for example, be formed on the upper surface of the second element 460. The guide projection insertion hole 465 can refer to a section that is designed to penetrate the second element 460 so that the guide projection 452 can be inserted into the guide groove 462 when the first element 450 is coupled to the second element 460. Several guide projection insertion holes 465 can be formed. The number of guide projection insertion holes 465 can correspond to the number of guide tabs 462.

[0147] In a state where the second element 460 is housed in the casing (e.g., the casing 410 of Fig. 8) The guide projection insertion hole 465 can be closed by an inner wall of the housing 410. Accordingly, the inner wall of the housing 410, which closes the guide projection insertion hole 465, can serve as a stop when the first element 450 moves upwards relative to the second element 460.

[0148] In one embodiment, the second element 460 can comprise a threshold 463 positioned at its lower end. The threshold 463 can be configured to extend from the lower end of the outer circumferential surface 460a of the second element 460. The threshold 463 can be configured to extend inward from the outer circumferential surface 460a. The threshold 463 can be provided to support the first element 450 as the first element 450 moves downward until the guide projection 452 is positioned on the stop 466 of the guide groove 462.

[0149] Fig. 11A is a perspective view from above of a first element according to an embodiment. Fig. 11B is a top view of a first element according to an embodiment;

[0150] The in the Fig. 11A and Fig. The first element 450 shown in 11B can be essentially the same as or similar to the first element (e.g., the first element 450 in Fig. 8) be, which is in the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. Figure 8 is shown. Among the components of the first element 450 in the Fig. 11A and Fig. 11B are for the components that relate to the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. The same reference symbols were used as described in section 8.

[0151] According to one embodiment, the first element 450 can have a shape in which its upper and lower surfaces are open. For example, the first element 450 can have a substantially cylindrical shape.

[0152] According to one embodiment, at least one guide projection 452 can be arranged on the outer circumferential surface of the first element 450. The guide projection 452 can be arranged in an upper section of the first element 450. For example, as shown, three guide projections 452 can be provided. For example, the number of guide projections 452 can correspond to the number of guide grooves (e.g., the guide groove 462 in Fig. 10A). The number or arrangement of the guide projections 452 shown is only an example, and the shape shown does not limit the scope of disclosure. For example, the guide projection 452 may comprise a first guide projection 4521, a second guide projection 4522, and a third guide projection 4523. The first guide projection 4521, the second guide projection 4522, and the third guide projection 4523 may be arranged at equal intervals from one another.

[0153] According to one embodiment, the guide projection 452 can be inclined and protrude at a certain angle in order to be coupled to the guide groove (e.g. the guide groove 462 of Fig. 10A) of the second element (e.g. the second element 460 of Fig. 10A) to rotate. The guide projection 452 can be inclined and project at a specific angle along the circumferential direction of the first element 450. The angle of inclination of the guide projection 452 can correspond to the angle of inclination of the guide groove 462.

[0154] In one embodiment, the first element 450 can comprise a support section 453 that supports the first hollow section 451. The support section 453 can extend inwards towards the outer circumferential surface 450a. The support section 453 can refer to a section that extends inwards from the inner surface of the first element 450 and is connected to the first hollow section 451. Several support sections 453 can be provided. The support section 453 can be positioned in an upper part of the first element 450, but is not limited to this.

[0155] According to one embodiment, the first element 450 can comprise a coupling groove 454 formed on a lower section thereof. The coupling groove 454, which is a groove formed in the lower section, can be a groove defined by the outer circumferential surface 450a, the first hollow section 451 and the support section 453 of the first element 450.

[0156] According to one embodiment, a cleaning cloth module (e.g., the cleaning cloth module 500 of the Fig. 8) are coupled at the coupling groove 454. A coupling projection (e.g., the coupling projection 520 of Fig. 8) of the cleaning cloth module 500 can be inserted into the coupling groove 454 so that they are coupled together.

[0157] In one embodiment, the coupling groove 454 can have a polygonal cross-sectional shape. The cross-sectional shape of the coupling groove 454 can correspond to the cross-sectional shape of the coupling projection 520 of the cleaning cloth module 500. The horizontal dimension of the coupling groove 454 can, for example, be larger than the horizontal dimension of the coupling projection 520.

[0158] Fig. Figure 12A is an exploded view of a detection unit for the rise according to one embodiment. Fig. Figure 12B shows a top view of a sensor frame according to one embodiment. Fig. Figure 12C shows a side view of a frame according to one embodiment;

[0159] The in the Fig. The rise detection unit 480 shown in 12A to 12C can be essentially the same as or similar to the rise detection unit (e.g., the rise detection unit 480 in Fig. 8) be, which with reference to the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. 8 was described. For the components that relate to the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. As described in section 8, the components of the detection unit for the increase 480 are found in the Fig. 12A to 12C use the same reference symbols.

