Robot cleaner and control method therefor

Abstract

A robot cleaner according to one embodiment of the present disclosure may comprise: a motor; a cleaning cloth module arranged to be vertically movable by power received from the motor; a vertical movement member moved according to the vertical movement of the cleaning cloth module; a sensing device arranged to sense the position of the vertical movement member; and a control unit configured to receive sensing information from the sensing device and control the vertical movement of the cleaning cloth module.

Description

Robot vacuum cleaner and control method thereof

[0001] Various embodiments of the present disclosure relate to a robot vacuum cleaner and a method for controlling the same.

[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] The above information may be provided as background art to aid in understanding the present disclosure. No claim or determination is made as to whether any of the above is applicable as prior art related to the present disclosure.

[0006] A robot cleaner according to one embodiment of the present disclosure may include a motor, a cleaning cloth module arranged to be moved up and down by power received from the motor, a vertically movable member that moves according to the up and down movement of the cleaning cloth module and includes a shield, a sensing device arranged to detect the position of the up and down shield, and a control unit configured to receive detection information from the sensing device and control the up and down movement of the cleaning cloth module.

[0007] A control method of a robot cleaner according to one embodiment of the present disclosure may include an operation of rotating a motor to clean a floor using a cleaning cloth, an operation of controlling the motor to lift the shaft when the cleaner enters a non-wet cleaning area, an operation of detecting movement of a vertically movable member (or a cover of the vertically movable member) moved by the shaft using a sensing device, and an operation of determining that the shaft has reached a second position and stopping lifting when movement of the vertically movable member is detected using the sensing device.

[0008] 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.

[0009] FIG. 1 is a perspective view of a robot vacuum cleaner according to one embodiment.

[0010] FIG. 2 is a bottom view of a robot vacuum cleaner according to one embodiment.

[0011] 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.

[0012] FIG. 4 is a perspective view of a cleaning drive unit and a cleaning cloth module according to one embodiment.

[0013] FIG. 5 is a side view of a cleaning drive unit and a cleaning cloth module according to one embodiment.

[0014] Figure 6 is a drawing in which some of the components in Figure 5 are omitted.

[0015] Figure 7 is an exploded perspective view of a cleaning drive unit and a cleaning cloth module according to one embodiment.

[0016] Fig. 8 is a cross-sectional view of a cleaning drive unit according to one embodiment.

[0017] FIG. 9 is a drawing for explaining the gear assembly structure of a cleaning drive unit according to one embodiment.

[0018] FIG. 10a is a top perspective view of a second member according to one embodiment.

[0019] Figure 10b is a cross-sectional view taken along line XX of Figure 10a.

[0020] FIG. 10c is a plan view of a second member according to one embodiment.

[0021] FIG. 10d is a bottom view of a second member according to one embodiment.

[0022] FIG. 11a is a top perspective view of a first member according to one embodiment.

[0023] Figure 11b is a plan view of a first member according to one embodiment.

[0024] FIG. 12A is an exploded perspective view of a sensing device according to one embodiment.

[0025] FIG. 12b is a bottom view of a sensor frame according to one embodiment.

[0026] Figure 12c is a side view of a frame according to one embodiment.

[0027] FIGS. 13a to 13c are drawings for explaining the operation process of the cleaning drive unit according to the rotation direction according to one embodiment.

[0028] Fig. 14 is a cross-sectional view of a cleaning drive unit according to one embodiment.

[0029] Fig. 15 is a cross-sectional view of a cleaning drive unit according to one embodiment.

[0030] Fig. 16 is a cross-sectional view of a cleaning drive unit according to one embodiment.

[0031] Fig. 17 is a flowchart of a control method for a robot vacuum cleaner according to one embodiment.

[0032] Fig. 18 is a flowchart of a control method for a robot vacuum cleaner according to one embodiment.

[0033] 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.

[0034] The various embodiments used to illustrate the principles of the present disclosure, as illustrated in FIGS. 1 through 18 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.

[0035] 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.

[0036] 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.

[0037] 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 the 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 the frictional force between the cleaning cloth (P) and the floor generated by the rotation of the cleaning cloth (P).

[0038] 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.

[0039] 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).

[0040] 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).

[0041] 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.

[0042] 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.

[0043] 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 arranged 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.

[0044] 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.

[0045] 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.

[0046] 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 formed integrally with the above-described input device or display device, but is not limited thereto.

[0047] 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).

[0048] 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).

[0049] 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.

[0050] 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.

[0051] 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).

[0052] 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).

[0053] 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.

[0054] 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).

[0055] 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.

[0056] 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).

[0057] 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.

[0058] 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 disposed downwardly on 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.

[0059] According to one embodiment, the driving unit (e.g., the driving unit (360) of FIG. 3) may be disposed, at least in part, within the main body (110) of the robot cleaner (100). The driving unit (160) may be disposed, for example, at least in part, within 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).

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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).

[0066] 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.

[0067] 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 at least one 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) technology. 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.

[0068] 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.

[0069] 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.

[0070] 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).

[0071] 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.

[0072] 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).

[0073] 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.

[0074] 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).

[0075] 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).

[0076] 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).

[0077] 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).

[0078] 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).

[0079] 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.

[0080] In one embodiment, the driving drive unit (361) may 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).

[0081] 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.

[0082] 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.

[0083] 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.

[0084] In one embodiment, the cleaning drive unit (362) may 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.

[0085] 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.

[0086] 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.

[0087] 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).

[0088] 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 a sensing device (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 overall same structure and shape as the cleaning cloth module (140) described in FIGS. 1 and 2.

