Robot cleaner

Abstract

A robot cleaner according to an embodiment comprises: a motor; a shaft rotated by the motor; a first member which is coupled to receive rotation force from the shaft, and comprises a guide protrusion protruding outward; and a second member to which the guide protrusion is coupled to be slidably movable and which has a guide groove formed therein. The first member rotates relative to the second member so that the guide protrusion moves along the guide groove to move toward the upper or lower side of the second member.

Description

robot vacuum cleaner

[0001] Various embodiments of the present disclosure relate to a robot vacuum cleaner.

[0002] A robot vacuum cleaner is a device that moves around a cleaning area without user intervention and automatically cleans the area. Typically, a robot vacuum cleaner can either suck up foreign substances like dust accumulated on a surface (e.g., a floor) or wipe away foreign substances like dirt attached to the surface with a cleaning cloth. Among these robot vacuum cleaners, there are those that attach a cleaning cloth (or mop) to one side and rotate the cleaning cloth to wipe away foreign substances attached to the surface.

[0003] When using a cleaning cloth, if the cloth comes into contact with fabrics like carpets or rugs, it can easily become wet and cause moisture-related contamination or odor. While robot vacuums can avoid objects prone to moisture contamination during automatic cleaning, this can reduce cleaning efficiency.

[0004] Additionally, if the robot vacuum cleaner passes over a step while performing wet cleaning, the step may get caught in the cleaning cloth attached to the cleaning cloth module.

[0005] In one embodiment, a robot cleaner may include a motor, a shaft configured to be rotated by the motor, a first member configured to receive rotational force from the shaft and including a guide protrusion protruding outward, and a second member including a guide groove formed on the inside, the second member being coupled to the first member such that the guide protrusion can slide relative to the guide groove. The first member may be configured to rotate relative to the second member, such that the guide protrusion moves along the guide groove and moves in an upward or downward direction of the second member. The shaft may be configured to rotate together with the first member.

[0006] According to one embodiment, the robot cleaner may further include a cleaning cloth module coupled to the first member so as to receive rotational force from the first member.

[0007] According to one embodiment, the cleaning cloth module may be configured to move up and down together with the first member.

[0008] In one embodiment, the robot cleaner may further include a unidirectional rotating member directly or indirectly coupled to the second member such that the second member rotates in only one direction.

[0009] According to one embodiment, the unidirectional rotating body may be arranged to surround the outer circumferential surface of the second member.

[0010] In one embodiment, the second member may include a gear-shaped tooth portion protruding outwardly on an outer surface. The robot cleaner may include a unidirectional rotation gear configured to connect the second member and the unidirectional rotation body by engaging the tooth portion.

[0011] In one embodiment, the unidirectional rotating body may be a one-way bearing.

[0012] According to one embodiment, the second member may include a stopper positioned at an end of the guide groove to stop movement of the guide protrusion.

[0013] According to one embodiment, the second member may include a guide protrusion insertion hole formed open on the upper surface for the guide protrusion to be inserted into the guide groove.

[0014] In one embodiment, the second member may include a step portion extending inwardly from a lower end of the outer surface and configured to selectively support the first member accommodated within the second member.

[0015] According to one embodiment, the guide protrusion may be arranged on the upper outer side of the first member.

[0016] In one embodiment, the robot cleaner may further include a gear assembly configured to transmit power of the motor to the shaft.

[0017] In one embodiment, the motor may further include a worm-forming portion configured to engage with the gear assembly.

[0018] According to one embodiment, the gear assembly may include a power transmission gear portion coupled to the motor and a shaft coupling gear portion coupled to the power transmission gear portion and the shaft.

[0019] According to one embodiment, the sanggi shaft coupling gear portion may include an axial extension extending from the center in a downward axial direction.

[0020] According to one embodiment, the shaft coupling gear portion may include a shaft coupling opening formed axially through the center thereof to allow the shaft to be coupled thereto.

[0021] According to one embodiment, the shaft coupling gear portion, the shaft, and the first member may be coupled to rotate together about the same rotational axis.

[0022] According to one embodiment, the guide groove may be formed to extend along the circumferential direction of the second member as an inclined surface having a certain angle.

[0023] In one embodiment, the shaft may include a first magnetic body disposed at the bottom.

[0024] In one embodiment, the robot cleaner may further include a cleaning cloth module having a second magnetic body coupled to the first magnetic body and a shielding member positioned below the second magnetic body and configured to shield a magnetic force directed downward from the first magnetic body. The cleaning cloth module may be configured to receive rotational power from at least one of the shaft or the first member.

[0025] The effects that can be obtained from the exemplary embodiments of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly derived and understood by those skilled in the art to which the exemplary embodiments of the present disclosure pertain from the following description. In other words, unintended effects resulting from implementing the exemplary embodiments of the present disclosure can also be derived by those skilled in the art from the exemplary embodiments of the present disclosure.

[0026] FIG. 1 is a perspective view of a robot vacuum cleaner according to one embodiment.

[0027] FIG. 2 is a bottom view of a robot vacuum cleaner according to one embodiment.

[0028] FIG. 3 is a functional block diagram for explaining the relationship between components centered on the control and operation of a robot vacuum cleaner according to one embodiment.

[0029] FIG. 4 is a perspective view of a cleaning drive unit and a cleaning cloth module according to one embodiment.

[0030] FIG. 5 is a side view of a cleaning drive unit and a cleaning cloth module according to one embodiment.

[0031] Figure 6 is a drawing in which some of the components in Figure 5 are omitted.

[0032] Figure 7 is an exploded perspective view of a cleaning drive unit and a cleaning cloth module according to one embodiment.

[0033] Fig. 8 is a cross-sectional view of a cleaning drive unit according to one embodiment.

[0034] FIG. 9 is a drawing for explaining the gear assembly structure of a cleaning drive unit according to one embodiment.

[0035] FIG. 10a is a top perspective view of a second member according to one embodiment.

[0036] Figure 10b is a cross-sectional view taken along line XX of Figure 10a.

[0037] FIG. 10c is a plan view of a second member according to one embodiment.

[0038] FIG. 10d is a bottom view of a second member according to one embodiment.

[0039] FIG. 11a is a top perspective view of a first member according to one embodiment.

[0040] Figure 11b is a plan view of a first member according to one embodiment.

[0041] Figure 12a is an exploded perspective view of a rising detection unit according to one embodiment.

[0042] FIG. 12b is a bottom view of a sensor frame according to one embodiment.

[0043] Figure 12c is a side view of a frame according to one embodiment.

[0044] FIGS. 13a to 13e are drawings for explaining the operation process of the cleaning drive unit according to the rotation direction according to one embodiment.

[0045] Fig. 14 is a perspective view of a cleaning drive unit according to one embodiment.

[0046] Fig. 15 is a side view of a cleaning drive unit according to one embodiment.

[0047] Fig. 16 is an exploded perspective view of a cleaning drive unit according to one embodiment.

[0048] Fig. 17 is a cross-sectional view of a cleaning drive unit according to one embodiment.

[0049] FIGS. 18A to 18E are drawings for explaining the operation process of the cleaning drive unit according to the rotation direction according to one embodiment.

[0050] FIG. 19 is an exemplary drawing showing a process of attaching and detaching a cleaning cloth of a robot cleaner from a docking station according to one embodiment.

[0051] The following description refers to the attached drawings, and specific examples of implementations are illustrated within the drawings. Furthermore, other examples may be utilized and structural changes may be made without departing from the scope of the various examples.

[0052] The various embodiments used to illustrate the principles of the present disclosure, as illustrated in FIGS. 1 through 19 below and in this patent document, are for illustrative purposes only and should not be construed as limiting the scope of the present disclosure in any way. Those skilled in the art will appreciate that the principles of the present disclosure can be implemented in any appropriately arranged system or device.

[0053] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings so that those skilled in the art can easily implement the present disclosure. However, the present disclosure may be implemented in various different 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 identical or similar components. Furthermore, in the drawings and related descriptions, descriptions of well-known functions and configurations may be omitted for clarity and conciseness.

[0054] Fig. 1 is a perspective view of a robot vacuum cleaner according to one embodiment. Fig. 2 is a bottom view of the robot vacuum cleaner according to one embodiment.

[0055] Referring to FIGS. 1 and 2, according to one embodiment, the robot cleaner (100) may have a cleaning cloth (P) (e.g., a wet mop or a dry mop) that can come into contact with a surface to be cleaned (e.g., a floor) mounted on a cleaning cloth module (140) at the bottom. The robot cleaner (100) may include a cleaning cloth module (140). The robot cleaner (100) may perform cleaning (or mopping) to remove foreign substances attached to the surface to be cleaned by using the cleaning cloth (P) mounted on the cleaning cloth module (140). The robot cleaner (100) may, for example, rotate the mounted cleaning cloth (P) and remove foreign substances attached to the floor by using frictional force between the cleaning cloth (P) and the floor generated by the rotation of the cleaning cloth (P).

[0056] When the robot cleaner (100) passes over a location that requires wet cleaning, such as a carpet, during cleaning, it can raise and lower the cleaning cloth module (140) to separate it from the carpet. The structure for raising and lowering the cleaning cloth module (140) of the robot cleaner (100) will be described below.

[0057] According to one embodiment, a robot vacuum cleaner (100) may include a main body (110), a control panel (120), a driving unit (130), a cleaning cloth module (140), and a battery (150).

[0058] According to one embodiment, the main body (110) may form the actual exterior appearance of the robot cleaner (100). According to one embodiment, the main body (110) may include a cleaner body (111) and a cleaner cover (112). According to one embodiment, the cleaner body (111) may form the exterior appearance of a lower portion that is positioned adjacent to a floor surface (or a surface to be cleaned) while the robot cleaner (100) is driven for cleaning, and a side portion that extends upward from a corner of the lower portion to form a side surface of the robot cleaner (100). Although not specifically illustrated, according to one embodiment, the robot cleaner (100) may include a bumper that can alleviate impact from the outside on the side surface of the cleaner body (111).

[0059] According to one embodiment, a power button (113) may be arranged on one side of the cleaner body (111). According to one embodiment, the power button (113) may be turned on / off by a user to turn the power of the robot cleaner (100) on / off. The power button (113) may be implemented in the form of a button switch, for example, but is not limited thereto.

[0060] According to one embodiment, the cleaner body (111) may be formed so that the upper side is open. According to one embodiment, an internal space may be formed inside the cleaner body (111) in which various components for the operation of the robot cleaner (100) (e.g., the driving unit (360) of FIG. 3 or the liquid container) are arranged.

[0061] According to one embodiment, the cleaner cover (112) may form the upper exterior of the robot cleaner (100). According to one embodiment, the cleaner cover (112) may be coupled to the upper side of the cleaner body (111). According to one embodiment, the cleaner cover (112) may be provided to cover an opening of the cleaner body (111). According to one embodiment, the cleaner cover (112) may be detachably coupled to the cleaner body (111). After detaching the cleaner cover (112), the user may access components inside the main body (110) through the upper opening of the cleaner body (111). According to one embodiment, the cleaner body (111) and the cleaner cover (112) may be formed integrally.

[0062] According to one embodiment, the control panel (120) may be placed on the upper portion of the robot cleaner (100). The control panel (120) may be placed, for example, on the upper surface of the cleaner cover (112), but is not limited thereto.

[0063] According to one embodiment, the control panel (120) can receive various commands regarding the operation of the robot cleaner (100) from the user. According to one embodiment, the control panel (120) can include an input device such as a button, a switch, or a touch panel. In this case, the robot cleaner (100) can receive commands regarding the operation of the robot cleaner (100) from the user through the control panel (120) (e.g., start / stop cleaning, or change of cleaning mode). According to one embodiment, the control panel (120) can include a signal input device that receives various commands input from the user through an external remote control in the form of an infrared signal, and the present disclosure is not limited to a specific form.