[0160] Regarding the Fig. In 12A to 12C, the detection unit for the rise 480 can comprise a sensor frame 481, a sensor 482, a pressure section 483, and / or a spring 484. The detection unit for the rise 480 can be located on the top of the housing (e.g., the housing 410 of Fig. 4) be arranged. The detection unit for the rise 480 can be configured with its lower opening. An upper end of the shaft (e.g., the shaft 440 in Fig. 8) can be selectively passed through an open lower part of the detection unit for the rise 480.

[0161] According to one embodiment, the sensor frame 481 can be designed such that the sensor 482, the pressure section 483 or the spring 484 is received or mounted therein.

[0162] In one embodiment, the pressure section 483 can be housed in the sensor frame 481. The pressure section 483 can be arranged on the top of the shaft 440, with the rise detection unit 480 mounted on the housing 410. The pressure section 483 can be arranged on the axis of rotation of the shaft 440. When the shaft 440, which can move up or down, moves upwards by a predetermined distance or more, the pressure section 483 can be pushed upwards to move.

[0163] In one embodiment, the spring 484 can be designed to push the pressure section 483 downwards. The pressure section 483 can be pushed upwards by the shaft 440. When the pressure on the shaft 440 is released, the pressure section 483 can return to its position prior to the pressure operation (hereinafter referred to as the "pressureless position") by the spring 484.

[0164] In one embodiment, the sensor 482 can be configured as a pair. For example, the sensor 482 can comprise an infrared sensor. The sensor 482 can comprise a light emitter 4821 and a detector 4822. The light emitter 4821 can be an optical device configured to emit light (e.g., infrared rays). The detector 4822 can be a device configured to detect light (e.g., infrared radiation) emitted by the light emitter 4821.

[0165] According to one embodiment, the sensor frame 481 can include a pair of sensor holders 4811 which make it possible to arrange the pair of sensors 482 described above in a position in which they are opposite each other and spaced apart from one another.

[0166] In one embodiment, the sensor frame 481 can include a through-hole 4812. The through-hole 4812 can be formed in each pair of sensor mounts 4811. When a pair of sensors 482 are mounted on the sensor mounts 4811, a through-hole 4812 can be positioned so that the light generated by the light emitter 4821 passes through it. When the two sensors 482 are mounted on the sensor mounts 4811, another through-hole 4812 can be positioned so that the light generated by the light emitter 4821 passes through to the detector 4822.

[0167] According to one embodiment, when the pressure section 483 is in a pressureless position, it can close off a space between the pair of through holes 4812. In a state where the pressure section 483 is not pressed by the shaft 440, the detector 4822 can be positioned so that it does not detect the light generated by the light emitter 4821.

[0168] According to one embodiment, the space between the pair of through-holes 4812 can be opened by pushing the pressure section 483 upwards through the shaft 440. When the pressure section 483 is pushed through the shaft 440 and the space between the pair of through-holes 4812 subsequently opens, the detector 4822 can detect the light from the light emitter 4821. As will be described later, the control unit (e.g., the control unit 350 in Fig. 3) determine that the upward movement of the first element 450 (or the wave 440 or the cleaning cloth module 500) has been completed when the detector 4822 detects the light from the light emitter 4821.

[0169] Fig. Figures 13A to 13E show views describing an operating process of a cleaning drive unit according to a direction of rotation according to an embodiment.

[0170] The in the Fig. The cleaning drive unit 400 shown can have essentially the same or a similar configuration as the one in the Fig. , Fig. , Fig. , Fig. until Fig. illustrated cleaning drive unit (e.g. the cleaning drive unit 400 in Fig. 4) exhibit. For components that are substantially the same or similar to those specified with reference to the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. The components described in section 8 are among those of the cleaning drive unit 400, which are located in the Fig. The same reference symbols are used in sections 13A to 13E.

[0171] The power coupling transmission part 432, which will be described later, can rotate in the first direction and the second direction by the rotation of the motor 420. The first direction can, for example, refer to a forward direction. The second direction can be the opposite of the first direction. The second direction can, for example, refer to a reverse direction.

[0172] According to one embodiment, the cleaning cloth module 500 can be raised or lowered according to the direction of rotation of the motor 420. For example, the cleaning cloth module 500 can be lowered when the motor 420 rotates in the first direction (or the forward direction). For example, the cleaning cloth module 500 can be raised when the motor 420 rotates in the second direction (or the reverse direction).

[0173] The cleaning drive unit 400 according to one embodiment of the disclosure can easily raise or lower the cleaning cloth module 500 by using only the rotational force of the motor 420, without requiring separate operation by a user.