[0089] 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).

[0090] 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).

[0091] 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).

[0092] 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.

[0093] 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 sensing device (480).

[0094] 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.

[0095] 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) may be inserted into the shaft coupling opening (4321a).

[0096] 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 arranging 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.

[0097] 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).

[0098] 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).

[0099] According to one embodiment, by arranging the shaft 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 shaft 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 shaft 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.

[0100] 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.

[0101] 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.

[0102] Various structures or methods may be applied to raise and / or lower the shaft (440) and the cleaning cloth module (500). For example, the movement of the shaft (440) may be controlled by arranging a driving unit that rotates the shaft (440) and a driving unit that vertically moves the shaft (440), respectively. In one embodiment of the present disclosure, a structure that rotates or vertically moves the shaft using a single driving unit, a motor (420), is described in detail.

[0103] 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.

[0104] 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).

[0105] 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.

[0106] 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.

[0107] 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).

[0108] 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 positioned 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).

[0109] 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).

[0110] 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.

[0111] 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).

[0112] 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.

[0113] 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).

[0114] 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.

[0115] 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).

[0116] 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).

[0117] According to one embodiment, the guide groove (462) may include a stopper (466) disposed 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).

[0118] 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).

[0119] 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.

[0120] The first member (450) and the second member (460) can be arranged to be accommodated in a receiving space formed in the housing (410).

[0121] 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.

[0122] 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.

[0123] 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).

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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).

[0128] 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).

[0129] According to one embodiment, the sensing device (480) may be positioned on the upper side of the housing (410). The sensing device (480) may detect whether the shaft (440) that moves up and down has moved upwards to the maximum extent. The sensing device (480) may detect whether the cleaning cloth module (500) that moves up and down has moved upwards to the maximum extent. The sensing device (480) may include, for example, an infrared sensor, but is not limited thereto. A specific description of the operation method and structure of the sensing device (480) will be described later.

[0130] 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.

[0131] 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 arrange to pressurize the cleaning cloth module (500) downward.

[0132] 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 arranging the pressurizing device (491), it is possible to prevent the cleaning drive unit (400) from being damaged by any obstacle located on the floor.

[0133] 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).

[0134] 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.

[0135] 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).

[0136] 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).

[0137] 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).

[0138] According to one embodiment, the cleaning cloth module (500) may include a magnetic body (530). The magnetic body (530) may be disposed on the coupling protrusion (520). The magnetic body (530) may be disposed on top of the coupling protrusion (520).

[0139] In one embodiment, the magnetic body (530) can be coupled to the shaft (440) by magnetic force. When the shaft (440) is coupled to the magnetic body (530), the shaft (440) can be magnetized.

[0140] According to one embodiment, the cleaning cloth module (500) may include a shielding member (531). The shielding member (531) may be disposed below the magnetic body (530). The shielding member (531) may be configured to shield a portion of the magnetic force of the magnetic body (530). The shielding member (531) may shield the magnetic force of the magnetic body (530) from being directed downward (e.g., toward the cleaning surface). By disposing the shielding member (531) below the 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 magnetic body (530), for example, but is not limited thereto.

[0141] 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.

[0142] 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).

[0143] 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.

[0144] 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.

[0145] FIG. 9 is a drawing for explaining the gear assembly structure of a cleaning drive unit according to one embodiment.

[0146] 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.

[0147] Referring to FIG. 9, the motor (420) may include a worm-forming part (421) arranged on the rotation axis.

[0148] 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).

[0149] 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).

[0150] According to one embodiment, the power transmission gear unit (431) may include at least one gear. 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 one gear. For convenience of explanation, the power transmission gear unit (431) composed of the first gear (4311) and the second gear (4312) will be described below as an example.

[0151] 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.

[0152] 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).

[0153] 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).

[0154] 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).

[0155] 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.

[0156] 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.

[0157] According to one embodiment, the second member (460) may include a guide groove (462) positioned 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 formed 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.

[0158] 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).

[0159] 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.

[0160] 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 formed 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).

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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 positioned on the upper portion of the first member (450). For example, the guide protrusion (452) may be formed in three pieces as illustrated. For example, the number of guide protrusions (452) may be formed 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.

[0165] 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).

[0166] 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.

[0167] 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).

[0168] 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).

[0169] 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).

[0170] FIG. 12a is an exploded perspective view of a sensing device 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.

[0171] The sensing device (480) illustrated in FIGS. 12A to 12C may be substantially identical or similar to the sensing device described in FIGS. 4 to 8 (e.g., the sensing device (480) of FIG. 8). Among the configurations of the sensing device (480) in FIGS. 12A to 12C, the configurations described in FIGS. 4 to 8 use the same reference numbers.

[0172] Referring to FIGS. 12A to 12C, the sensing device (480) may include at least one of a sensor frame (481), a sensor (482), a vertically movable member (483), or an elastic body (484). The sensing device (480) may be disposed on the upper side of a housing (e.g., the housing (410) of FIG. 4). The sensing device (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 sensing device (480).

[0173] According to one embodiment, the sensor frame (481) may be arranged such that a sensor (482), a vertically movable member (483), or an elastic body (484) is accommodated or mounted therein.

[0174] According to one embodiment, the vertical movement member (483) can be accommodated within the sensor frame (481). The vertical movement member (483) can be disposed on the upper side of the shaft (440) while the sensing device (480) is mounted on the housing (410). The vertical movement member (483) can be disposed on the rotational axis of the shaft (440). When the vertically movable shaft (440) rises a predetermined distance or more, the vertical movement member (483) can be pressed upward and moved.