[0064] According to one embodiment, the control panel (120) can provide the user with the current status of the operation of the robot cleaner (100). According to one embodiment, the control panel (120) can include a display device, such as a display. In this case, the robot cleaner (100) can visually convey information regarding the current status of the robot cleaner (100) (e.g., the current cleaning mode or battery status) to the user through the display device. According to one embodiment, the control panel (120) can be provided with the input device or display device described above as an integral unit, but is not limited thereto.

[0065] According to one embodiment, the driving unit (130) may be arranged on the back of the cleaner body (111). According to one embodiment, the driving unit (130) may be configured to enable free movement of the robot cleaner (100). The robot cleaner (100) may freely move through the cleaning space through the driving unit (130).

[0066] According to one embodiment, the driving unit (130) may include one or more wheels that are connected to a driving unit (e.g., the driving driving unit (361) of FIG. 3) and rotate by receiving power. The driving unit (130) may include, for example, a pair of main wheels (e.g., a first main wheel (131a) and a second main wheel (131b)). According to one embodiment, the first main wheel (131a) and the second main wheel (131b) may be arranged so that the balance of the robot cleaner (100) is maintained. The first main wheel (131a) and the second main wheel (131b) may be arranged, for example, at both edges of the rear surface of the cleaner body (111).

[0067] According to one embodiment, the driving unit (130) may include a first sub-wheel (132) or a second sub-wheel (133). According to one embodiment, each of the first sub-wheel (132) and the second sub-wheel (133) may be arranged forward (e.g., F direction) and rearward (e.g., R direction) in a direction orthogonal to the direction in which the first main wheel (131a) and the second main wheel (131b) are arranged.

[0068] The direction of movement of the robot cleaner (100) can be determined depending on how the movement of each of the first main wheel (131a) and the second main wheel (131b) is controlled. For example, when each of the first main wheel (131a) and the second main wheel (131b) is controlled at the same speed, the robot cleaner (100) can move forward (e.g., in the F direction) or backward (e.g., in the R direction). For example, when each of the first main wheel (131a) and the second main wheel (131b) is controlled at a different speed, the robot cleaner (100) can move by changing the direction of movement in response to a preset direction.

[0069] According to one embodiment, each of the first sub-wheel (132) and the second sub-wheel (133) may be positioned so that the balance of the robot cleaner (100) is maintained when the robot cleaner (100) moves forward (e.g., in the F direction) or backward (e.g., in the R direction). The first sub-wheel (132) may be positioned, for example, at the front portion (e.g., in the F direction) of the back surface of the cleaner body (111). The second sub-wheel (133) may be positioned, for example, at the rear portion (e.g., in the R direction) of the back surface of the cleaner body (111).

[0070] According to one embodiment, the cleaning cloth module (140) may be disposed at the bottom of the robot cleaner (100). The cleaning cloth module (140) may be disposed, for example, on the back of the cleaner body (111). According to one embodiment, the cleaning cloth module (140) may be disposed at the front of the back (e.g., in the F direction) of the cleaner body (111), but is not limited thereto. A cleaning cloth (P) (e.g., a wet mop or a dry mop) for wiping a surface to be cleaned, such as a floor, may be detachably coupled to the cleaning cloth module (140).

[0071] According to one embodiment, the cleaning cloth module (140) can rotate clockwise or counterclockwise together with the cleaning cloth (P) mounted on the cleaning cloth module (140). When the cleaning cloth module (140) rotates together with the cleaning cloth (P) coupled thereto, friction can occur between the cleaning cloth (P) and the floor surface, through which the robot cleaner (100) can remove foreign substances attached to the floor surface.

[0072] According to one embodiment, the cleaning cloth module (140) can be raised or lowered within a predetermined range in the height direction of the robot cleaner (100) (or in a direction approximately perpendicular to the ground) (e.g., in the U or D direction of FIG. 1).

[0073] According to one embodiment, the cleaning cloth module (140) may include a first cleaning cloth module (140a) or a second cleaning cloth module (140b). The first cleaning cloth module (140a) and the second cleaning cloth module (140b) may be configured to correspond to each other in terms of operation, structure, and shape.

[0074] According to one embodiment, the cleaning cloth module (140) (e.g., the first cleaning cloth module (140a) and the second cleaning cloth module (140b)) may each include a rotating member (e.g., the first rotating member (141a) or the second rotating member (141b)). The cleaning cloth (P) may be attached to the lower surface of the rotating member (141a, 141b).

[0075] According to one embodiment, the first rotating member (141a) and the second rotating member (141b) may have an overall circular plate shape, but are not limited thereto. According to one embodiment, the diameter of the first rotating member (141a) may be set to be equal to or smaller than the diameter of the cleaning cloth (P), but are not limited thereto. Similarly, the diameter of the second rotating member (141b) may be set to be equal to or smaller than the diameter of the cleaning cloth (P), but are not limited thereto.

[0076] According to one embodiment, the battery (150) may be disposed at the bottom of the robot cleaner (100). According to one embodiment, the battery (150) may be detachably provided downward from the back surface of the cleaner body (111), but the present disclosure is not limited thereto. For example, the battery (150) may be electrically connected to a driving unit (e.g., the driving unit (360) of FIG. 3) and may supply power to the driving unit (360). For example, the battery (150) may be electrically connected to a driving unit (e.g., the driving unit (361) of FIG. 3) and may supply power to the driving unit (361). For example, the battery (150) may be electrically connected to a cleaning unit (e.g., the cleaning unit (362) of FIG. 3) and may supply power to the cleaning unit (362). The battery (150) may be, but is not limited to, a rechargeable secondary battery.

[0077] According to one embodiment, the driving unit (e.g., the driving unit (360) of FIG. 3) may be provided, at least in part, inside the main body (110) of the robot cleaner (100). The driving unit (160), for example, may be disposed, at least in part, in an internal receiving space formed by the cleaner body (111). The driving unit (360) may include, for example, a motor and / or an actuator, and may include a plurality of components for supplying power to each of the aforementioned driving unit (130) or the cleaning cloth module (140).

[0078] According to one embodiment, the robot cleaner (100) may include a liquid container (not shown) configured to store liquid for wet cleaning. The liquid stored in the liquid container may be, for example, water, but is not limited thereto, and may also be a liquid substance such as soap or a solvent used for cleaning. The liquid container may be detachably arranged within an internal storage space of the cleaner body (111). A user may detach the cleaner cover (112) from the cleaner body (111) to open the upper portion of the cleaner body (111) to access the liquid container.

[0079] According to one embodiment, the robot cleaner (100) may include a liquid dispenser (not shown). The liquid dispenser may have, for example, one end fluidly connected to a liquid container and the other end fluidly connected to a cleaning cloth module (140) disposed below the robot cleaner (100). The liquid dispenser may be, for example, a pipe or a hose. The robot cleaner (100) may supply liquid (e.g., water) to a cleaning cloth (P) mounted on the cleaning cloth module (140) through the liquid container and / or the liquid dispenser.

[0080] Although not illustrated in FIGS. 1 and 2, the robot cleaner (100) may be equipped with a control unit (e.g., the control unit (350) of FIG. 3) that generates control commands for controlling the operation of each part of the robot cleaner (100). According to one embodiment, the control and operation of the robot cleaner (100) centered around the control unit (350) will be described in detail with reference to FIG. 3.

[0081] FIG. 3 is a functional block diagram for explaining the relationship between components centered on the control and operation of a robot vacuum cleaner according to one embodiment.

[0082] The robot cleaner (300) of FIG. 3 may have a configuration substantially identical or similar to that of the robot cleaner (100) of FIGS. 1 and 2. FIG. 3 may explain a block diagram related to the control of the robot cleaner (100) of FIGS. 1 and 2. For example, the robot cleaner (100) of FIGS. 1 and 2 may include the configurations illustrated in FIG. 3. For example, the robot cleaner (300) of FIG. 3 may include the configurations illustrated in FIGS. 1 and 2.

[0083] Referring to FIG. 3, the robot cleaner (300) may include at least one of a detection unit (310), a communication unit (320), an input unit (330), a memory (340), a control unit (350), or a driving unit (360).

[0084] According to one embodiment, the robot cleaner (300) may include a detection unit (310). The detection unit (310) may include a plurality of sensors or cameras for detecting the surrounding environment of the robot cleaner (300). The detection unit (310) may include, for example, a plurality of cameras to capture images in various directions. The distance sensor may include, but is not limited to, an ultrasonic sensor, a radar sensor, and / or a lidar sensor. The detection unit (310) may also include, for example, a microphone or an infrared sensor for detecting the surrounding environment. According to one embodiment, the detection unit (310) may be coupled to each cleaning cloth module (e.g., the cleaning cloth module (140) of FIG. 1) of the robot cleaner (300) to detect the contamination level of each cleaning cloth (e.g., the cleaning cloth (P) of FIG. 1) being used for cleaning, but the present disclosure is not limited thereto.

[0085] In one example, the robot cleaner (300) may include a communication unit (320) that supports signal transmission and reception with the outside. In one example, the communication unit (320) may receive and / or transmit wired and / or wireless signals between an external wired and / or wireless communication system, an external server, and / or other devices according to a predetermined wired and / or wireless communication protocol. In one example, the communication unit (320) may transmit and receive data according to a wireless Internet communication protocol, such as, for example, 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), or LTE-A (Long Term Evolution-Advanced). In one example, the communication unit (320) may transmit and receive data according to any short-range communication protocol, including, for example, Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra-Wide Band), ZigBee, NFC (Near Field Communication), Wi-Fi, Wi-Fi Direct, and Wireless USB (Universal Serial Bus) technologies. In one example, the communication unit (320) may receive a setting data signal input by a user from the user's mobile device in the form of a wireless signal according to a predetermined wireless communication protocol.In one example, the communication unit (320) may receive information and / or commands for controlling the operation of the robot cleaner (300) from an external server in the form of signals according to a predetermined wired / wireless communication protocol. The communication unit (320) may transmit various received signals to the control unit (350) described below. In one example, the communication unit (320) may transmit various data generated or acquired on the robot cleaner (300) in the form of wired / wireless signals according to a predetermined wired / wireless communication protocol, for example, to a user's mobile device or an external server.

[0086] In one example, the communication unit (320) may include a module for obtaining the location of the robot cleaner (300), such as a Global Positioning System (GPS) module or a Wi-Fi module. When the robot cleaner (300) utilizes a GPS module, information regarding the location of the robot cleaner (300) may be received using signals transmitted from GPS satellites. When the robot cleaner (300) utilizes a Wi-Fi module, information regarding the location of the robot cleaner (300) may be received based on information from a wireless access point (AP) that transmits and receives wireless signals with the Wi-Fi module.

[0087] According to one embodiment, the robot cleaner (300) may include an input unit (330). The input unit (330) may receive, for example, information regarding the operation mode of the robot cleaner (300) from a user. The input unit (330) may be configured as a device such as a key pad, a dome switch, a touch pad (static or electrostatic), a jog wheel, a jog switch, or a remote control. In addition to the input unit (330) described above, the user may also input information regarding the operation mode of the robot cleaner (300) using a portable device such as a terminal.

[0088] According to one embodiment, the robot cleaner (300) may include a memory (340). The memory (340) may include a circuit. According to one embodiment, the memory (340) may store data supporting various functions of the robot cleaner (300). The memory (340) may store, for example, a plurality of application programs (or applications) used in the robot cleaner (300), data for the operation of the robot cleaner (300), and / or commands. At least some of the application programs may be downloaded from an external server via wireless communication. At least some of the application programs may be stored in the memory (340) from the time of shipment for the basic functions of the robot cleaner (300). The application programs may be stored in the memory (340), for example, and driven by the control unit (350) to perform operations (or functions) of the robot cleaner (300). According to some embodiments, the memory (340) may be included as a part of the control unit (350). According to one embodiment, the memory (340) can store information for setting a driving path of the robot cleaner (300).