[0174] Fig. Figure 13A shows the cleaning drive unit 400 in a state in which the cleaning cloth P is in close contact with the floor surface (hereinafter referred to as the "first state"). The first state may, for example, refer to a state in which the shaft 440 is lowered to its maximum extent. The first state may, for example, refer to a state in which the first element 450 is lowered to its maximum extent. The first state may, for example, refer to a state in which the first element 450 is supported by the locking lug 441 of the second element 460. The first state may, for example, refer to a state in which the guide projection 452 of the first element 450 is in contact with the stop 466 of the second element 460.

[0175] Fig. Figure 13B shows an operation in which the power coupling gear part 432 rotates in the second direction, causing the cleaning cloth module 500 to move upwards. When the power coupling gear part 432 is rotated in the second direction by the rotation of the motor 420, the shaft 440, which is coupled to the power coupling gear part 432, can also be rotated in the second direction. In such a case, the first element 450 can be rotated in the second direction by power transmission from the shaft 440.

[0176] In Fig. In 13B, the second element 460 can be prevented from rotating by the unidirectional body of revolution 470. The unidirectional body of revolution 470 can refer to a body of revolution that is only allowed to rotate in one direction. For example, the unidirectional body of revolution 470 can be configured such that the second element 460 rotates only in the first direction.

[0177] Since the second element 460 is prevented from rotating by the unidirectional rotating body 470, the first element 450 can rotate in the second direction relative to the second element 460. In this case, the first element 450 can move upwards, while the guide projection 452 of the first element 450 moves along the guide groove 462 of the second element 460. The cleaning cloth module 500 and the shaft 440 coupled to the first element 450 can also move upwards.

[0178] Fig. Figure 13C shows the cleaning drive unit 400 with the cleaning cloth module 500 in its fully lowered state (hereinafter referred to as the "second state"). The second state can, for example, refer to a state in which the first element 450 is lowered to its maximum extent. The second state can, for example, refer to a state in which the first element 450 reaches the upper surface of the second element 460.

[0179] According to one embodiment, the drive of the motor 420 can be interrupted when the cleaning cloth module 500 reaches the second state. During the upward movement, the shaft 440 pushes the pressure section 483 upwards, which, as described above with reference to the Fig. 12A to 12C, which can be detected by the sensors 482. The detection signal of the sensor 482 can be sent to the control unit (e.g., the control unit 350 of Fig. 3) are transmitted, and then 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.

[0180] According to one embodiment, in contrast to the embodiment shown, even if the detection unit for the increase 480 is omitted, it can be determined whether the cleaning cloth module 500 has reached the second state by detecting an increase in the current load of the motor 420 when the upward movement of the first element 450 is stopped.

[0181] Since the cleaning robot 100 automatically lifts the cleaning cloth module 500 to detach the cleaning cloth P from the floor surface, additional soiling by the cleaning cloth P on a floor surface covered with carpet or similar material can be prevented, which is an area where wet cleaning is unnecessary. Furthermore, when the cleaning robot 100 encounters an obstacle that forms a relatively small threshold during cleaning, it can automatically lift the cleaning cloth module 500 to prevent a collision between the cleaning cloth module 500 and the obstacle.

[0182] In one embodiment, the cleaning cloth module 500 and the shaft 440 can be separated from each other in the second state. During the movement between the first and second states, the path of travel of the cleaning cloth module 500 can be shorter than the path of travel of the shaft 440. The shaft 440 can be configured to move upwards after the cleaning cloth module 500 has been lowered to its maximum position. Accordingly, if the distance between the shaft 440 and the cleaning cloth module 500 is increased, the magnetic coupling between the shaft 440 and the cleaning cloth module 500 can be released and disconnected.

[0183] Fig. Figure 13D illustrates an operation in which the power coupling gear part 432 rotates in the first direction, causing the cleaning cloth module 500 to move downwards. When the power coupling gear part 432 rotates in the first direction due to the rotation of the motor 420, the shaft 440 coupled to it can also rotate in the first direction. In this case, the first element 450 can receive power from the shaft 440 to rotate in the first direction.

[0184] In Fig. 13D The second element 460 receives power from the first element 450, but can rotate at a slower speed in the first direction than the first element 450. For example, the second element 460 can rotate more slowly than the first element 450 due to the frictional force with the second bearing 493 and / or the unidirectional rotary gear 475. Accordingly, the first element 450 can rotate relative to the second element 460 in the first direction. In this case, the first element 450 moves downwards, while the guide projection 452 of the first element 450 moves along the guide groove 462 of the second element 460. The cleaning cloth module 500 and the shaft 440 coupled to the first element 450 can also move downwards.