[0175] According to one embodiment, the elastic body (484) may be arranged to press downward the vertically movable member (483). The vertically movable member (483) may be pressed upward by the shaft (440). When the pressurization of the shaft (440) is terminated, the vertically movable member (483) may be returned to the position prior to pressurization (hereinafter, referred to as an “unpressurized position”) by the elastic body (484).

[0176] 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). The sensor (482) may be, for example, an IR sensor.

[0177] According to one embodiment, the sensor (482) may be at least one of an IR sensor, an ultrasonic sensor, a radar sensor, a lidar sensor, an optical sensor, or a TMR sensor.

[0178] 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.

[0179] 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).

[0180] In one embodiment, the vertical movement member (483) can close the space between the pair of through holes (4812) when in the unpressurized position. When the vertical movement member (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).

[0181] According to one embodiment, the vertically movable member (483) may include a shield (4831). The shield (4831) may be arranged to move up and down in the space of a pair of through holes (4812).

[0182] According to one embodiment, the space between the pair of through holes (4812) can be opened by the vertically movable member (483) being pressed upward by the shaft (440). By opening the space between the pair of through holes (4812) by the vertically movable 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).

[0183] According to some embodiments, the cleaning drive unit (400) can estimate the upward distance of the shaft (440) using the rotation speed of the motor (420) without a separate sensing device (480) configuration. The upward and downward movement distance of the shaft (440) according to the rotation speed of the motor (420) can be stored in memory (e.g., memory (340) of FIG. 3). The upward and downward movement distance of the shaft (440) per rotation speed of the motor (420) can vary depending on the size or shape of each component of the cleaning drive unit (400).

[0184] FIGS. 13a to 13c are drawings for explaining the operation process of the cleaning drive unit according to the rotation direction according to one embodiment.

[0185] The embodiments of FIGS. 13A to 13C can be optionally combined with at least one of the embodiments of FIGS. 1 to 12C. The embodiments of FIGS. 13A to 13C can be optionally combined with at least one of the embodiments of FIGS. 14 to 16.

[0186] FIGS. 13A, 13B, and 13C are drawings for explaining the process in which the shaft (440) is sequentially raised. The cleaning drive unit (400) illustrated in FIGS. 13A, 13B, and 13C may have a configuration substantially identical 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 of a configuration of the cleaning drive unit (400) illustrated in FIGS. 13A, 13B, and 13C that is substantially identical or similar to the configuration described in FIGS. 4 to 8, the same reference numerals are used.

[0187] FIG. 13a shows the position of the shaft (440) and the cleaning cloth module (500) when the cleaning cloth module (500) is in contact with the floor, and is generally used when a robot cleaner (e.g., the robot cleaner (100) of FIG. 1) performs wet cleaning.

[0188] FIG. 13b shows the position of the cleaning cloth module (500) for separating the cleaning cloth module (500) from the floor surface when the robot cleaner (100) performs non-wet cleaning (or dry cleaning) with the cleaning cloth module (500) raised.

[0189] FIG. 13c illustrates an operation of separating the cleaning cloth module (500) from the shaft (440) by additionally raising the shaft (440) in FIG. 13b.

[0190] Based on the position of the shaft (440), FIG. 13a may be referred to as a first position, FIG. 13b as a second position, and FIG. 13c as a third position. When the shaft (440) is positioned at the first position, the cleaning cloth (P) attached to the cleaning cloth module (500) may be brought into close contact with the floor surface. The second position may refer to a position moved upward from the first position. The third position may refer to a position moved upward from the second position. The third position may refer to a position of the shaft (440) where the shaft (440) and the cleaning cloth module (500) are separated. Here, 'upper' may refer to a direction away from the floor surface.

[0191] 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.

[0192] According to one embodiment, the cleaning cloth module (500) can be lifted up (or raised) or lifted down (or lowered) depending on the rotation direction of the motor (420). The cleaning cloth module (500) can be arranged to be moved up and down by the power transmitted from the motor (420). For example, when the motor (420) rotates in the first direction, the cleaning cloth module (500) can be lifted down. For example, when the motor (420) rotates in the first direction while the cleaning cloth module (500) is in contact with the floor, the cleaning cloth module (500) can also be rotated in a direction corresponding to the first direction while being adjacent to the floor. For example, when the motor (420) rotates in the second direction, the cleaning cloth module (500) can be lifted up.

[0193] According to one embodiment, the vertical movement member (483) can move together with the vertical movement of the cleaning cloth module (500). The vertical movement member (483) can move together with the vertical movement of the shaft (440). The vertical movement member (483) can be moved upward by being pressed by the upper end of the shaft (440) when the shaft (440) rises. When the pressurization of the shaft (440) is released, the vertical movement member (483) can return to the position before being pressed by the elastic force of the elastic body (484).

[0194] According to one embodiment, a control unit (e.g., control unit (350) of FIG. 3) may be configured to receive detection information from a sensor (482) and control the up and down movement of the cleaning cloth module (500).

[0195] 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.

[0196] FIG. 13A illustrates a cleaning drive unit (400) in a state where the cleaning cloth (P) is in close contact with the floor surface (hereinafter referred to as a first state). The first state may refer to, for example, a state where the shaft (440) is lowered to the maximum. The first state may refer to, for example, a state where the first member (450) is lowered to the maximum. The first state may refer to, for example, a state where 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 where the guide protrusion (452) of the first member (450) is in contact with the stopper (466) of the second member (460).