[0089] According to one embodiment, the robot cleaner (300) may include a control unit (350). According to one embodiment, the control unit (350) may control the operation of the robot cleaner (300) using, for example, a signal received from a detection unit (310), a communication unit (320), or an input unit (330). Although not specifically illustrated, the control unit (350) may include one or more processors.

[0090] According to one embodiment, the control unit (350) may include at least one circuit such as 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).

[0091] According to one embodiment, the control unit (350) may include a command receiving unit (351). The command receiving unit (351) may receive a driving-related command input from the outside through, for example, the aforementioned sensing unit (310), communication unit (320), or input unit (330). The command receiving unit (351) may receive a command from a user received from the aforementioned power button (113) and / or control panel (120). The command receiving unit (351) may receive each user command including an operation on / off command, a cleaning start or pause command, or a cleaning mode setting command.

[0092] According to one embodiment, the control unit (350) may include a cleaning cloth replacement determination unit (352) that determines whether the cleaning cloth (P) attached to the cleaning cloth module (140) needs to be replaced while the robot cleaner (300) is cleaning. According to one embodiment, the cleaning cloth replacement determination unit (352) may, for example, obtain a detection result of a contamination sensor (not shown) provided in the detection unit (310) and determine whether the cleaning cloth (P) needs to be replaced based on the obtained information. According to one embodiment, the cleaning cloth replacement determination unit (352) may determine whether the cleaning cloth (P) needs to be replaced based on the cleaning time that has elapsed since the cleaning cloth (P) was attached to the cleaning cloth module (140). According to one embodiment, the cleaning cloth replacement determination unit (352) may determine whether the cleaning cloth (P) needs to be replaced based on a command received from the command receiving unit (351).

[0093] According to one embodiment, the control unit (350) may include a driving path calculation unit (353) that calculates a driving path of the robot cleaner (300). According to one embodiment, the driving path calculation unit (353) may calculate the driving path of the robot cleaner (300) based on a predetermined algorithm, detection results detected by various sensors provided in the detection unit (310), and / or a user command received through the command reception unit (351). According to one embodiment, the driving path calculation unit (353) may calculate the driving path by taking into account detection results from the sensors provided in the detection unit (310).

[0094] According to one embodiment, when the cleaning cloth replacement determination unit (352) determines that the cleaning cloth (P) needs to be replaced, the driving path calculation unit (353) can calculate a driving path that moves the robot cleaner (300) to a preset location. For example, when the cleaning cloth replacement determination unit (352) determines that the robot cleaner (300) needs to be replaced, the cleaning cloth replacement determination unit (352) can calculate a driving path that moves the robot cleaner (300) to a docking station (e.g., the docking station (1900) of FIG. 19).

[0095] According to one embodiment, the control unit (350) may include a drive unit control command unit (354). According to one embodiment, the drive unit control command unit (354) may generate a control command to control each component of the drive unit (360) of the robot cleaner (300), for example, each motor and / or actuator of each drive unit (360), according to various commands received from a user or the outside through the command receiving unit (351) described above, detection results detected by various sensors provided in the detection unit (310) of the robot cleaner (300), and / or a driving path determined by the driving path calculation unit (353).

[0096] According to one embodiment, each component of the driving unit (360) may operate according to a command generated from the driving unit control command unit (354). According to one embodiment, the driving unit (360) may include a driving driving unit (361) and a cleaning driving unit (362).

[0097] According to one embodiment, the driving / movement of the robot cleaner (300) can be controlled according to a command generated from the driving unit control command unit (354). According to one embodiment, each component of the driving unit (e.g., the driving driving unit (361)) can operate to appropriately control the rotational direction and / or speed of the main wheel (e.g., the first main wheel (131a) or the second main wheel (131b) of FIG. 2) according to the command generated from the driving unit control command unit (354), thereby enabling the robot cleaner (300) to appropriately move in a required direction.

[0098] In one embodiment, the driving drive unit (361) may be configured to include a pair of driving drive units. Although not specifically illustrated, in one embodiment, each of the pair of driving drive units (361) may include a motor and an actuator configuration. Each of the pair of driving drive units (361) may be connected to each of the aforementioned driving units (e.g., the driving unit (130) of FIG. 1), such as the first main wheel (131a) and the second main wheel (131b), to provide power necessary to move the robot cleaner (100).

[0099] According to one embodiment, the rotation and / or up-and-down movement of the cleaning cloth module (e.g., the cleaning cloth module (140) of FIG. 2) may be controlled according to a command generated by the driving unit control command unit (354). For example, the driving unit control command unit (354) may control the rotation direction of each rotating member (e.g., the rotating members (141a, 141b) of the cleaning cloth module (140)) to control the up-and-down movement of the cleaning cloth module (140). In this case, the distance between the cleaning cloth module (140) and the floor surface may be adjusted.

[0100] According to one embodiment, in accordance with a command generated from the driving unit control command unit (354), the cleaning driving unit (262) can operate to appropriately adjust the rotation speed of each rotating member (141a, 141b) of the cleaning cloth module (140). In this case, the floor cleaning intensity of the robot cleaner (300) can be adjusted.

[0101] According to one embodiment, in accordance with a command generated from the driving unit control command unit (354), the cleaning driving unit (362) can raise or lower the cleaning cloth module (140) in the height direction.

[0102] In one embodiment, the cleaning drive unit (362) may be provided to include a pair of cleaning drive units (362). Although not explicitly shown, in one embodiment, each of the pair of cleaning drive units (362) may include a rotational motor and actuator configuration and may be connected to each of the aforementioned cleaning cloth modules (140), such as the first cleaning cloth module (e.g., the first cleaning cloth module (140a) of FIG. 2) and the second cleaning cloth module (e.g., the second cleaning cloth module (140b) of FIG. 2), to provide power necessary to rotate the rotational members (141a, 141b) of each cleaning cloth module.

[0103] According to one embodiment, the cleaning cloth module (140) can be separated from the cleaning drive unit (362) according to a command generated from the drive unit control command unit (354). For example, the cleaning drive unit (362) can separate the cleaning cloth module (140) from the cleaning drive unit (362) by moving the cleaning cloth module (140) upwards by the drive unit control command unit (354). A specific description of the operation of the robot cleaner (300) to automatically separate the cleaning cloth module (140) from the cleaning drive unit (362) will be described later.

[0104] Fig. 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 drawing showing some of the components omitted from Fig. 5. Fig. 7 is an exploded perspective view of a cleaning drive unit and a cleaning cloth module according to one embodiment. Fig. 8 is a cross-sectional view of a cleaning drive unit and a cleaning cloth module according to one embodiment.

[0105] The cleaning drive unit (400) illustrated in FIGS. 4 to 8 may have substantially the same configuration and function as the cleaning drive unit (362) described in FIG. 3. The cleaning drive unit (400) illustrated in FIGS. 4 to 8 may be mounted as a component of the robot cleaner (100) described above. The cleaning drive unit (400) illustrated in FIGS. 4 to 8 may be electrically connected to the control unit of FIG. 3 (e.g., the control unit (350) of FIG. 3). The cleaning drive unit (400) illustrated in FIGS. 4 to 8 is exemplary, and the structure of the cleaning drive unit (400) is not limited to the illustrated structure. The robot cleaner (100) may include a cleaning cloth module (500).

[0106] Referring to FIGS. 4 to 8, the cleaning drive unit (400) may include at least one of a housing (410), a motor (420), a gear assembly (430), a shaft (440), a first member (450), a second member (460), a unidirectional rotating body (470), a unidirectional rotating gear (475), or an elevation detection unit (480). Within the housing (410), for example, components such as a gear assembly (e.g., the gear assembly (430) of FIG. 9) for transmitting power generated from the motor (420) may be arranged. The cleaning cloth module (500) illustrated in FIGS. 4 to 8 may have the same overall structure and shape as the cleaning cloth module (140) described in FIGS. 1 and 2.

[0107] According to one embodiment, the housing (410) may form an accommodation space therein. At least one of a gear assembly (430), a first member (450), a second member (460), a unidirectional rotating body (470), or a unidirectional rotating gear (475) may be arranged within the housing (410). The housing (410) may be configured to accommodate a plurality of components for rotating and / or moving the cleaning cloth module (500) up and down. As illustrated, the housing (410) may be formed by combining a plurality of sub-housings to form one housing (410).

[0108] According to one embodiment, an opening (411) may be formed at the bottom of the housing (410). The opening (411) may be a portion formed so that a first member (450) and a shaft (440), which will be described later, may pass through it. The first member (450) may pass through the opening (411) and be coupled to the cleaning cloth module (500). The shaft (440) may pass through the opening (411) and be coupled to the cleaning cloth module (500).

[0109] In one embodiment, the gear assembly (430) may include a shaft-engaging gear portion (432). The shaft-engaging gear portion (432) may be arranged to transmit power from the motor (420) to the shaft (440). The shaft-engaging gear portion (432) may be arranged on the upper side of the second member (460).

[0110] According to one embodiment, the shaft coupling gear portion (432) may include an axial extension portion (4321). The axial extension portion (4321) may extend axially from a center lower portion of the shaft coupling gear portion (432). The axial extension portion (4321) may have a diameter smaller than that of the first member (450) or the second member (460) described below.

[0111] According to one embodiment, the shaft extension portion (4321) may include a shaft coupling opening (4321a) configured to allow at least a portion of the shaft (440) to be inserted. The shaft coupling opening (4321a) may be formed to vertically (or axially) penetrate the shaft coupling gear portion (432). The shaft coupling opening (4321a) may be formed at a central portion of the shaft coupling gear portion (432). The shaft (440) may be coupled to the shaft coupling gear portion (432) by being inserted into the opening formed inside the shaft extension portion (4321). In a state where a portion of the shaft (440) is inserted into the shaft coupling opening (4321a), the shaft (440) may be able to move up and down due to the upper and lower free space of the shaft coupling opening (4321a). For example, when the cleaning cloth module (500) is lifted upward, the shaft (440) can penetrate the shaft coupling opening (4321a) to pressurize the rising detection unit (480).

[0112] According to one embodiment, the shaft coupling opening (4321a) may have an angular cross-section. For example, the shaft coupling opening (4321a) may be formed by penetrating the shaft coupling gear portion (432) in a polygonal columnar shape. The cross-sectional shape of the shaft coupling opening (4321a) may 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) may also have a rectangular cross-section. By having a polygonal cross-section in this way, the power of the motor (420) may be transmitted to the shaft (440) coupled to the shaft coupling gear portion (432). However, the shape of the shaft coupling opening (4321a) is not limited thereto, and may have an oval shape.

[0113] In one embodiment, the width of the shaft coupling opening (4321a) may be greater than the width of the shaft (440). This difference in width may be provided so that the shaft (440) can be inserted into the shaft coupling opening (4321a).

[0114] According to one embodiment, the cleaning drive unit (400) may further include a first bearing (492). The first bearing (492) may be arranged around the shaft coupling gear unit (432). The first bearing (492) may reduce frictional force with a fixed partition (e.g., a part of the housing (410)) around the shaft coupling gear unit (432) while the shaft coupling gear unit (432) rotates, thereby reducing loss of rotational force. In addition, by providing the first bearing (492), wear of the shaft coupling gear unit (432) and the surrounding partition wall due to frictional force may be prevented or reduced.