[0185] Fig. Figure 13E shows the cleaning drive unit 400 in a state (e.g., the first state) in which the cleaning cloth module 500 is lowered to its maximum position. When the cleaning cloth module 500 is lowered to its maximum position, the guide projection 452 of the first element 450 can come into contact with the stop 466 of the second element 460. In this case, while the first element 450 rotates and presses against the stop 466, the second element 460 can also rotate in the first direction along with the first element 450. For example, in the first state, the first direction of rotation of the rotational speed of the first element 450 can be essentially the same as the first direction of rotation of the rotational speed of the second element 460.

[0186] Fig. Figure 14 shows a perspective view of a cleaning drive unit according to one embodiment. Fig. Figure 15 is a side view of a cleaning drive unit according to one embodiment. Fig. Figure 16 shows an exploded view of a cleaning drive unit according to one embodiment. Fig. Figure 17 is a cross-sectional view of a cleaning drive unit according to one embodiment.

[0187] The in the Fig. 14, Fig. 15, Fig. 16 to Fig. The cleaning drive unit 1400 shown in Figure 17 can be installed in the cleaning robot of the Fig. 1, Fig. 2 to Fig. 3 includes its (e.g. the cleaning robot 100 from Fig. 1 or the cleaning robot 300 from Fig. 3) The ones in the Fig. The cleaning drive unit 1400 shown in Figure 17 can be used to clean the cleaning drive unit according to Fig. 3 (e.g. the cleaning drive unit 362 in Fig. 3) replace. The ones in the Fig. , Fig. , Fig. until Fig. The illustrated cleaning drive unit 1400 can be electrically connected to the control unit from Fig. 3 connected. Among the components of the cleaning drive unit 1400, which are in the Fig. , Fig. , Fig. until Fig. As shown, essentially the same components as those of the cleaning drive unit (e.g., the cleaning drive unit 400) are used. Fig. 4), which are in the Fig. The same reference symbols are used as shown. The ones in the Fig. , Fig. , Fig. until Fig. The cleaning drive unit 1400 shown is only an example, and the structure of the cleaning drive unit 1400 is not limited to the structure shown.

[0188] With reference to the Fig. 14, Fig. 15, Fig. 16 to Fig. 17 The cleaning drive unit 1400 can comprise a housing 410, a motor 420, a gear assembly 430, a shaft 440, a first element 450, a second element 1460, a unidirectional rotating body 1470 and / or a rise detection unit 480.

[0189] In one embodiment, the second element 1460 can be coupled to the first element 450. The second element 1460 and the first element 450 can be coupled to each other by threaded coupling. The first element 450 can be inserted into the second element 1460 to be threaded together. The second element 1460 can be arranged outside the first element 450. For example, the width of the second element 1460 can be greater than the width of the first element 450. For example, the second element 1460 can be referred to as a second bushing.

[0190] In one embodiment, the second element 1460 can be arranged to support the first element 450. The second element 1460 can reduce vibration while the first element 450 rotates on the shaft 440. The second element 1460 can reduce the transverse vibration of the first element 450.

[0191] In one embodiment, the second element 1460 can comprise a guide groove 1462. The guide groove 1462 can be formed on an inner surface of the second element 1460. The guide groove 1462 can be inclined and extend circumferentially on the inner circumferential surface of the second element 1460. The guide groove 1462 can have a shape such as a threaded groove.

[0192] According to one embodiment, the length of the guide groove 1462 of the second element 1460 can be greater than or equal to the circumferential length of the second element 1460.

[0193] In one embodiment, the guide projection 452 of the first element 450 can be coupled to the guide groove 1462 of the second element 1460. When the first element 450 rotates relative to the second element 1460 while coupled to it, the guide projection 452 can move along the guide groove 1462, allowing the first element 450 to move up and down. The guide groove 1462 can have an inclined profile, allowing the first element 450 to move up or down as it rotates.

[0194] In one embodiment, the size of the guide projection 452 of the first element 450 can be smaller than the size of the guide groove 1462 of the second element 1460. For example, the projection length of the guide projection 452 can be less than the depth of the guide groove 1462. For example, the width of the guide projection 452 can be less than the width of the guide groove 1462.

[0195] A vertical movement distance corresponding to the number of revolutions of the cleaning cloth module 500 can be set based on the inclination angle of the guide groove 1462, which is formed on the inner surface of the second element 1460.

[0196] In one embodiment, the guide groove 1462 can include a stop 1466 located at its lower end. The stop 1466 can serve to prevent the first element 450 from moving downwards by resisting the rotational force of the guide projection 452 of the first element 450. When the guide projection 452 comes into contact with the stop 1466, the second element 1460 can absorb the rotational force from the first element 450 and rotate together with the first element 450.