[0197] According to one embodiment, the cleaning drive unit (400) can perform wet cleaning by rotating the cleaning cloth (P) in close contact with the floor surface by rotating the motor (420) in the first direction in the first state.

[0198] In Fig. 13a, the vertical movement member (483) may be in a state where it is not pressurized by the shaft (440). In this state, the cover (4831) of the vertical movement member (483) is positioned to close the space between a pair of through holes (4812) of the sensing device (480). The vertical movement member (483) may be positioned so that the detector (4822) cannot detect the light generated from the light emitter (4821).

[0199] FIG. 13b illustrates the cleaning drive unit (400) in a state where the motor (420) rotates in a second direction and the shaft (440) is raised to a second position (hereinafter referred to as a second state). The second state may be, for example, a state where the cleaning cloth module (500) is separated from the floor while being coupled to the shaft (440). The second state may refer to, for example, a position where the shaft (440) is raised to its maximum while the shaft (440) and the cleaning cloth module (500) are coupled. The second state may refer to, for example, a state where the cleaning cloth module (500) can no longer be raised.

[0200] 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.

[0201] 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). In this case, 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.

[0202] In Fig. 13b, when the shaft (440) is positioned at the second position, the vertically movable member (483) may be pressed upward, and the elastic body (484) may be compressed. As the vertically movable member (483) is moved upward by the shaft, a space may be formed between the pair of through holes (4812). For example, the vertically movable member (483) may be positioned so that a portion thereof is positioned between the light emitter (4821) and the detector (4822) when the shaft (440) is at the first position, and may avoid the portion between the light emitter (4821) and the detector (4822) when the shaft is at the second position. As the space is opened between the pair of through holes (4812), the detector (4822) may detect light generated by the light emitter (4821). The detector (4822) can electrically transmit information on the light generated from the light emitter (4821) to the control unit (350).

[0203] According to one embodiment, the control unit (e.g., the control unit (350) of FIG. 3) may receive detection information from the sensor (482) and control the motor (420) to move the shaft (440) to the first position, the second position, or the third position. For example, the control unit (350) may stop the driving (or operation) of the motor (420) in response to receiving information related to light detection from the detector (4822). The driving (or operation) of the motor (420) may be stopped in response to the detector (4822) detecting light. When the driving (or operation) of the motor (420) is stopped, the upward movement of the shaft (440) and the cleaning cloth module (500) may be stopped.

[0204] While the robot cleaner (100) is performing cleaning, the cleaning drive unit (400) may be operated from the first state of FIG. 13a to the second state of FIG. 13b in order to switch from wet cleaning to non-wet cleaning. If the shaft (440) rises higher than the position shown in FIG. 13b, the shaft (440) and the cleaning cloth module (500) may become separated, which may cause a problem in that the cleaning cloth module (500) may come off during the cleaning process. The robot cleaner (100) of the present disclosure can move the shaft (440) and the cleaning cloth module (500) to an exact distance from the floor surface without separating them by using the sensor (482) and the up-and-down moving member (483).

[0205] FIG. 13c illustrates the cleaning drive unit (400) in a state where the shaft (440) is raised to a third position (hereinafter referred to as a third state). The third state may refer to, for example, a state where the shaft (440) is raised to its maximum. The third state may refer to, for example, a state where the first member (450) reaches the upper surface of the second member (460). The third state may refer to, for example, a state where the shaft (440) and the cleaning cloth module (500) are separated. For example, even if the shaft (440) is not raised to its maximum from the second position, if the shaft (440) and the cleaning cloth module (500) are separated, it may be referred to as the third state.

[0206] According to one embodiment, the shaft (440) can be separated from the cleaning cloth module (500) by being raised from the second position to the third position by the second direction rotation of the motor (420). When the shaft (440) is raised by the operation described above in FIG. 13B, the cleaning cloth module (500) should also be raised accordingly, but the cleaning cloth module (500) is caught in the housing (410) and cannot be raised any further. Accordingly, the magnetically coupled shaft (440) and the cleaning cloth module (500) can be separated from each other, thereby releasing the coupling. When the shaft (440) is released from the cleaning cloth module (500), the magnetization formed by the magnetic body (530) of the cleaning cloth module (500) can be released.

[0207] In one embodiment, the driving (or operation) of the motor (420) may be stopped when the shaft (440) reaches the third position.

[0208] By having the robot cleaner (100) automatically raise the cleaning cloth module (500) to 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 robot cleaner (100) can automatically raise the cleaning cloth module (500) to prevent a collision between the cleaning cloth module (500) and the obstacle. For example, the robot cleaner (100) can separate the cleaning cloth (P) from the floor surface in areas where wet cleaning is unnecessary by switching the cleaning drive unit (400) from the first state to the second state (or moving the shaft (440) from the first position to the second position).

[0209] According to one embodiment, in the second state or the third state, when the motor (420) rotates in the first direction, the shaft (440) and / or the cleaning cloth module (500) may be lowered again. When the shaft coupling gear part (432) rotates in the first direction by the rotation of the motor (420), the shaft (440) coupled thereto may also rotate in the first direction. The first member (450) may receive power from the shaft (440) and rotate in the first direction. At this time, the second member (460) may receive power from the first member (450), but may rotate in the first direction at a slower speed than the first member (450). For example, the second member (460) may rotate more slowly than the first member (450) due to frictional force with the second bearing (493) and / or the unidirectional rotation gear (475). Accordingly, the first member (450) can be rotated in the first direction relative to the second member (460). At this time, the guide protrusion (452) of the first member (450) moves along the guide groove (462) of the second member (460), thereby allowing the first member (450) to move downward. The cleaning cloth module (500) and shaft (440) coupled to the first member (450) can also move downward together.