[0115] According to one embodiment, the shaft (440) can be rotated by receiving power from the motor (420). The shaft (440) can be coupled with the gear assembly (430) to receive power from the motor (420). The shaft (440) can be positioned so that a portion of the lower side of the housing (410) protrudes. One end of the shaft (440) can be coupled with the cleaning cloth module (500). The shaft (440) can, for example, be selectively raised or lowered depending on the rotation direction of the motor (420).

[0116] According to one embodiment, the shaft (440) can be directly coupled with the gear assembly (430) to receive power from the motor (420). The shaft (440) can be coupled with the shaft coupling gear portion (432) to receive power from the motor (420). The shaft (440) can be positioned below the shaft coupling gear portion (432). The shaft (440) can be arranged to extend along the longitudinal direction of the axial extension portion (4321) of the shaft coupling gear portion (432). The rotational axis of the shaft (440) can be substantially the same as the rotational axis of the shaft coupling gear portion (432).

[0117] According to one embodiment, the shaft (440) may include a first magnetic body (442). The shaft (440) may be magnetically coupled to the cleaning cloth module (500). The first magnetic body (442) may be disposed at a lower end of the shaft (440). The first magnetic body (442) may be disposed, for example, at an end of the shaft (440) facing the cleaning cloth module (500). The first magnetic body (442) may be disposed, for example, at a lower end of a catch (441). The first magnetic body (442) may be magnetically coupled to a second magnetic body (530) of the cleaning cloth module (500) to be described later. For example, at least a portion of the shaft (440) may be made of a magnetic body.

[0118] According to one embodiment, by providing an axial extension (4321) of the shaft coupling gear portion (432), the coupling area between the shaft (440) and the shaft coupling gear portion (432) can be increased. For example, as the length of the axial extension (4321) increases, the contact area between the shaft (440) and the shaft coupling opening (4321a) can be increased. Due to the shape of the axial extension (4321), the contact area between the shaft (440) and the shaft coupling gear portion (4322) is increased, and as a result, power can be transmitted to the shaft (440) more stably.

[0119] According to one embodiment, the shaft (440) may be configured to fix the rotation axis of the cleaning cloth module (500). Since the shaft (440) coupled with the shaft coupling gear portion (432) is arranged to extend axially to the cleaning cloth module (500), the shaft (440) may have a role in fixing the cleaning cloth module (500) so that it can maintain its central position from centrifugal force and vibration generated due to rotation.

[0120] In one embodiment, the shaft (440) and the first member (450) may be integrally formed. For example, the shaft (440) and the first member (450) may be injection molded into a single configuration having a combined shape.

[0121] Various structures or methods may be applied to raise and / or lower the shaft (440) and the cleaning cloth module (500). For example, a driving unit for rotating the shaft (440) and a driving unit for vertically moving the shaft (440) may be provided, respectively, to control the movement of the shaft (440). In one embodiment of the present disclosure, a structure for rotating or vertically moving the shaft using a single driving unit, a motor (420), is described in detail.

[0122] According to one embodiment, the first member (450) may be coupled to the shaft (440). The first member (450) may receive power from the shaft (440). The first member (450) may be capable of rotating and / or moving up and down using the power transmitted from the shaft (440). The first member (450) may be coupled to move up and down together with the shaft (440). The first member (450) may be referred to as a first bushing.

[0123] In one embodiment, the first member (450) may have a generally cylindrical shape. The width of the first member (450) may be greater than the width of the shaft (440).

[0124] According to one embodiment, the first member (450) may include a first hollow portion (451). The first hollow portion (451) may be arranged so that the shaft (440) passes through it.

[0125] According to one embodiment, the first hollow portion (451) may have an angular cross-section. For example, the shape of the first hollow portion (451) may correspond to the cross-sectional shape of the shaft (440). For example, if the shaft (440) has a rectangular cross-section, the first hollow portion (451) may also have a rectangular cross-section. In this way, since the first hollow portion (451) has a polygonal cross-section, the power of the shaft (440) can be transmitted to the first member (450). However, the shape of the first hollow portion (451) is not limited thereto, and may have an oval shape.

[0126] According to one embodiment, the shaft (440) penetrates the first hollow portion (451) of the first member (450), and a catch (441) formed on the lower side of the shaft (440) catches on the peripheral surface of the first hollow portion (451), thereby allowing the shaft (440) to be coupled with the first member (450).

[0127] According to one embodiment, the first member (450) may include a guide protrusion (452). The guide protrusion (452) may be formed to protrude outward along the outer circumferential surface of the first member (450). The guide protrusion (452) may have, for example, a screw thread shape formed to be inclined along the circumferential direction of the first member (450). The guide protrusion (452) may be positioned on the upper portion of the first member (450). The guide protrusion (452) may be inserted into a guide groove (462) of a second member (460) to be described later, and may be arranged to move along the guide groove (462). The first member (450) may be moved up and down by rotating the guide protrusion (452) along the extension direction of the guide groove (462).

[0128] The first member (450) and the shaft (440) may be formed as separate components combined as shown, but are not limited thereto, and the first member (450) may have a shape in which it is formed integrally with the shaft (440). For example, the first member (450) and the shaft (440) may be injection-molded into an integral shape. When the first member (450) and the shaft (440) are formed integrally, the first member (450) may be directly coupled to the shaft coupling gear portion (432).

[0129] In one embodiment, the second member (460) may be coupled to the first member (450). The second member (460) and the first member (450) may be coupled to each other by a screw connection. The first member (450) may be inserted into the inside of the second member (460) and screw-connected. The second member (460) may be disposed on the outside of the first member (450). For example, the width of the second member (460) may be greater than the width of the first member (450). For example, the second member (460) may be referred to as a second bushing.

[0130] In one embodiment, the second member (460) may be arranged to support the first member (450). The second member (460) may reduce vibrations while the first member (450) is rotated by the shaft (440). The second member (460) may reduce transverse vibrations of the first member (450).

[0131] According to one embodiment, the second member (460) may include a guide groove (462). The guide groove (462) may be formed on an inner surface of the second member (460). The guide groove (462) may be formed to extend obliquely along a circumferential direction on the inner surface of the second member (460). The guide groove (462) may have, for example, a shape such as a screw groove.

[0132] According to one embodiment, the length of the guide groove (462) of the second member (460) may be greater than or equal to the circumference of the second member (460).

[0133] According to one embodiment, the guide protrusion (452) of the first member (450) may be coupled to the guide groove (462) of the second member (460). When the first member (450) is coupled to the second member (460), and the first member (450) rotates relative to the second member (460), the guide protrusion (452) moves along the guide groove (462), thereby allowing the first member (450) to move up and down. The guide groove (462) may have an inclined path so that the first member (450) can move upward or downward while rotating.

[0134] According to one embodiment, the size of the guide protrusion (452) of the first member (450) may be smaller than the size of the guide groove (462) of the second member (460). For example, the protruding length of the guide protrusion (452) may be smaller than the depth of the guide groove (462). For example, the width of the guide protrusion (452) may be smaller than the width of the guide groove (462).

[0135] The vertical movement distance according to the rotation number of the cleaning cloth module (500) can be adjusted according to the inclination angle of the guide groove (462) formed on the inner surface of the second member (460).

[0136] According to one embodiment, the guide groove (462) may include a stopper (466) provided at the lower end. The stopper (466) may prevent the downward movement of the first member (450) by generating resistance to the rotational force of the guide protrusion (452) of the first member (450). When the guide protrusion (452) comes into contact with the stopper (466), the second member (460) may receive the rotational force from the first member (450) and rotate together with the first member (450).

[0137] In one embodiment, the second member (460) may be formed with an upper and lower portion open. For example, a portion of the shaft coupling gear portion (432) (e.g., the shaft extension portion (4321)) may be positioned to pass through the open upper portion of the first member (450). For example, a portion of the first member (450) may be positioned to pass through the open lower portion of the first member (450).

[0138] According to one embodiment, the second member (460) may include a tooth portion (464). The tooth portion (464) may be formed to protrude outward from the outer surface (460a) of the second member (460). The tooth portion (464) may be arranged to mesh with a unidirectional rotation gear (475) to be described later.

[0139] The first member (450) and the second member (460) can be arranged to be accommodated in a receiving space formed in the housing (410).

[0140] According to one embodiment, the shaft coupling gear unit (432), the first member (450), and the second member (460) can rotate around a rotation axis (C) in the same axial direction. Here, the rotation axis (C) can be perpendicular to the cleaning cloth module (500). For example, the rotation axis (C) can be perpendicular to the floor surface that the cleaning cloth (P) comes into contact with. Due to this rotation axis (C) structure, the area that the cleaning cloth (P) comes into contact with the floor surface can be expanded. Due to this rotation axis (C) structure, the rotational force of the shaft coupling gear unit (432) can be efficiently transmitted to the cleaning cloth module (500). Due to this rotation axis (C) structure, the loss of torque transmitted from the shaft coupling gear unit (432) to the cleaning cloth module (500) can be reduced.

[0141] When the cleaning cloth module (500) rotates through the rotational force of the shaft (440), the shaft (440) can rotate stably by the screw connection structure of the first member (450) and the second member (460), thereby transmitting accurate rotational force to the mop module. For example, when the shaft (440) rotates, the first member (450) and the second member (460) support the shaft (440), thereby reducing vibration of the shaft (440). The cleaning drive unit (400) according to one embodiment of the present disclosure can increase power transmission efficiency and reduce loss of torque transmitted to the cleaning cloth module (500) due to this stable rotational force transmission structure.

[0142] According to one embodiment, the cleaning drive unit (400) may further include a second bearing (493). The second bearing (493) may be disposed on the outside of the second member (460). The second bearing (493) may be disposed to circumferentially surround a portion of the outer surface of the second member (460). The second bearing (493) may be disposed between the second member (460) and the housing (410). The second bearing (493) may reduce frictional force between the second member (460) and the inner wall of the housing (410).

[0143] In one embodiment, the unidirectional rotating body (470) may be disposed within the housing (410). The unidirectional rotating body (470) may be configured to rotate in only one of the first direction and the second direction. For example, the unidirectional rotating body (470) may be configured to rotate in only one of the clockwise and counterclockwise directions. For example, the unidirectional rotating body (470) may be configured to rotate in only one of the forward and reverse directions. For example, the unidirectional rotating body (470) may be a one-way bearing that can rotate in only one direction, but is not limited thereto. The unidirectional rotating body (470) may have an open cylindrical shape.

[0144] In one embodiment, the unidirectional rotor (470) may be arranged so that a second member (460) directly or indirectly coupled to the unidirectional rotor (470) rotates in only one direction.

[0145] According to one embodiment, the unidirectional rotating body (470) may be manufactured in the form of a roller or a bead. The unidirectional rotating body (470) may include a clutch mechanism that operates internally depending on the direction of rotation. The clutch mechanism may, for example, move the roller or bead depending on the direction of rotation to allow or prevent rotation.

[0146] In one embodiment, the unidirectional rotation gear (475) can be coupled to the unidirectional rotation body (470). In one embodiment, the unidirectional rotation gear (475) can be coupled to the second member (460). For example, the unidirectional rotation gear (475) can mesh with the teeth (464) of the second member (460). The unidirectional rotation gear (475) can be configured to rotate together with the second member (460) when the second member (460) rotates. The power of the unidirectional rotation gear (475) transmitted from the second member (460) can be transmitted to the unidirectional rotation body (470).

[0147] In one embodiment, the unidirectional rotation gear (475) may be coupled to the unidirectional rotation body (470) so as to rotate in only one direction. Accordingly, the second member (460) meshed with the unidirectional rotation gear (475) may also rotate in only one direction. For example, the second member (460) may rotate together with the unidirectional rotation gear (475) only when it rotates in a direction corresponding to the first direction (e.g., forward direction) rotation of the motor (420). For example, the second member (460) may not be rotated by the unidirectional rotation gear (475) and the unidirectional rotation body (470) in a direction corresponding to the second direction (e.g., reverse direction) rotation of the motor (420).