[0197] According to one embodiment, the second element 1460 can be configured with an upper section and a lower section that are open. For example, a section (e.g., the shaft extension part 4321) of the power coupling gear part 432 can be arranged to extend through the open upper side of the first element 450. For example, a part of the first element 450 can be configured to extend through the open recess of the first element 450.

[0198] In one embodiment, the unidirectional rotating body 1470 can be arranged in the housing 410. The unidirectional rotating body 1470 can be configured to rotate in only one of two directions, either the first or the second. For example, the unidirectional rotating body 1470 can be configured to rotate in only one of two directions, clockwise or counterclockwise. For example, the unidirectional rotating body 1470 can be configured to rotate only in one of the forward or reverse directions. For example, the unidirectional rotating body can be a one-way bearing that can rotate in only one direction, but is not limited to this. The unidirectional rotating body 1470 can have an open cylindrical shape.

[0199] According to one embodiment, the unidirectional rotating body 1470 can be manufactured in the form of a roller or a bead. The unidirectional rotating body 1470 can include a coupling mechanism that operates according to the direction of rotation. The coupling mechanism can serve to enable or prevent rotation by moving the roller or bead according to the direction of rotation.

[0200] In one embodiment, the unidirectional rotating body 1470 can be arranged to surround the outer circumferential surface of the second element 1460. The diameter of the unidirectional rotating body 1470 can be larger than the diameter of the second element 1460. The unidirectional rotating body 1470 is configured to be arranged between the second element 1460 and the housing 410 to act as a bearing and to allow the second element 1460 to rotate in only one direction.

[0201] The second element 1460 of the Fig. 14, Fig. 15, Fig. 16 to Fig. 17 can, for example, be designed such that a tooth section formed on its outer circumferential surface (e.g. tooth section 464 of Fig. 8) in contrast to the second element (e.g. the second element 460 of Fig. 8) the Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. 8 is omitted.

[0202] According to one embodiment, the cleaning drive unit 1400 can further comprise a pressure device 1490. The pressure device 1490 can, for example, be arranged between the cleaning cloth module 500 and the shaft 440. The pressure device 1490 can be arranged to push the cleaning cloth module 500 and the shaft 440 outwards in opposite directions to each other. For example, the pressure device 1490 can push the cleaning cloth module 500 downwards to bring the cleaning cloth P into close contact with the floor surface.

[0203] The pressure device 1490 can press the cleaning cloth module 500 downwards to increase the frictional force between the cleaning cloth P attached to the cleaning cloth module 500 and the floor surface. The pressure device 1490 can enhance a cleaning effect by increasing the frictional force between the cleaning cloth P and the floor surface. The pressure device 1490 can, for example, be an elastic body. For example, the pressure device 1490 can be a spring. For example, in the case of the pressure device 1490 that includes a spring, the cleaning cloth P can be brought into close contact with the floor surface using a restoring force (or elastic restoring force) of the spring. However, the disclosure is not limited to this, and the pressure device 1490 can include any configuration that a skilled person can arrange to press the cleaning cloth module 500 downwards.

[0204] The pressure device 1490 can mitigate an impact exerted on the cleaning cloth module 500. If an obstacle forming a step edge on the floor surface is encountered during the cleaning robot's operation (e.g., the cleaning robot 100), the pressure device 1490 can cushion the impact. Fig. 1) If the cleaning cloth module 500 collides with the pressure device, the pressure device 1490 can mitigate the impact exerted on the cleaning cloth module 500. Therefore, the pressure device 1490 can be used to prevent the cleaning drive unit 1400 from being damaged by an obstacle on the floor surface.

[0205] Although not shown here, according to one embodiment the cleaning cloth module 500 can also include a shielding element (e.g. the shielding element 531 in Fig. 7) to shield a magnetic force below the second magnet body 530, as in Fig. 7 shown. The one in the Fig. 16 and Fig. The cleaning cloth module 500 shown in section 17 can be replaced by the one in the Fig. 7 and Fig. 8 Cleaning cloth module shown (e.g. the cleaning cloth module 500 from Fig. 7) be replaced.

[0206] The Fig. Figures 18A to 18E are views describing an operating process of a cleaning drive unit according to a direction of rotation, according to an embodiment of the disclosure.

[0207] The in the Fig. The cleaning drive unit 1400 shown in 18A to 18E can be essentially the same or similar to the one shown in the Fig. 14, Fig. 15, Fig. 16 to Fig. 17 shown cleaning drive unit (e.g. the cleaning drive unit 1400 from Fig. 4) be. Among the components of the cleaning drive unit 1400, which are located in the Fig. 18A to 18E are shown for components that are substantially the same or similar to those shown with respect to the Fig. 14, Fig. 15, Fig. 16 to Fig. The same reference symbols were used in the 17 documents described.