[0210] According to one embodiment, the robot cleaner (100) may further include a magnetoresistance sensor (not shown). The magnetoresistance sensor may be placed around the shaft (440). The magnetoresistance sensor may detect separation of the shaft (440) and the cleaning cloth module (500). When the shaft (440) and the cleaning cloth module (500) are coupled, the shaft (440) may be magnetized by the magnetic body (530). When the shaft (440) and the cleaning cloth module (500) are separated, the magnetization of the shaft (440) may be released. By detecting a change in the magnetic field at the time when the shaft (440) is separated from the cleaning cloth module (500), it is possible to detect whether the shaft (440) and the cleaning cloth module (500) are separated. For example, as the shaft (440) moves from the second position to the third position, it is separated from the cleaning cloth module (500), and a change occurs in the magnetic field of the shaft (440), and the magnetoresistance sensor detects this, so that the control unit (e.g., the control unit (350) of FIG. 3) can determine whether the cleaning cloth module (500) is completely separated from the shaft (440). The magnetoresistance sensor may include, for example, a TMR sensor (Tunneling Magnetoresistance Sensor).

[0211] Fig. 14 is a cross-sectional view of a cleaning drive unit according to one embodiment.

[0212] The embodiment of FIG. 14 can be optionally combined with at least one of the embodiments of FIGS. 1 to 13c. The embodiment of FIG. 14 can be optionally combined with at least one of the embodiments of FIGS. 15 and 16.

[0213] The cleaning drive unit (1400) of FIG. 14 may be included in the robot cleaner of FIGS. 1 and 2 (e.g., the robot cleaner (100) of FIG. 1).

[0214] Among the configurations of the cleaning drive unit (1400) illustrated in FIG. 14, the same reference numbers are used for configurations that are substantially the same or similar to the configurations of the cleaning drive unit (400) illustrated in FIGS. 1 to 13c.

[0215] Referring to FIG. 14, the sensing devices (480, 490) may include a first sensing device (480) and a second sensing device (490) having different positions. This is not limited thereto, and three or more sensing devices (480, 490) may be arranged as needed.

[0216] In one embodiment, the first sensing device (480) and the first sensing device (490) may be, but are not limited to, sensors of the same type. For example, the first sensing device (480) and the first sensing device (490) may each include an IR sensor, but are not limited thereto.

[0217] According to one embodiment, the first sensing device (490) may be positioned above the first sensing device (480). The first sensing device (490) may have the same configuration and shape as the first sensing device (480).

[0218] In one embodiment, the first sensing device (480) may be positioned to detect whether the shaft (440) has reached the second position. For example, the first sensing device (480) may detect whether the shaft (440) has reached the state illustrated in FIG. 13B. The position and configuration of the first sensing device (480) may be substantially the same as the sensing devices of FIGS. 13A to 13C (e.g., the sensing device (480) of FIG. 13A).

[0219] According to one embodiment, the first sensing device (490) may be arranged to detect whether the shaft (440) has reached the third position. For example, the first sensing device (490) may detect whether the shaft (440) has reached the state illustrated in FIG. 13C. For example, when the vertically movable member (483) moves upward due to the pressure of the shaft (440) and the vertically movable member (483) closes the space between a pair of through holes of the first sensing device (490), the detector of the first sensing device (490) may stop detecting light. The control unit (350) may receive this information and determine that the shaft (440) has reached the third position.

[0220] By increasing the number of sensing devices in this way, the control unit (350) can more accurately measure the rising position of the shaft (440).

[0221] Fig. 15 is a cross-sectional view of a cleaning drive unit according to one embodiment.

[0222] The embodiment of FIG. 15 can be optionally combined with at least one of the embodiments of FIGS. 1 to 14 and FIG. 16.

[0223] The cleaning drive unit (400) of FIG. 15 can be included in the robot cleaner of FIGS. 1 and 2 (e.g., the robot cleaner (100) of FIG. 1).

[0224] Among the configurations of the cleaning drive unit (400) illustrated in FIG. 15, the same reference numbers are used for configurations that are substantially the same or similar to the configurations of the cleaning drive unit (400) illustrated in FIGS. 1 to 13c.

[0225] Referring to FIG. 15, the cleaning driving unit (400) may include a vertically moving member (1510). According to one embodiment, the vertically moving member (1510) may include a first shield (1511), a slit (1512), and a second shield (1513). The slit (1512) may be formed between the first shield (1511) and the second shield (1513).

[0226] For convenience of explanation, the drawing illustrates a shape in which one slit is formed between two shields, but the number of slits and shields is not limited thereto. For example, the vertically movable member (1510) may include three shields and two slits formed between adjacent shields.

[0227] According to one embodiment, by forming a slit (1512) through which light can pass between the first shield (1511) and the second shield (1513), various positions of the shaft (440) can be detected with only one sensing device (480).

[0228] According to one embodiment, when the shaft (440) is positioned at the first position (see the position of the shaft (440) in FIG. 13A), the first shield (1511) can close the space between the pair of through holes (4812). Therefore, the detector (4822) cannot detect light due to the first shield (1511).