[0148] According to one embodiment, the elevation detection unit (480) may be positioned on the upper side of the housing (410). The elevation detection unit (480) may detect whether the shaft (440) that moves up and down has moved upwards to the maximum extent. The elevation detection unit (480) may detect whether the cleaning cloth module (500) that moves up and down has moved upwards to the maximum extent. The elevation detection unit (480) may include, for example, an infrared sensor, but is not limited thereto. A specific description of the operation method and structure of the elevation detection unit (480) will be described later.

[0149] According to one embodiment, the cleaning drive unit (400) may further include a pressurizing device (491). The pressurizing device (491) may be disposed, for example, within the housing (410). The pressurizing device (491) may be disposed to surround an outer circumferential surface of the second member (460). The width of the pressurizing device (491) may be greater than the width of the second member (460). The pressurizing device (491) may be disposed to pressurize the second member (460) downward. The pressurizing device (491) may pressurize the second member (460), thereby moving the first member (450) coupled to the second member (460) and the cleaning cloth module (500) coupled to the first member (450) downward. That is, the pressurizing device (491) may be configured to pressurize the cleaning cloth module (500) downward.

[0150] The pressurizing device (491) can pressurize the cleaning cloth module (500) downward to increase the friction between the cleaning cloth (P) attached to the cleaning cloth module (500) and the floor surface. The pressurizing device (491) can increase the cleaning effect by increasing the friction between the cleaning cloth (P) and the floor surface. The pressurizing device (491) can be, for example, an elastic body. For example, the pressurizing device (491) can be a spring. For example, in the case of the pressurizing device (491) composed of a spring, the cleaning cloth (P) can be pressed against the floor surface by using the repulsive force (or elastic restoring force) of the spring. However, the present invention is not limited thereto, and the pressurizing device (491) can include all configurations that a person skilled in the art can provide to pressurize the cleaning cloth module (500) downward.

[0151] The pressurizing device (491) can alleviate the impact applied to the cleaning cloth module (500). When a robot cleaner (e.g., the robot cleaner (100) of FIG. 1) cleans a floor, and the cleaning cloth module (500) collides with an obstacle forming a step on the floor, the pressurizing device (491) can alleviate the impact applied to the cleaning cloth module (500). As a result, by providing the pressurizing device (491), it is possible to prevent the cleaning drive unit (400) from being damaged by any obstacle located on the floor.

[0152] According to one embodiment, the cleaning cloth module (500) can be coupled to the first member (450). The cleaning cloth module (500) can be coupled to the first member (450) and rotate together with the first member (450) or move up and down together with the first member (450).

[0153] According to one embodiment, the cleaning cloth module (500) may include a rotating member (510) and a coupling protrusion (520). The rotating member (510) may have an approximately circular shape, but the shape is not limited thereto.

[0154] According to one embodiment, the coupling protrusion (520) may be formed to protrude upward from the center of the rotating member (510). The coupling protrusion (520) may be a portion that is coupled with the first member (450) and / or the shaft (440). For example, the cleaning cloth module (500) may be coupled with the first member (450) by inserting the coupling protrusion (520) into the lower opening of the first member (450).

[0155] According to one embodiment, the coupling protrusion (520) may include a hook groove (521). The hook groove (521) may be formed in a state of being dug into the side of the coupling protrusion (520). The hook groove (521) may be a portion that is coupled with a hook protruding from the inner surface of the first member (450) when coupled with the first member (450). The first member (450) and the cleaning cloth module (500) may be coupled through a hook coupling by the hook groove (521).

[0156] In one embodiment, the coupling protrusion (520) may have a polygonal cross-section. By having a polygonal cross-section, the power of the motor (420) may be transmitted to the cleaning cloth module (500) coupled to the first member (450).

[0157] According to one embodiment, the cleaning cloth module (500) may include a second magnetic body (530). The second magnetic body (530) may be disposed on the coupling protrusion (520). The second magnetic body (530) may be disposed on top of the coupling protrusion (520).

[0158] According to one embodiment, the cleaning cloth module (500) may include a shielding member (531). The shielding member (531) may be disposed below the second magnetic body (530). The shielding member (531) may be configured to shield a portion of the magnetic force of the second magnetic body (530). The shielding member (531) may shield the magnetic force of the second magnetic body (530) from being directed downward (e.g., toward the cleaning surface). By disposing the shielding member (531) below the second magnetic body (530), foreign substances such as metal particles remaining on the floor can be prevented from being magnetically attached to the cleaning cloth module (500) during the process of wet cleaning the floor using the cleaning cloth module (500). The shielding member (531) may be formed integrally with the second magnetic body (530), for example, but is not limited thereto.

[0159] According to one embodiment, the cleaning cloth module (500) may include a cover member (540). The cover member (540) may be arranged to cover the shield member (531). The lower portion of the shield member (531) may be covered by the cover member (540). By covering the lower portion of the shield member (531) with the cover member (540), the appearance may be improved so that the shield member (531) is not visible from the outside. In addition, the cover member (540) may have a fixing function to prevent the shield member (531) from being detached downward.

[0160] According to one embodiment, the cleaning cloth module (500) can be rotated to clean the floor surface by receiving power from the motor (420). The cleaning cloth module (500) can be rotated by receiving power from the motor (420) from a shaft (440) and / or a first member (450) coupled to the cleaning cloth module (500).

[0161] A cleaning cloth (P) may be attached to the lower surface of the cleaning cloth module (500). When the shaft (440) and the cleaning cloth module (500) are rotated by the operation of the motor (420), the cleaning cloth (P) attached to the cleaning cloth module (500) may also rotate together. The cleaning cloth (P) may clean the floor by rotating while in contact with the floor while the robot cleaner (e.g., the robot cleaner (100) of FIG. 1) moves.

[0162] According to one embodiment, the cleaning cloth (P) can be attached or coupled to the cleaning cloth module (500). The cleaning cloth (P) can be attached or coupled to the lower surface of the rotating member (510), for example. The cleaning cloth (P) can be attached or coupled to the rotating member (510) using, for example, a magnet or Velcro, but is not limited thereto.

[0163] FIG. 9 is a drawing for explaining the gear assembly structure of a cleaning drive unit according to one embodiment.

[0164] The gear assembly (430) illustrated in FIG. 9 may be substantially the same as or similar to the gear assembly (430) illustrated in FIGS. 4 to 8. The gear assembly (430) illustrated in FIG. 9 may be included in the cleaning drive unit (400) illustrated in FIGS. 4 to 8. Among the configurations of the gear assembly (430) illustrated in FIG. 9, the same reference numerals are used for configurations that are substantially the same as or similar to the configurations of the gear assembly (430) illustrated in FIGS. 4 to 8. The number of gears, the shape of the gears, the type of the gears, and the like in the gear assembly (430) illustrated in FIG. 9 are exemplary, and the present disclosure is not limited to the illustrated shape.

[0165] Referring to FIG. 9, the motor (420) may include a worm-forming part (421) provided on the rotation axis.

[0166] Referring to FIG. 9, the gear assembly (430) can receive power from the motor (420) by being engaged with the worm-shaped portion (421) of the motor (420).

[0167] In one embodiment, the gear assembly (430) may include a power transmission gear portion (431) and a shaft coupling gear portion (432). The gear assembly (430) may be positioned on top of the housing (410). The motor (420) may generate power and transmit rotational force to the gear assembly (430).

[0168] According to one embodiment, the power transmission gear unit (431) may include gears. For example, the power transmission gear unit (431) may include a first gear (4311) and a second gear (4312). However, the present invention is not limited thereto, and the power transmission gear unit (431) may be composed of three or more gears or a single gear. For convenience of explanation, the power transmission gear unit (431) composed of a first gear (4311) and a second gear (4312) will be described below as an example.

[0169] In one embodiment, the first gear (4311) may be a two-stage gear. The first gear (4311) may include, for example, a first-first gear and a first-second gear having different diameters.

[0170] The first gear (4311) may be arranged to mesh with the worm forming portion (421). The first gear (4311) may be, for example, a worm gear. For example, the first-first gear of the first gear (4311) may mesh with the worm forming portion (421). The first gear (4311) may be arranged to transmit the power of the motor (420) to the second gear (4312).

[0171] The second gear (4312) may be arranged to mesh with the first gear (4311). For example, the first and second gears of the first gear (4311) may mesh with the second gear (4312). The second gear (4312) may mesh with the shaft coupling gear portion (432). The second gear (4312) may be arranged to transmit the power of the first gear (4311) to the shaft coupling gear portion (432).

[0172] The shaft coupling gear unit (432) can be coupled with a shaft (e.g., shaft (440) of FIG. 8). The shaft coupling gear unit (432) can transmit the power of the second gear (4312) to the shaft (440). The shaft (440) can directly receive the rotational power of the shaft coupling gear unit (432). For example, the shaft (440) can directly receive the power of the gear assembly (430).

[0173] Fig. 10a is a top perspective view of a second member according to one embodiment. Fig. 10b is a cross-sectional view taken along line XX of Fig. 10a. Fig. 10c is a plan view of the second member according to one embodiment. Fig. 10d is a bottom view of the second member according to one embodiment.

[0174] The second member (460) illustrated in FIGS. 10A to 10D may be substantially identical or similar to the second member illustrated in FIGS. 4 to 8 (e.g., the second member (460) of FIG. 8). In the case of the configuration of the second member (460) illustrated in FIGS. 10A to 10D, the same reference numerals are used for the configurations described in FIGS. 4 to 8.

[0175] According to one embodiment, the second member (460) may include a guide groove (462) positioned so as to face inward. At least one guide groove (462) may be formed on the inner surface of the second member (460). For example, three guide grooves (462) may be provided as illustrated. The number or shape of the illustrated guide grooves (462) is exemplary, and the illustrated shape does not limit the scope of the present disclosure. For example, the guide groove (462) may include a first guide groove (4621), a second guide groove (4622), and a third guide groove (4623). The first guide groove (4621), the second guide groove (4622), and the third guide groove (4623) may extend from the inner surface of the second member (460) at substantially the same angle along the circumferential direction.

[0176] According to one embodiment, the second member (460) may include a guide protrusion insertion hole (465). The guide protrusion insertion hole (465) may be formed, for example, on the upper surface of the second member (460). The guide protrusion insertion hole (465) may refer to a portion formed through which the guide protrusion (452) is inserted into the guide groove (462) when the first member (450) is coupled to the second member (460). A plurality of guide protrusion insertion holes (465) may be formed. The number of guide protrusion insertion holes (465) may correspond to the number of guide grooves (462).

[0177] When the second member (460) is accommodated in a housing (e.g., the housing (410) of FIG. 8), the guide protrusion insertion hole (465) can be closed by the inner wall of the housing (410). Accordingly, when the first member (450) is moved upward with respect to the second member (460), the inner wall of the housing (410) that closes the guide protrusion insertion hole (465) can function as a stopper.

[0178] According to one embodiment, the second member (460) may include a step portion (463) positioned at the bottom. The step portion (463) may be formed to extend from the bottom of the outer surface (460a) of the second member (460). The step portion (463) may be formed to extend inward from the outer surface (460a). The step portion (463) may be provided to support the first member (450) when the first member (450) moves downward until the guide protrusion (452) is positioned on the stopper (466) of the guide groove (462).

[0179] Fig. 11a is a top perspective view of a first member according to one embodiment. Fig. 11b is a plan view of the first member according to one embodiment.