[0208] The power coupling transmission part 432, which will be described later, can rotate in the first direction and in the second direction due to the rotation of the motor 420. The first direction can, for example, refer to the forward direction. The second direction can be the opposite direction to the first. The second direction can, for example, refer to the reverse direction.

[0209] According to one embodiment, the cleaning cloth module 500 can be raised or lowered according to the direction of rotation of the motor 420. For example, the cleaning cloth module 500 can be lowered when the motor 420 rotates in the first direction (or forward direction). For example, the cleaning cloth module 500 can be raised when the motor 420 rotates in the second direction (or reverse direction).

[0210] According to one embodiment of the disclosure, the cleaning drive unit 1400 can effortlessly raise or lower the cleaning cloth module 500 using only the rotational force of the motor 420 without separate intervention by the user.

[0211] Fig. Figure 18A shows the cleaning drive unit 1400 in a state in which the cleaning cloth P is in close contact with the floor surface (hereinafter referred to as the "first state"). The first state may, for example, refer to a state in which the shaft 440 is lowered to its maximum extent. The first state may, for example, refer to a state in which the first element 450 is lowered to its maximum extent. The first state may, for example, refer to a state in which the first element 450 is supported by the locking lug 441 of the second element 1460. The first state may, for example, refer to a state in which the guide projection 452 of the first element 450 is in contact with the stop 1466 of the second element 1460.

[0212] Fig. Figure 18B shows an operation in which the power coupling gear part 432 rotates in the second direction, causing the cleaning cloth module 500 to move upwards. When the power coupling gear part 432 is rotated in the second direction by the rotation of the motor 420, the shaft 440, which is coupled to the power coupling gear part 432, can also rotate in the second direction. In this case, the first element 450 can rotate in the second direction by receiving power from the shaft 440.

[0213] Referring to Fig. In 18B, the second element 1460 can be prevented from rotating by the unidirectional body of revolution 1470. The unidirectional body of revolution 1470 can refer to a body of revolution that is only allowed to rotate in one direction. For example, the unidirectional body of revolution 1470 can be configured such that the second element 1460 rotates only in the first direction.

[0214] Since the second element 1460 is prevented from rotating by the unidirectional rotating body 1470, the first element 450 can rotate in the second direction relative to the second element 1460. In this case, the first element 450 can move upwards while the guide projection 452 of the first element 450 moves along the guide groove 1462 of the second element 1460. The cleaning cloth module 500 and the shaft 440 coupled to the first element 450 can also move upwards together.

[0215] Fig. Figure 18C shows the cleaning drive unit 1400 with the cleaning cloth module 500 in its fully lowered state (hereinafter referred to as the 'second state'). The second state may, for example, refer to a state in which the first element 450 is lowered to its maximum extent. The second state may, for example, refer to a state in which the first element 450 reaches the upper surface of the second element 1460.

[0216] According to one embodiment, the drive of the motor 420 can be interrupted when the cleaning cloth module 500 reaches the second state. During the upward movement, the shaft 440 pushes the pressure section 483 upwards, which, as described above with reference to the Fig. As described in sections 12A to 12C, the sensor 482 can detect the state. A detection signal from sensor 482 is transmitted to control unit 350, and in response to this signal, control unit 350 can determine that the cleaning cloth module 500 has reached the second state. When control unit 350 determines that the cleaning cloth module 500 has reached the second state, it can stop the operation of motor 420.

[0217] According to one embodiment, in contrast to the embodiment shown, even if the detection unit for the increase 480 is omitted, it can be determined whether the cleaning cloth module 500 has reached the second state by detecting an increase in the current load of the motor 420 when the upward movement of the first element 450 is stopped.

[0218] By automatically lifting the cleaning cloth module 500 to detach the cleaning cloth P from the floor surface, the cleaning robot 100 can prevent additional soiling from the cleaning cloth P in floor areas that do not require wet cleaning, such as carpets or similar surfaces. Furthermore, the cleaning cloth module 500 can automatically lift itself when the cleaning robot 100 crosses a relatively low-profile obstacle during cleaning to prevent a collision between the cleaning cloth module 500 and the obstacle.

[0219] According to one embodiment, in the second state, the cleaning cloth module 500 and the shaft 440 can be separated from each other. During the movement between the first and second states, the path of travel of the cleaning cloth module 500 can be shorter than the path of travel of the shaft 440. The shaft 440 can be configured to continue moving upwards after the cleaning cloth module 500 has been lowered to its maximum position. Accordingly, if the distance between the shaft 440 and the cleaning cloth module 500 is increased, the magnetic coupling between the shaft 440 and the cleaning cloth module 500 can be released, and they can be separated.