[0229] According to one embodiment, when the shaft (440) is raised from the first position to the second position (see the position of the shaft (440) in FIG. 13B), a slit (1512) between the first shield (1511) and the second shield (1513) can be positioned between a pair of through holes (4812). Light from the light emitter (4821) can pass through the slit (1512) and be detected by the detector (4822).

[0230] In one embodiment, when the shaft (440) is further raised at the second position, the second shield (1513) can close the space between the pair of through holes (4812).

[0231] In this way, the robot vacuum cleaner (100) can measure or estimate the position of the shaft (440) more precisely than when there is a single shield by using the rotation direction of the motor (420) and whether the detector (4822) detects light.

[0232] Fig. 16 is a cross-sectional view of a cleaning drive unit according to one embodiment.

[0233] The embodiment of FIG. 16 can be optionally combined with at least one of the embodiments of FIGS. 1 to 15.

[0234] The cleaning drive unit (400) of FIG. 16 can be included in the robot cleaner of FIGS. 1 and 2 (e.g., the robot cleaner (100) of FIG. 1).

[0235] Among the configurations of the cleaning drive unit (400) illustrated in FIG. 16, the same reference numbers are used for configurations that are substantially the same or similar to the configurations of the cleaning drive unit (400) illustrated in FIGS. 1 to 13c.

[0236] Referring to FIG. 16, the cleaning drive unit (400) may include a sensing device (1610). The sensing device (1610) may be positioned on the lower side of the housing (410). The position and structure of the sensing device (1610) illustrated in FIG. 16 are exemplary and the scope of the present disclosure is not limited thereto.

[0237] According to one embodiment, the cleaning cloth module (500) may include a rib (1620). The rib (1620) may be formed to protrude upward from the rotating member (510). The rib (1620) may be formed integrally with the rotating member (510), but is not limited thereto.

[0238] According to one embodiment, the sensing device (1610) may be positioned to detect the position of the rib (1620). The sensing device (1610) may be positioned to face approximately horizontally. When the cleaning cloth module (500) is in close contact with the floor, the sensing device (1610) cannot detect the rib (1620). When the shaft (440) and the cleaning cloth module (500) are raised by the rotation of the motor (420) and the shaft (440) reaches a second position (e.g., see the position of the shaft in FIG. 13B), the sensing device (1610) may detect the rib (1620). When the sensing device (1610) detects the rib (1620), the detection information may be transmitted to a control unit (e.g., a control unit (350) in FIG. 3). The control unit (350) can determine that the shaft (440) has reached the second position based on the received information and stop the rotation of the motor (420).

[0239] The sensing device (1610) may be at least one of an ultrasonic sensor, an IR sensor, a lidar sensor, an optical sensor, and a capacitive sensor, but is not limited thereto.

[0240] Fig. 17 is a flowchart of a general control method of a robot vacuum cleaner according to one embodiment.

[0241] The flowchart illustrated in Fig. 17 can be applied to the embodiments of Figs. 1 to 16. Fig. 17 is an exemplary flowchart for explaining the overall operation of the robot vacuum cleaner, and the present disclosure is not limited to the illustrated order.

[0242] Referring to FIG. 17, a control unit (e.g., control unit (350) of FIG. 3) can automatically perform cleaning within a predetermined area (operation 1710). A user can preset the cleaning time of the robot cleaner (100). The control unit (350) can perform cleaning of a predetermined area at a preset time.

[0243] According to one embodiment, the control unit (350) can determine whether the cleaning performance area is a wet cleaning area or a non-wet cleaning area (operation 1720). Here, the wet cleaning area may refer to an area where wet cleaning is performed by contacting the cleaning cloth (P) with the floor. Here, the non-wet cleaning area may refer to an area where only dry cleaning is performed by dropping the cleaning cloth (P) from the floor. Dry cleaning may refer to cleaning that sucks up dust using a vacuum. The non-wet cleaning area may be referred to as a dry cleaning area.

[0244] For example, an area that is more likely to be contaminated by a mop (P), such as a carpet, may be defined as a non-wet cleaning area. For example, if the robot cleaner (100) must pass over a small step, such as a small step, the step area may also be defined as a non-wet cleaning area.

[0245] According to one embodiment, the control unit (350) can adjust the vertical position of the cleaning cloth module (500) according to the cleaning area (operation 1730). In the wet cleaning area, the control unit (350) can perform cleaning by bringing the cleaning cloth (P) into close contact with the floor surface, as illustrated in FIG. 13A. In the non-wet cleaning area, the control unit (350) can raise the cleaning cloth module (500) to perform cleaning while keeping the cleaning cloth (P) away from the floor surface.

[0246] When entering a non-wet cleaning area from a wet cleaning area, the control unit (350) can rotate the motor (420) to raise the cleaning cloth module (500) and the shaft (440). The control unit (350) can perform dry cleaning by raising the shaft (440) from a first position (see the shaft position of FIG. 13a) to a second position (see the shaft position of FIG. 13b).

[0247] When entering a wet cleaning area from a non-wet cleaning area, the control unit (350) can rotate the motor (420) to lower the cleaning cloth module (500) and the shaft (440). The control unit (350) can perform wet cleaning by lowering the shaft (440) from the second position to the first position to bring the cleaning cloth (P) into close contact with the floor surface.

[0248] According to one embodiment, the control unit (350) can determine whether the cleaning cloth (P) needs to be replaced during cleaning (operation 1740). The cleaning cloth replacement determination unit (352) of the control unit (350) described above in FIG. 3 can determine whether the cleaning cloth (P) needs to be replaced. If the control unit (350) determines that the cleaning cloth (P) needs to be replaced, it can move to a predetermined position and perform the cleaning cloth (P) replacement. After moving to the predetermined position, the control unit (350) can separate the shaft (440) and the cleaning cloth module (500) from the magnetically coupled state by controlling the motor (420) to move the shaft (440) from the first position or the second position to the third position (see the position of the shaft in FIG. 13C).