[0180] The first member (450) illustrated in FIGS. 11A and 11B may be substantially identical or similar to the first member illustrated in FIGS. 4 to 8 (e.g., the first member (450) of FIG. 8). Among the configurations of the first member (450) in FIGS. 11A and 11B, the configurations described in FIGS. 4 to 8 use the same reference numerals.

[0181] According to one embodiment, the first member (450) may have an open upper and lower surface. The first member (450) may have, for example, an approximately cylindrical shape.

[0182] According to one embodiment, at least one guide protrusion (452) may be arranged on the outer circumferential surface of the first member (450). The guide protrusion (452) may be located on the upper portion of the first member (450). For example, three guide protrusions (452) may be provided as illustrated. For example, the number of guide protrusions (452) may be provided to correspond to the number of guide grooves (e.g., the guide grooves (462) of FIG. 10A). The number or arrangement of the illustrated guide protrusions (452) is exemplary, and the illustrated shape does not limit the scope of the present disclosure. For example, the guide protrusion (452) may include a first guide protrusion (4521), a second guide protrusion (4522), and a third guide protrusion (4523). The first guide protrusion (4521), the second guide protrusion (4522), and the third guide protrusion (4523) can be arranged at equal intervals.

[0183] According to one embodiment, the guide protrusion (452) may be protruded at a predetermined angle so as to be coupled to a guide groove (e.g., the guide groove (462) of FIG. 10A) of a second member (e.g., the second member (460) of FIG. 10A) and rotated. The guide protrusion (452) may be protruded at a predetermined angle along the circumferential direction of the first member (450). The inclination angle of the guide protrusion (452) may correspond to the inclination angle of the guide groove (462).

[0184] According to one embodiment, the first member (450) may include a support member (453) that supports the first hollow portion (451). The support member (453) may extend toward the inside of the outer surface (450a). The support member (453) may refer to a portion that extends inward from the inner surface of the first member (450) and is connected to the first hollow portion (451). There may be a plurality of support members (453). The support members (453) may be located on the upper portion of the first member (450), but are not limited thereto.

[0185] According to one embodiment, the first member (450) may include a joining groove (454) formed at the bottom. The joining groove (454) may be a groove formed at the bottom, and may be a groove defined by the outer circumferential surface (450a) of the first member (450), the first hollow portion (451), and the support portion (453).

[0186] According to one embodiment, a cleaning cloth module (e.g., a cleaning cloth module (500) of FIG. 8) can be coupled to the coupling groove (454). The cleaning cloth module (500) can be coupled to each other by inserting a coupling protrusion (e.g., a coupling protrusion (520) of FIG. 8) into the coupling groove (454).

[0187] According to one embodiment, the coupling groove (454) may have a polygonal cross-sectional shape. The cross-sectional shape of the coupling groove (454) may correspond to the cross-sectional shape of the coupling protrusion (520) of the cleaning cloth module (500). The horizontal size of the coupling groove (454) may be, for example, larger than the horizontal size of the coupling protrusion (520).

[0188] FIG. 12a is an exploded perspective view of a rising detection unit 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 the frame according to one embodiment.

[0189] The rising detection unit (480) illustrated in FIGS. 12A to 12C may be substantially the same as or similar to the rising detection unit described in FIGS. 4 to 8 (e.g., the rising detection unit (480) of FIG. 8). Among the configurations of the rising detection unit (480) in FIGS. 12A to 12C, the same reference numbers are used for the configurations described in FIGS. 4 to 8.

[0190] Referring to FIGS. 12A to 12C, the rise detection unit (480) may include at least one of a sensor frame (481), a sensor (482), a pressure unit (483), or a spring (484). The rise detection unit (480) may be positioned on the upper side of a housing (e.g., the housing (410) of FIG. 4). The rise detection unit (480) may be formed with an open bottom. The upper end of a shaft (e.g., the shaft (440) of FIG. 8) may selectively penetrate through the open bottom of the rise detection unit (480).

[0191] According to one embodiment, the sensor frame (481) may be configured to accommodate or mount a sensor (482), a pressurizing member (483), or a spring (484) therein.

[0192] According to one embodiment, the pressurizing unit (483) may be accommodated within the sensor frame (481). The pressurizing unit (483) may be positioned on the upper side of the shaft (440) while the rising detection unit (480) is mounted on the housing (410). The pressurizing unit (483) may be positioned on the rotational axis of the shaft (440). When the shaft (440) capable of moving up and down rises by a predetermined distance or more, the pressurizing unit (483) may be pressed upward and moved.

[0193] According to one embodiment, the spring (484) may be arranged to pressurize the pressurized portion (483) downward. The pressurized portion (483) may be pressed upward by the shaft (440). When pressurization of the shaft (440) is terminated, the pressurized portion (483) may be returned to a position prior to pressurization (hereinafter, referred to as “unpressurized position”) by the spring (484).

[0194] In one embodiment, the sensor (482) may be configured as a pair. For example, the sensor (482) may include an infrared sensor. The sensor (482) may include a light emitter (4821) and a detector (4822). The light emitter (4821) may be a device configured to generate light (e.g., infrared). The detector (4822) may be a device configured to detect light (e.g., infrared) generated by the light emitter (4821).

[0195] According to one embodiment, the sensor frame (481) may include a pair of sensor mounting portions (4811) that allow the aforementioned pair of sensors (482) to be spaced apart from each other while facing each other.

[0196] According to one embodiment, the sensor frame (481) may include a through hole (4812). The through hole (4812) may be formed in each of a pair of sensor mounting portions (4811). When a pair of sensors (482) are mounted on the sensor mounting portions (4811), one of the through holes (4812) may be positioned so that light generated by the light emitter (4821) passes through it. When a pair of sensors (482) are mounted on the sensor mounting portions (4811), the other of the through holes (4812) may be positioned so that light generated by the light emitter (4821) passes through it to the detector (4822).

[0197] In one embodiment, the pressurized portion (483) can close the space between the pair of through holes (4812) when in the unpressurized position. When the pressurized portion (483) is not pressurized by the shaft (440), it can be positioned so that the light generated from the light emitter (4821) cannot be detected by the detector (4822).

[0198] According to one embodiment, the space between the pair of through holes (4812) can be opened by the pressurizing member (483) being pressed upward by the shaft (440). By opening the space between the pair of through holes (4812) by the pressurizing member (483) being pressed by the shaft (440), the detector (4822) can detect the light of the light emitter (4821). As described below, the control unit (e.g., the control unit (350) of FIG. 3) can determine that the upward movement of the first member (450) (or the shaft (440), or the cleaning cloth module (500)) is completed when the detector (4822) detects the light of the light emitter (4821).

[0199] FIGS. 13a to 13e are drawings for explaining the operation process of the cleaning drive unit according to the rotation direction according to one embodiment.

[0200] The cleaning drive unit (400) illustrated in FIGS. 13a to 13e may have a configuration substantially identical to or similar to the cleaning drive unit illustrated in FIGS. 4 to 8 (e.g., the cleaning drive unit (400) of FIG. 4). In the case where the configuration of the cleaning drive unit (400) illustrated in FIGS. 13a to 13e is substantially identical to or similar to the configuration described in FIGS. 4 to 8, the same reference numbers are used.

[0201] The shaft coupling gear part (432) described below can be rotated in a first direction and a second direction by the rotation of the motor (420). The first direction may refer to, for example, a forward direction. The second direction may be a direction opposite to the first direction. The second direction may refer to, for example, a reverse direction.

[0202] According to one embodiment, the cleaning cloth module (500) can be lifted up or lifted down depending on the rotation direction of the motor (420). For example, when the motor (420) rotates in the first direction (or forward direction), the cleaning cloth module (500) can be lifted down. For example, when the motor (420) rotates in the second direction (or reverse direction), the cleaning cloth module (500) can be lifted up.

[0203] The cleaning drive unit (400) according to one embodiment of the present disclosure can easily lift up or lift down the cleaning cloth module (500) using only the rotational force of the motor (420) without separate operation by the user.

[0204] FIG. 13A illustrates a cleaning drive unit (400) in a state in which a cleaning cloth (P) is in close contact with a floor surface (hereinafter referred to as a “first state”). The first state may refer to, for example, a state in which the shaft (440) is lowered to the maximum. The first state may refer to, for example, a state in which the first member (450) is lowered to the maximum. The first state may refer to, for example, a state in which the first member (450) is supported by a catch (441) of the second member (460). The first state may refer to, for example, a state in which the guide protrusion (452) of the first member (450) is in contact with the stopper (466) of the second member (460).

[0205] FIG. 13b illustrates an operation in which the shaft coupling gear part (432) rotates in the second direction and the cleaning cloth module (500) moves upward. When the shaft coupling gear part (432) rotates in the second direction by the rotation of the motor (420), the shaft (440) coupled to the shaft coupling gear part (432) can also rotate in the second direction. At this time, the first member (450) can receive power from the shaft (440) and rotate in the second direction.

[0206] In FIG. 13b, the second member (460) can be prevented from rotating by a unidirectional rotating body (470). The unidirectional rotating body (470) may refer to a rotating body that is allowed to rotate in only one direction. The unidirectional rotating body (470) may be configured, for example, to allow the second member (460) to rotate only in a first direction.

[0207] As the second member (460) is prevented from rotating by the unidirectional rotating body (470), the first member (450) can be rotated in the second direction relative to the second member (460). At this time, the first member (450) can be moved upward by the guide protrusion (452) of the first member (450) moving along the guide groove (462) of the second member (460). The cleaning cloth module (500) and shaft (440) coupled to the first member (450) can also be moved upward together.

[0208] FIG. 13c illustrates the cleaning drive unit (400) in a state where the cleaning cloth module (500) is raised to its maximum position (hereinafter referred to as the "second state"). The second state may refer to, for example, a state where the first member (450) is raised to its maximum. The second state may refer to, for example, a state where the first member (450) has reached the upper surface of the second member (460).

[0209] According to one embodiment, when the cleaning cloth module (500) reaches the second state, the operation of the motor (420) may be stopped. The shaft (440) presses the pressurizing portion (483) upward by the upward movement, and the sensor (482) may detect this as described above with reference to FIGS. 12A to 12C. The detection signal of the sensor (482) is transmitted to the control unit (e.g., the control unit (350) of FIG. 3), and in response thereto, the control unit (350) may 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, the operation of the motor (420) may be stopped.

[0210] According to one embodiment, unlike the one shown, even if the rise detection unit (480) is omitted, the first member (450) can detect that the rise is prevented and the current load of the motor (420) increases, thereby determining whether the cleaning cloth module (500) has reached the second state.

[0211] By having the robot cleaner (100) automatically raise the cleaning cloth module (500) and separate the cleaning cloth (P) from the floor surface, additional contamination by the cleaning cloth (P) can be prevented in areas where wet cleaning is unnecessary, such as areas with carpets. In addition, when the robot cleaner (100) passes over an obstacle forming a relatively small step during cleaning, the cleaning cloth module (500) can be automatically raised to prevent a collision between the cleaning cloth module (500) and the obstacle.

[0212] According to one embodiment, the cleaning cloth module (500) and the shaft (440) can be separated in the second state. The movement distance of the cleaning cloth module (500) moving between the first state and the second state can be shorter than the movement distance of the shaft (440) moving between the first state and the second state. The shaft (440) can be configured to move upward additionally after the cleaning cloth module (500) is raised to the maximum position. This causes the distance between the shaft (440) and the cleaning cloth module (500) to be separated, thereby releasing the magnetic coupling between the shaft (440) and the cleaning cloth module (500).

[0213] FIG. 13d illustrates an operation in which the shaft coupling gear part (432) rotates in the first direction and the cleaning cloth module (500) moves downward. When the shaft coupling gear part (432) rotates in the first direction by the rotation of the motor (420), the shaft (440) coupled thereto can also rotate in the first direction. At this time, the first member (450) can receive power from the shaft (440) and rotate in the first direction.