[0220] Fig. Figure 18D shows an operation in which the power coupling gear part 432 rotates in the first direction, causing the cleaning cloth module 500 to move downwards. When the power coupling gear part 432 rotates in the first direction due to the rotation of the motor 420, the shaft 440 coupled to it can also rotate in the first direction. In this case, the first element 450 can be driven by the shaft 440 and rotate in the first direction.

[0221] With reference to Fig. Although the second element 1460 receives power from the first element 450, it can rotate at a slower speed in the first direction than the first element 450. For example, the second element 1460 can rotate more slowly than the first element 450 due to friction with the unidirectional rotating body 1470. Accordingly, the first element 450 can rotate relative to the second element 1460 in the first direction. In this case, the first element 450 can move downwards while the guide projection 452 of the first element 450 moves along the guide groove 1462 of the second element 1460. The cleaning cloth module 500 and the shaft 440 coupled to the first element 450 can also move downwards together.

[0222] Fig. Figure 18E shows the cleaning drive unit 1400 in a state (e.g., a first state) in which the cleaning cloth module 500 is lowered to its maximum position. When the cleaning cloth module 500 is lowered to its maximum position, the guide projection 452 of the first element 450 can come into contact with the stop 1466 of the second element 1460. Here, when the first element 450 rotates and presses against the stop 1466, the second element 1460 can also rotate in the first direction together with the first element 450. For example, in the first state, the rotational speed in the first direction of the first element 450 can be essentially equal to the rotational speed in the first direction of the second element 1460.

[0223] Fig. Figure 19 is an example diagram illustrating, according to one embodiment of the disclosure, a process of attaching and removing a cleaning cloth of a cleaning robot to a docking station.

[0224] Referring to Fig. 19. The cleaning robot 100 can perform both the attachment and removal of the cleaning cloth at the docking station 1900. In one embodiment, when it is determined that the cleaning cloth needs to be replaced, the cleaning robot 100 can move to the docking station 1900, which is integrally equipped with a cleaning cloth feed unit 1910 for receiving a fresh cleaning cloth P and a cleaning cloth collection unit 1920 for collecting a used cleaning cloth P. According to an embodiment as described in Fig. As shown in Figure 19(a), the cleaning cloth collection unit 1920 can be arranged downstream of the cleaning cloth feed unit 1910 with respect to the direction of entry of the cleaning robot 100 to the docking station 1900, but the disclosure is not limited to this.

[0225] As in Fig. As shown in 19(b), the cleaning robot 100, which reaches the docking station 1900, can be positioned on the cleaning cloth collection unit 1920 and can then perform a cleaning cloth removal operation to collect the used cleaning cloth P from the cleaning cloth module located below (e.g. the cleaning cloth module 500). Fig. 4 or Fig. 14) to separate. In one embodiment, the used cleaning cloth P, separated from the cleaning cloth module 500, can be received in the cleaning cloth collection unit 1920 arranged below.

[0226] The cleaning robot can then proceed as described in section 100. Fig.As shown in Figure 19(c), the cleaning robot 100 moves backward to be positioned on the cleaning cloth feeder unit 1910, and then performs a cleaning cloth application operation to apply a fresh cleaning cloth P, fed by the cleaning cloth feeder unit 1910, to the cleaning cloth module 500. The cleaning robot 100 can then leave the docking station 1900 and continue cleaning.

[0227] According to various embodiments of the disclosure, it is possible to move the cleaning cloth module up and down using a threaded coupling lifting structure.

[0228] Various embodiments of the disclosure may include a structure capable of lifting a cleaning cloth from a floor surface as it passes through objects that may be contaminated upon contact with the cleaning cloth, such as a carpet or a raised area.

[0229] Various embodiments of the disclosure may include a structure capable of lifting a cleaning cloth from a floor surface so that the cleaning cloth does not get caught on a step edge when passing over a step edge.

[0230] According to various embodiments of the disclosure, the cleaning robot can move the cleaning cloth module up and down or rotate it in accordance with the direction of rotation of the motor.

[0231] Terms used in this disclosure serve only to describe certain embodiments and are not intended to limit the disclosure. For example, an element expressed in the singular should be understood as a term encompassing multiple elements unless the context clearly indicates that only the singular is meant. As used in the 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" can encompass any of the elements enumerated together in a corresponding phrase or all possible combinations thereof. Furthermore, the term "and / or," as used here, is to be understood as encompassing all possible combinations of one or more of the enumerated elements.For the purposes of this disclosure, terms such as "comprise," "include," "have," or "configured from" are intended only to indicate that the features, components, parts, or combinations thereof described in the disclosure exist, and the use of these terms is not intended to exclude the possibility of the presence or addition of one or more further features, components, parts, or combinations thereof. For the purposes of this documentation, terms such as "first," "second," etc., may be assigned to different components in any order and / or meaning; they serve solely to distinguish one component from another and are not intended to limit the respective components.