[0249] The control process of the control unit (350) described above is an example for explaining the overall operation of the robot cleaner (100), and the present disclosure is not limited thereto.

[0250] Fig. 18 is a flowchart of a control method for a robot vacuum cleaner according to one embodiment.

[0251] The flowchart illustrated in Fig. 18 can be applied to the embodiments of Figs. 1 to 16. The flowchart illustrated in Fig. 18 is a flowchart for explaining an operation in which a control unit (350) rotates a motor (420) to raise / lower a shaft (440) between a first position, a second position, and a third position.

[0252] Referring to FIG. 18, the control unit (350) can perform an operation of rotating the motor (420) to lift up (or raise) the shaft (440) located at the first position (operation 1810). As described above, the control unit (350) can rotate the motor (420) in the second direction (or reverse direction) to raise the shaft (440).

[0253] According to one embodiment, the control unit (350) can use the sensing device (480) to determine whether the shaft (440) has reached the second position (operation 1820). While the shaft (440) moves from the first position to the second position, the sensor (482) may still not detect light by the vertical movement member (483). When the shaft (440) has completed moving to the second position, the sensor (482) detects light by the movement of the vertical movement member (483), and the control unit (350) can determine that the shaft (440) has reached the second position based on the detected information.

[0254] According to one embodiment, the control unit (350) can perform an operation to stop the rotation of the motor (420) when the shaft (440) reaches the second position (operation 1830). With the rotation of the motor (420) stopped and the cleaning cloth module (500) raised, the robot cleaner (100) can perform non-wet cleaning.

[0255] Actions 1810 to 1830 may be actions performed by the robot cleaner when it enters a non-wet cleaning area.

[0256] In one embodiment, the control unit (350) can separate the shaft (440) and the cleaning cloth module (500) by rotating the motor (420) to lift up the shaft (440) located at the second position (operation 1840). If the shaft (440) is further raised from the second position, the cleaning cloth module (500) may be caught on the housing (410) and may no longer be able to rise, thereby releasing the magnetic coupling between the shaft (440) and the cleaning cloth module (500).

[0257] Action 1840 is an action that can be performed when it is determined that the cleaning cloth (P) needs to be replaced depending on the level of contamination of the cleaning cloth (P).

[0258] In general, when lifting a cleaning cloth module (500) or shaft (440), the rising and falling positions can be estimated using the rotation speed of the motor (420) without providing a separate sensor structure. However, this method has a disadvantage in that it is difficult to estimate the position when the cleaning cloth module (500) moves up and down, and if the robot cleaner (100) is reset during the rising process and then operates again, it is difficult to estimate the current position. For example, due to inaccurate estimation, the cleaning cloth module (500) should only be raised, but the shaft (440) may be raised more than the set value, which may cause the cleaning cloth module (500) to be separated from the shaft (440) during the cleaning process. The robot cleaner (100) of the present disclosure proposes a sensing structure that can accurately measure the position at which the cleaning cloth module (500) is separated from the shaft (440) and is separated from the floor surface without being separated from the shaft (440).

[0259] A robot cleaner according to one embodiment may include a motor (420), a cleaning cloth module (500) arranged to be able to move up and down by power received from the motor (420), a sensing device (480) including a vertical moving member (483) that moves according to the vertical movement of the cleaning cloth module (500) and includes a shield, and a sensor (482) arranged to detect the position of the shield of the vertical moving member (483), and a control unit (350) configured to receive detection information from the sensor (482) and control the vertical movement of the cleaning cloth module (500).

[0260] According to one embodiment, the robot cleaner may further include a shaft (440) coupled to the cleaning cloth module (500) so as to be rotated by the motor (420) and move up and down together with the cleaning cloth module (500).

[0261] According to one embodiment, the vertical moving member (483) may be formed to move by being pressed against the shaft (440).

[0262] According to one embodiment, the shaft (440) may be configured to move up and down between a first position where the cleaning cloth attached to the cleaning cloth module (500) is pressed against the floor surface, a second position where the shaft (440) is moved upward from the first position, and a third position where the shaft (440) is moved upward from the second position and separated from the cleaning cloth module (500).

[0263] According to one embodiment, the control unit (350) may receive detection information from the sensor (482) and control the motor (420) to move the shaft (440) to the first position, the second position, or the third position.

[0264] According to one embodiment, the sensor (482) may include a light emitter (4821) and a detector (4822) configured to detect light generated from the light emitter (4821). The vertically movable member (483) may be arranged so that a portion thereof moves between the light emitter (4821) and the detector (4822).

[0265] According to one embodiment, the vertically movable member (483) may be positioned so that a portion thereof is positioned between the light emitter (4821) and the detector (4822) when the shaft (440) is in the first position, and so as to avoid the portion between the light emitter (4821) and the detector (4822) when the shaft (440) is in the second position.

[0266] According to one embodiment, when the shaft (440) moves from the second position to the third position, the shaft (440) can be separated from the cleaning cloth module (500).

[0267] According to one embodiment, the cleaning cloth module (500) may include a magnetic body (530) arranged to magnetically couple with the shaft (440).

[0268] According to one embodiment, the sensing device (480) may include a first sensing device (480) and a second sensing device (480) positioned at different locations.