[0214] In FIG. 13d, the second member (460) receives power from the first member (450), but can rotate in the first direction at a slower speed than the first member (450). For example, the second member (460) can rotate slower than the first member (450) due to friction with the second bearing (493) and / or the unidirectional rotation gear (475). Therefore, the first member (450) can rotate in the first direction relatively with respect to the second member (460). At this time, the first member (450) can move downward as the guide protrusion (452) of the first member (450) moves along the guide groove (462) of the second member (460). The cleaning cloth module (500) and shaft (440) coupled to the first member (450) can also move downward together.

[0215] FIG. 13E illustrates the cleaning drive unit (400) in a state where the cleaning cloth module (500) is lowered to the maximum (e.g., a first state). When the cleaning cloth module (500) is lowered to the maximum, the guide protrusion (452) of the first member (450) can contact the stopper (466) of the second member (460). Here, the first member (450) rotates to press the stopper (466), so that the second member (460) can also rotate in the first direction together with the first member (450). For example, in the first state, the first direction rotation speed of the first member (450) and the first direction rotation speed of the second member (460) can be substantially the same.

[0216] Fig. 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. 16 is an exploded perspective view of a cleaning drive unit according to one embodiment. Fig. 17 is a cross-sectional view of a cleaning drive unit according to one embodiment.

[0217] The cleaning drive unit (1400) illustrated in FIGS. 14 to 17 may be included in the robot cleaner of FIGS. 1 to 3 (e.g., the robot cleaner (100) of FIG. 1 or the robot cleaner (300) of FIG. 3). The cleaning drive unit (1400) illustrated in FIGS. 14 to 17 may replace the cleaning drive unit of FIG. 3 (e.g., the cleaning drive unit (362) of FIG. 3). The cleaning drive unit (1400) illustrated in FIGS. 14 to 17 may be electrically connected to the control unit of FIG. 3 (e.g., the control unit (350) of FIG. 3). The same reference numerals are used for components that are substantially the same as the components of the cleaning drive unit (1400) illustrated in FIGS. 14 to 17 (e.g., the cleaning drive unit (400) of FIG. 4). The cleaning drive unit (1400) illustrated in FIGS. 14 to 17 is exemplary, and the structure of the cleaning drive unit (1400) is not limited to the illustrated structure.

[0218] Referring to FIGS. 14 to 17, the cleaning drive unit (1400) may include at least one of a housing (410), a motor (420), a gear assembly (430), a shaft (440), a first member (450), a second member (1460), a unidirectional rotor (1470), or an elevation detection unit (480).

[0219] In one embodiment, the second member (1460) may be coupled to the first member (450). The second member (1460) and the first member (450) may be coupled to each other by a screw connection. The first member (450) may be inserted into the inside of the second member (1460) and screw-connected. The second member (1460) may be disposed on the outside of the first member (450). For example, the width of the second member (1460) may be greater than the width of the first member (450). For example, the second member (1460) may be referred to as a second bushing.

[0220] In one embodiment, the second member (1460) may be positioned to support the first member (450). The second member (1460) may reduce vibrations while the first member (450) is rotated by the shaft (440). The second member (1460) may reduce transverse vibrations of the first member (450).

[0221] According to one embodiment, the second member (1460) may include a guide groove (1462). The guide groove (1462) may be formed on an inner surface of the second member (1460). The guide groove (1462) may be formed to extend obliquely along a circumferential direction on the inner surface of the second member (1460). The guide groove (1462) may have, for example, a shape such as a screw groove.

[0222] According to one embodiment, the length of the guide groove (1462) of the second member (1460) may be greater than or equal to the circumference of the second member (1460).

[0223] According to one embodiment, a guide protrusion (452) of a first member (450) may be coupled to a guide groove (1462) of a second member (1460). When the first member (450) is coupled to the second member (1460), and the first member (450) rotates relative to the second member (1460), the guide protrusion (452) moves along the guide groove (1462), thereby allowing the first member (450) to move up and down. The guide groove (1462) may have an inclined path so that the first member (450) can move upward or downward while rotating.

[0224] According to one embodiment, the size of the guide protrusion (452) of the first member (450) may be smaller than the size of the guide groove (1462) of the second member (1460). For example, the protruding length of the guide protrusion (452) may be smaller than the depth of the guide groove (1462). For example, the width of the guide protrusion (452) may be smaller than the width of the guide groove (1462).

[0225] The vertical movement distance according to the rotation number of the cleaning cloth module (500) can be adjusted according to the inclination angle of the guide groove (1462) formed on the inner surface of the second member (1460).

[0226] According to one embodiment, the guide groove (1462) may include a stopper (1466) provided at the lower end. The stopper (1466) may prevent the downward movement of the first member (450) by generating resistance to the rotational force of the guide protrusion (452) of the first member (450). When the guide protrusion (452) comes into contact with the stopper (1466), the second member (1460) may receive the rotational force from the first member (450) and rotate together with the first member (450).

[0227] In one embodiment, the second member (1460) may be formed with an upper and lower portion open. For example, a portion of the shaft coupling gear portion (432) (e.g., the shaft extension portion (4321)) may be positioned to pass through the open upper portion of the first member (450). For example, a portion of the first member (450) may be positioned to pass through the open lower portion of the first member (450).

[0228] In one embodiment, the unidirectional rotating body (1470) may be disposed within the housing (410). The unidirectional rotating body (1470) may be configured to rotate in only one of the first direction and the second direction. For example, the unidirectional rotating body (1470) may be configured to rotate in only one of the clockwise and counterclockwise directions. For example, the unidirectional rotating body (1470) may be configured to rotate in only one of the forward and reverse directions. As an example, the unidirectional rotating body may be a one-way bearing that can rotate in only one direction, but is not limited thereto. The unidirectional rotating body (1470) may have an open cylindrical shape.

[0229] In one embodiment, the unidirectional rotating body (1470) may be manufactured in the form of a roller or a bead. The unidirectional rotating body (1470) may include a clutch mechanism that operates internally depending on the direction of rotation. The clutch mechanism may, for example, move the roller or bead depending on the direction of rotation to allow or prevent rotation.

[0230] According to one embodiment, the unidirectional rotating body (1470) may be arranged to surround the outer circumference of the second member (1460). The diameter of the unidirectional rotating body (1470) may be larger than the diameter of the second member (1460). The unidirectional rotating body (1470) may be arranged between the second member (1460) and the housing (410) to function as a bearing and may be configured to rotate the second member (1460) in only one direction.

[0231] The second member (1460) of FIGS. 14 to 17 may, for example, omit the teeth portion (e.g., the teeth portion (464) of FIG. 8) formed on the outer surface, unlike the second members of FIGS. 4 to 8 (e.g., the second member (460) of FIG. 8).

[0232] In one embodiment, the cleaning drive unit (1400) may further include a pressurizing device (1490). The pressurizing device (1490) may be disposed, for example, between the cleaning cloth module (500) and the shaft (440). The pressurizing device (1490) may be disposed to push the cleaning cloth module (500) and the shaft (440) in opposite directions. For example, the pressurizing device (1490) may pressurize the cleaning cloth module (500) downward to bring the cleaning cloth (P) into close contact with the floor surface.

[0233] The pressurizing device (1490) can pressurize the cleaning cloth module (500) downward to increase the friction between the cleaning cloth (P) attached to the cleaning cloth module (500) and the floor. The pressurizing device (1490) can increase the cleaning effect by increasing the friction between the cleaning cloth (P) and the floor. The pressurizing device (1490) can be, for example, an elastic body. For example, the pressurizing device (1490) can be a spring. For example, in the case of the pressurizing device (1490) composed of a spring, the cleaning cloth (P) can be pressed against the floor using the spring's repulsive force (or elastic restoring force). However, the present invention is not limited thereto, and the pressurizing device (1490) can include all configurations that a person skilled in the art can provide to pressurize the cleaning cloth module (500) downward.

[0234] The pressurizing device (1490) can alleviate the impact applied to the cleaning cloth module (500). When a robot cleaner (e.g., the robot cleaner (100) of FIG. 1) cleans a floor, and the cleaning cloth module (500) collides with an obstacle forming a step on the floor, the pressurizing device (1490) can alleviate the impact applied to the cleaning cloth module (500). As a result, by providing the pressurizing device (1490), it is possible to prevent the cleaning drive unit (1400) from being damaged by any obstacle located on the floor.

[0235] Although not shown, the cleaning cloth module (500) according to one embodiment may further include a shielding member (e.g., the shielding member (531) of FIG. 7) for shielding the magnetic force on the lower side of the second magnetic body (530) as shown in FIG. 7. The cleaning cloth module (500) shown in FIGS. 16 and 17 may be replaced with the cleaning cloth module shown in FIGS. 7 and 8 (e.g., the cleaning cloth module (500) of FIG. 7).

[0236] FIGS. 18A to 18E are drawings for explaining the operation process of the cleaning drive unit according to the rotation direction according to one embodiment.

[0237] The cleaning drive unit (1400) illustrated in FIGS. 18a to 18e may have a configuration substantially identical to or similar to the cleaning drive unit illustrated in FIGS. 14 to 17 (e.g., the cleaning drive unit (1400) of FIG. 4). In the case where the configuration of the cleaning drive unit (1400) illustrated in FIGS. 18a to 18e is substantially identical to or similar to the configuration described in FIGS. 14 to 17, the same reference numbers are used.

[0238] The shaft coupling gear part (432) described below can be rotated in a first direction and a second direction by the rotation of the motor (420). The first direction may refer to, for example, a forward direction. The second direction may be a direction opposite to the first direction. The second direction may refer to, for example, a reverse direction.

[0239] According to one embodiment, the cleaning cloth module (500) can be lifted up or lifted down depending on the rotation direction of the motor (420). For example, when the motor (420) rotates in the first direction (or forward direction), the cleaning cloth module (500) can be lifted down. For example, when the motor (420) rotates in the second direction (or reverse direction), the cleaning cloth module (500) can be lifted up.

[0240] The cleaning drive unit (1400) according to one embodiment of the present disclosure can easily lift up or lift down the cleaning cloth module (500) using only the rotational force of the motor (420) without separate operation by the user.

[0241] FIG. 18A illustrates a cleaning drive unit (1400) in a state in which a cleaning cloth (P) is in close contact with a floor surface (hereinafter referred to as a “first state”). The first state may refer to, for example, a state in which the shaft (440) is lowered to the maximum. The first state may refer to, for example, a state in which the first member (450) is lowered to the maximum. The first state may refer to, for example, a state in which the first member (450) is supported by a catch (441) of the second member (1460). The first state may refer to, for example, a state in which the guide protrusion (452) of the first member (450) is in contact with the stopper (1466) of the second member (1460).

[0242] FIG. 18b illustrates an operation in which the shaft coupling gear part (432) rotates in the second direction and the cleaning cloth module (500) moves upward. When the shaft coupling gear part (432) rotates in the second direction by the rotation of the motor (420), the shaft (440) coupled to the shaft coupling gear part (432) can also rotate in the second direction. At this time, the first member (450) can receive power from the shaft (440) and rotate in the second direction.

[0243] In FIG. 18b, the second member (1460) may be prevented from rotating by a unidirectional rotating body (1470). The unidirectional rotating body (1470) may refer to a rotating body that is only allowed to rotate in one direction. The unidirectional rotating body (1470) may be configured, for example, to allow the second member (1460) to rotate only in a first direction.

[0244] As the second member (1460) is prevented from rotating by the unidirectional rotating body (1470), the first member (450) can be rotated in a second direction relative to the second member (1460). At this time, the guide protrusion (452) of the first member (450) moves along the guide groove (1462) of the second member (1460), thereby allowing the first member (450) to move upward. The cleaning cloth module (500) and shaft (440) coupled to the first member (450) can also move upward together.