[0232] As used in the disclosure, the phrase "is configured to perform" can be used interchangeably with, for example, "is suitable to perform," "has the capability to perform," "is designed to perform," "is modified to perform," "is manufactured to perform," "is capable of performing," or the like, depending on the context. The term "is configured to perform" does not necessarily have to mean only "specifically designed to perform" in hardware. Instead, the phrase "a device configured to perform" can, under certain circumstances, mean that the device, together with another device or component, is capable of performing. For example, a formulation such as "a device that is configured (adapted) to perform A, B, and C" can imply a specific device for operating a corresponding operation or a general-purpose device that can encompass various operations, including the corresponding operation.

[0233] Meanwhile, the terms “top”, “bottom” and “forward / backward direction” used in the disclosure are defined on the basis of the drawings, and the shape and position of each component are not limited by these terms.

[0234] Although the foregoing description in the disclosure has been made generally with regard to specific embodiments, the disclosure is not limited to such specific embodiments and is understood to include all different modifications, equivalents and / or replacements of different embodiments.

Claims

[1] Cleaning robots, comprehensive: a motor (420); a shaft (440) that is coupled to the motor (420); a first element (450) that has the wave (440) and is movable between a first position and a second position that is lower than the first position; a second element (460, 1460) that is screwed to a first element (450); and a cleaning cloth module (500) coupled to the first element (450) and rotating at the same speed as the first element (450), wherein, when the first element (450) rotates in a first direction to move from the first position to the second position, the second element (460, 1460) rotates more slowly than the first element (450), so that the first element (450) moves downwards relative to the second element (460, 1460), and when the first element (450) rotates in the first direction at the second position, the second element (460, 1460) is rotatable at the same speed together with the first element (450). [2] Cleaning robot according to claim 1, wherein the first element (450) is formed integrally with the shaft (440) and rotates together with the shaft (450). [3] Cleaning robot according to claim 1 or 2, wherein the second element (460, 1460) is configured to rotate more slowly than the first element (450) due to frictional force. [4] Cleaning robot according to one of claims 1 to 3, wherein the shaft (440) is configured to move together with the first element (450) when the first element (450) moves between the first position and the second position, which is lower than the first position. [5] Cleaning robot according to one of claims 1 to 4, further comprising a gear arrangement (430) configured to transmit power from the motor (420) to the shaft (440), wherein the gear arrangement (430) comprises a shaft coupling opening (4321a) formed for penetration in the axial direction on a central section and configured to allow the shaft (440) to be coupled to it. [6] Cleaning robot according to any one of claims 1 to 5, further comprising a pressure device (491) configured to press the second element (460, 1460). [7] Cleaning robot according to one of claims 1 to 6, wherein the cleaning cloth module (500) is partially inserted into a lower opening of the first element (450) in order to be coupled to the first element (450). [8] Cleaning robot according to any one of claims 1 to 7, wherein the cleaning cloth module (500) comprises: a magnetic body (530) for magnetic coupling with the first element (450); and a shielding element (531) which is arranged below the magnet body (530) and is configured to shield the downward magnetic force of the magnet body (530). [9] Cleaning robot according to claim 8, wherein the shaft (440) is partially made of a magnetic material to enable magnetic coupling with the magnetic body (530) of the cleaning cloth module (500). [10] Cleaning robot according to any one of claims 1 to 9, wherein the first element (450) comprises at least one outwardly projecting guide projection (452) and the second element (460, 1460) comprises at least one inwardly recessed guide groove (462, 1462) to slidably receive the at least one guide projection (452). [11] Cleaning robot according to claim 10, wherein the second element (460, 1460) comprises a stop (466, 1466) arranged at one end of the at least one guide groove to contact the at least one guide projection, and when the first element (450) rotates in the first direction at the second position, the guide projection (452) contacts the stop (466, 1466) and the first element (450) is fixed in a vertical direction relative to the second element (460, 1460). [12] Cleaning robot according to claim 11, wherein the second element (460, 1460) rotates together with the first element (450) in a state in which the at least one guide projection (452) contacts the stop (466, 1466). [13] Cleaning robot according to one of claims 10 to 12, wherein the at least one guide projection (452) is arranged on an upper outer surface of the first element (450). [14] Cleaning robot according to one of claims 10 to 13, wherein the at least one guide groove (462, 1462) is designed such that it extends along a circumferential direction of the second element (460, 1460) and has an inclined surface with a predetermined angle. [15] Cleaning robot according to any one of claims 1 to 14, wherein the second element (460, 1460) comprises an inwardly extending threshold (463) configured to partially support the first element (450).

Images