[0269] According to one embodiment, the cleaning cloth module (500) may include a rotating member (510) formed to rotate the cleaning cloth. The vertically movable member (483) may have a rib shape extending upward from the upper surface of the rotating member (510).

[0270] According to one embodiment, the vertical movement member (483) may be positioned on the upper side of the shaft (440). The robot cleaner may further include an elastic body (484) positioned to provide elasticity by being compressed by the upward movement of the shaft (440).

[0271] A method for controlling a robot cleaner according to one embodiment may include an operation of rotating a motor (420) to clean a floor using a cleaning cloth, an operation of controlling the motor (420) to lift the shaft (440) when the cleaner enters a non-wet cleaning area, an operation of detecting movement of a vertical moving member (483) moved by the shaft (440) using a sensor (482), and an operation of determining that the shaft (440) has reached a second position and stopping lifting when movement of the vertical moving member (483) is detected using the sensor (482).

[0272] According to one embodiment, the control method of the robot cleaner may further include an operation of moving the shaft (440) that has reached the second position upward to separate the shaft (440) and the cleaning cloth module (500).

[0273] According to one embodiment, the sensor (482) may include a light emitter (4821) and a detector (4822) that detects light generated from the light emitter (4821). When the shaft (440) is positioned at the first position, the vertically movable member (483) blocks light between the light emitter (4821) and the detector (4822), and when the shaft (440) is positioned at the second position, the vertically movable member (483) moves to allow light between the light emitter (4821) and the detector (4822).

[0274] 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.

[0275] 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.

[0276] 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.

[0277] 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

In robot vacuum cleaners, motor (420); A cleaning cloth module (500) arranged to be able to move up and down by power transmitted from the above motor (420); A sensing device (480) including a vertically movable member (483) that moves up and down together with the cleaning cloth module (500) and includes a shield, and a sensor (482) arranged to detect the position of the shield of the vertically movable member (483); and A robot cleaner including a control unit (350) configured to receive detection information from the sensor (482) and control the up and down movement of the cleaning cloth module (500). In the first paragraph, A robot cleaner further comprising a shaft (440) coupled to the cleaning cloth module (500) so as to be rotated by the motor (420) and move up and down together with the cleaning cloth module (500). In the second paragraph, The above vertical moving member (483) is A robot cleaner formed to move by being pressurized by the above shaft (440). In the second or third paragraph, The above shaft (440) is A robot cleaner configured to move up and down between a first position where the cleaning cloth attached to the cleaning cloth module (500) is pressed against the floor surface, a second position moved upward from the first position, and a third position where the shaft (440) is separated from the cleaning cloth module (500) by moving upward from the second position. In paragraph 4, The above control unit (350) A robot cleaner that receives detection information from the sensor (482) and controls the motor (420) to move the shaft (440) to the first position, the second position, or the third position. In paragraph 4, The above sensor (482) includes a light emitter (4821) and a detector (4822) configured to detect light generated from the light emitter (4821), A robot cleaner in which a portion of the above-mentioned vertical moving member (483) is arranged to move between the light emitter (4821) and the detector (4822). In paragraph 6, The above vertical moving member (483) is When the above shaft (440) is in the first position, a part of it is located between the light emitter (4821) and the detector (4822), A robot cleaner, wherein the shaft (440) is positioned to avoid between the light emitter (4821) and the detector (4822) when the shaft (440) is in the second position. In one of the 4th to 7th clauses, A robot cleaner, wherein when the shaft (440) moves from the second position to the third position, the shaft (440) is separated from the cleaning cloth module (500). In one of the second to eighth clauses, The above cleaning cloth module (500) is A robot vacuum cleaner comprising a magnetic body (530) arranged to be magnetically coupled with the shaft (440). In one of the first to ninth paragraphs, The sensing device (480) is a robot cleaner including a first sensing device (480) and a second sensing device (480) positioned at different locations. In one of claims 1 to 10, The above cleaning cloth module (500) is It includes a rotating member (510) formed to rotate the cleaning cloth, The above vertical moving member (483) is A robot cleaner having a rib shape extending upward from the upper surface of the above-mentioned rotating member (510). In one of claims 1 to 11, The above vertical moving member (483) is It is placed on the upper side of the above shaft (440), The above robot vacuum cleaner, A robot cleaner further comprising an elastic body (484) arranged to provide elasticity by being compressed by upward movement of the shaft (440). In a method for controlling a robot vacuum cleaner, An action of cleaning the floor surface by rotating the motor (420) and using a cleaning cloth; When the above cleaner enters the wet cleaning area, an operation of lifting the shaft (440) by controlling the motor (420); An operation of detecting the movement of the up-and-down moving member (483) moved by the shaft (440) using a sensor (482); and A control method for a robot vacuum cleaner, including an operation of stopping lifting by determining that the shaft (440) has reached a second position when movement of the upper and lower moving member (483) is detected using the sensor (482). In Article 13, A control method for a robot cleaner, further comprising an operation of moving the shaft (440) that has reached the second position upward to separate the shaft (440) and the cleaning cloth module (500). In Article 13 or 14, The above sensor (482) includes a light emitter (4821) and a detector (4822) that detects light generated from the light emitter (4821). When the shaft (440) is positioned at the first position, the up-and-down moving member (483) blocks the light between the light emitter (4821) and the detector (4822), A control method for a robot cleaner, wherein when the shaft (440) is positioned at the second position, the vertically movable member (483) moves to allow light between the light emitter (4821) and the detector (4822).

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