[0245] FIG. 18c illustrates the cleaning drive unit (1400) in a state where the cleaning cloth module (500) is raised to its maximum position (hereinafter referred to as the "second state"). The second state may refer to, for example, a state where the first member (450) is raised to its maximum. The second state may refer to, for example, a state where the first member (450) has reached the upper surface of the second member (1460).

[0246] According to one embodiment, when the cleaning cloth module (500) reaches the second state, the operation of the motor (420) may be stopped. The shaft (440) presses the pressurizing portion (483) upward due to the upward movement, and the sensor (482) may detect this as described above with reference to FIGS. 12A to 12C. The detection signal of the sensor (482) is transmitted to the control unit (350), and in response thereto, the control unit (350) may 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, the operation of the motor (420) may be stopped.

[0247] According to one embodiment, unlike the one shown, even if the rise detection unit (480) is omitted, the first member (450) can detect that the rise is prevented and the current load of the motor (420) increases, thereby determining whether the cleaning cloth module (500) has reached the second state.

[0248] By having the robot cleaner (100) automatically raise the cleaning cloth module (500) and separate the cleaning cloth (P) from the floor surface, additional contamination by the cleaning cloth (P) can be prevented in areas where wet cleaning is unnecessary, such as areas with carpets. In addition, when the robot cleaner (100) passes over an obstacle forming a relatively small step during cleaning, the cleaning cloth module (500) can be automatically raised to prevent a collision between the cleaning cloth module (500) and the obstacle.

[0249] According to one embodiment, the cleaning cloth module (500) and the shaft (440) can be separated in the second state. The movement distance of the cleaning cloth module (500) moving between the first state and the second state can be shorter than the movement distance of the shaft (440) moving between the first state and the second state. The shaft (440) can be configured to move upward additionally after the cleaning cloth module (500) is raised to the maximum position. This causes the distance between the shaft (440) and the cleaning cloth module (500) to be separated, thereby releasing the magnetic coupling between the shaft (440) and the cleaning cloth module (500).

[0250] FIG. 18d illustrates an operation in which the shaft coupling gear part (432) rotates in the first direction and the cleaning cloth module (500) moves downward. When the shaft coupling gear part (432) rotates in the first direction by the rotation of the motor (420), the shaft (440) coupled thereto can also rotate in the first direction. At this time, the first member (450) can receive power from the shaft (440) and rotate in the first direction.

[0251] In FIG. 18d, the second member (1460) receives power from the first member (450), but can rotate in the first direction at a slower speed than the first member (450). For example, the second member (1460) can rotate slower than the first member (450) due to friction with the unidirectional rotating body (1470). Therefore, the first member (450) can rotate in the first direction relatively with respect to the second member (1460). At this time, the first member (450) can move downward as the guide protrusion (452) of the first member (450) moves along the guide groove (1462) of the second member (1460). The cleaning cloth module (500) and shaft (440) coupled to the first member (450) can also move downward together.

[0252] FIG. 18E illustrates the cleaning drive unit (1400) in a state where the cleaning cloth module (500) is lowered to the maximum (e.g., a first state). When the cleaning cloth module (500) is lowered to the maximum, the guide protrusion (452) of the first member (450) can contact the stopper (1466) of the second member (1460). Here, the first member (450) rotates to press the stopper (1466), so that the second member (1460) can also rotate in the first direction together with the first member (450). For example, in the first state, the first direction rotation speed of the first member (450) and the first direction rotation speed of the second member (1460) can be substantially the same.

[0253] FIG. 19 is an exemplary drawing showing a process of attaching and detaching a cleaning cloth of a robot cleaner from a docking station according to one embodiment.

[0254] Referring to FIG. 19, the robot cleaner (100) can perform both the cleaning cloth detachment and cleaning cloth mounting processes at the docking station (1900). In one embodiment, when the robot cleaner (100) determines that the cleaning cloth needs to be replaced, it can move to the docking station (1900) which is integrally equipped with a cleaning cloth supply unit (1910) that receives a new cleaning cloth (P) and a cleaning cloth collection unit (1920) that collects a used cleaning cloth (P). According to one embodiment, as illustrated in (a) of FIG. 19, the cleaning cloth collection unit (1920) may be located downstream of the cleaning cloth supply unit (1910) based on the entry direction of the robot cleaner (100) toward the docking station (1900), but the present disclosure is not limited thereto.

[0255] As illustrated in (b) of FIG. 19, the robot cleaner (100) that has reached the docking station (1900) can perform the operation of attaching and detaching the cleaning cloth (P) described above after being positioned on the cleaning cloth collection unit (1920) to detach the cleaning cloth (P) from the lower cleaning cloth module (e.g., the cleaning cloth module (500) of FIG. 4 or FIG. 14). In one embodiment, the cleaning cloth (P) detached from the cleaning cloth module (500) can be stored in the lower cleaning cloth collection unit (1920).

[0256] Thereafter, as illustrated in (c) of FIG. 19, the robot cleaner (100) moves backwards and is positioned at the cleaning cloth supply unit (1910), and then performs the operation for mounting the cleaning cloth (P) described above to attach a new cleaning cloth (P) supplied from the cleaning cloth supply unit (1910) to the cleaning cloth module (500). Thereafter, the robot cleaner (100) can detach from the docking station (1900) and resume cleaning.

[0257] Various embodiments of the present disclosure can move the cleaning cloth module up and down through a screw-coupled lifting structure.

[0258] Various embodiments of the present disclosure may have a structure that can lift the cleaning cloth from the floor surface when passing over objects that may become contaminated when in contact with the cleaning cloth, such as carpets or rugs.

[0259] Various embodiments of the present disclosure may have a structure capable of lifting the cleaning cloth from the floor surface so that the cleaning cloth does not get caught on the step when passing over the step.

[0260] According to various embodiments proposed in the present disclosure, the robot cleaner can move the cleaning cloth module up and down or rotate the cleaning cloth module according to the rotation direction of the motor that rotates the cleaning cloth module.

[0261] The terminology used herein is merely used to describe specific embodiments and is not intended to limit the present disclosure. For example, a singular element should be understood to include plural elements unless the context clearly indicates only a singular element. As used herein, 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 each include any one of the items listed together in that phrase, or all possible combinations thereof. It should be understood that the term "and / or" as used herein encompasses any and all possible combinations of one or more of the listed items. The terms "include," "have," "comprise," and the like used in this disclosure are intended to specify only the presence of a feature, component, part, or combination thereof described in this disclosure, and the use of these terms does not exclude the possibility of the presence or addition of one or more other features, components, parts, or combinations thereof. The expressions "first," "second," and the like used in this disclosure can modify various components regardless of order and / or importance, and are only used to distinguish one component from another, without limiting the components.

[0262] The expression "configured to" used in the present disclosure can be appropriately used interchangeably with, for example, "suitable for," "capable of," "designed to," "modified to," "made to," or "capable of." The term "configured to" may not necessarily mean only something "specially designed" in terms of hardware. Instead, in some situations, the expression "a device configured to" may mean that the device is "capable of" doing something together with other devices or components. For example, the phrase "a device configured (or set) to perform A, B, and C" may mean a dedicated device for performing the corresponding operations, or a general-purpose device that can perform various operations including the corresponding operations.

[0263] Meanwhile, the terms “upper side,” “lower side,” and “front-rear direction” used in the present disclosure are defined based on the drawings, and the shape and position of each component are not limited by these terms.

[0264] Although the foregoing description in this disclosure has focused on specific embodiments, it should be understood that this disclosure is not limited to such specific embodiments, but rather encompasses various modifications, equivalents, and / or alternatives of the various embodiments.

Claims

1. In robot vacuum cleaners, motor (420); A shaft (440) configured to be rotated by the above motor (420); A first member (450) configured to receive rotational force from the shaft (440) and including an outwardly protruding guide projection (452); and A second member (460, 1460) including a guide groove (462, 1462) formed on the inside, wherein the guide protrusion (452) is coupled to the first member (450) so that it can slide relative to the guide groove (462, 1462), The above first absence (450) is, By rotating relative to the second member (460, 1460), the guide protrusion (452) is configured to move along the guide groove (462, 1462) and move in the upper or lower direction of the second member (460, 1460). The above shaft (440) is configured to rotate together with the first member (450). Robot vacuum cleaner.

2. In paragraph 1, A robot cleaner further comprising a cleaning cloth module (500) coupled to the first member (450) so as to receive rotational power from the first member (450).

3. In paragraph 2, A robot cleaner, wherein the above cleaning cloth module (500) is configured to move up and down together with the first member (450).

4. In one of paragraphs 1 to 3, A robot cleaner further comprising a unidirectional rotating body (470, 1470) directly or indirectly coupled to the second member (460, 1460) so that the second member (460, 1460) rotates in only one direction.

5. In paragraph 4, The above unidirectional rotating body (1470) is A robot cleaner arranged to surround the outer surface of the second member (460, 1460).

6. In paragraph 4, The above second absence (460, 1460) is, It includes a gear-shaped tooth portion (464) protruding outward on the outer surface, The above robot vacuum cleaner, A robot cleaner including a unidirectional rotation gear (475) configured to connect the second member (460, 1460) and the unidirectional rotation body (470) by engaging the teeth portion (464).

7. In one of paragraphs 1 to 6, The above second absence (460, 1460) is, A robot cleaner including a stopper (466, 1466) positioned at the end of the guide home (462, 1462) to stop movement of the guide protrusion (452).

8. In one of paragraphs 1 to 7, The above second absence (460, 1460) is, A robot cleaner including a guide protrusion insertion hole (465) formed openly on the upper surface so that the guide protrusion (452) is introduced into the guide groove (462, 1462).

9. In one of paragraphs 1 to 8, The above second absence (460, 1460) is, A robot cleaner comprising a step portion (463) configured to selectively support the first member (450) accommodated within the second member (460, 1460) by extending inwardly from the lower end of the outer surface.

10. In one of the clauses 1 to 9, The above guide protrusion (452) is arranged on the upper outer side of the first member (450), a robot cleaner.

11. In one of paragraphs 1 to 10, It further includes a gear assembly (430) configured to transmit the power of the above motor (420) to the above shaft (440), The above motor (420) is, It further includes a worm forming part (421) configured to be coupled with the above gear assembly (430), The above gear assembly (430) is A power transmission gear unit (431) coupled with the above motor (420); and A robot cleaner including a shaft coupling gear part (432) coupled to the power transmission gear part (431) and the shaft (440).

12. In paragraph 11, The Shank shaft coupling gear part (432) is Includes an axial extension (4321) formed extending from the center in the direction of the lower axis, The above shaft coupling gear part (432) is It includes a shaft coupling opening (4321a) formed axially through the center and configured to couple the shaft (440), A robot cleaner in which the shaft coupling gear portion (4321a), the shaft (440), and the first member (450) are coupled to rotate together around the same rotation axis.

13. In one of paragraphs 1 to 12, The above guide home (462, 1462) is A robot cleaner formed so as to extend along the circumferential direction of the second member (460, 1460) with an inclined surface having a certain angle.

14. In one of paragraphs 1 to 13, The above shaft (440) is A robot vacuum cleaner comprising a first magnet (442) arranged at the bottom.

15. In paragraph 14, A robot cleaner comprising a second magnetic body (530) coupled to the first magnetic body (442) and a shielding member (531) arranged below the second magnetic body (530) and configured to shield a magnetic force directed toward the lower side of the first magnetic body (442), and further comprising a cleaning cloth module (500) configured to receive rotational power from at least one of the shaft (440) or the first member (450).

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