NOZZLE UNIT, ROBOT CLEANER INCLUDING SAME, AND CONTROL METHOD THEREFOR

Disclosed are a nozzle unit, a robot cleaner including same, and a control method therefor. The nozzle unit according to an embodiment of the present invention comprises a plurality of brushes that rotate in different directions. One of the plurality of brushes rotates such that waste such as hair attaches and collects thereon. Another one of the plurality of brushes rotates such that the attached waste such as hair becomes separated. The above processes are performed simultaneously. Accordingly, waste such as hair present on a floor surface can be easily collected and separated. Consequently, user convenience can be enhanced.

TECHNICAL FIELD

The present disclosure relates to a nozzle part and a robot cleaner including the same, and more specifically, to a nozzle part having a structure capable of effectively collecting substances such as hair or fiber that is easily adhered but is not easily separated, and a robot cleaner including the same.

BACKGROUND ART

A robot cleaner refers to a device capable of independently performing a cleaning operation according to a preset method, without requiring a user’s manual operation. The robot cleaner may have an operation time and an operation method set in advance.

The robot cleaner provides various conveniences such as that the user does not need to directly perform cleaning, and that the operation mode and operation time can be arbitrarily set. Accordingly, in recent years, the demand for a robot cleaner has been increased.

The robot cleaner drives indoors according to a preset method and sucks dust, small trash or the like existing on the floor. To this end, the robot cleaner includes a motor that forms suction power, a dust bin that stores sucked dust or small trash, and a filter that purifies and discharges air sucked in the dust bin.

The trash collected by the robot cleaner may have many forms. For example, the trash may include hair that has been removed from a human body, fiber strands separated from clothes, and the like.

With the trend of decreasing the number of members constituting households, such as single-person households, households with companion animals are increasing. In the above case, by the way, companion animals have more fur that falls out more easily than humans.

The above-described trash such as hair, fiber strands, or companion animal hair has a property of being easily adhered to an object having a rough surface by electrostatic attraction. At the same time, the trash has a property of not being easily separated from a surface of the adhered object.

Therefore, in everyday life, when the trash adheres to a surface of an object made of a fibrous material such as a carpet or a rug, it is not easy to separate it. Even when the trash is collected during housework or while the robot cleaner drives on a surface such as a carpet or a rug, it is difficult to separate the trash from the robot cleaner.

Accordingly, not only the user’s convenience is deteriorated, but there is also a concern that the robot cleaner may malfunction or be damaged by the trash adhered to the robot cleaner.

Korean Patent Document No. 10-1981827 discloses a cleaning device for a nozzle of a vacuum cleaner. More specifically, it discloses a cleaning device for a nozzle of a vacuum cleaner including a socket for accommodating a vacuum cleaner nozzle, and a cleaning member disposed in the socket to remove articles entangled therewith while a rotatable member rotates.

However, the cleaning device for the nozzle of this type of vacuum cleaner is disposed in a charging stand for charging the vacuum cleaner. Accordingly, there is an inconvenience in that the user must place the vacuum cleaner on the charging stand and then operate the vacuum cleaner again after completing the use of the vacuum cleaner.

Korean Patent Publication No. 10-2020-0028580 discloses a pet comb capable of sucking and removing hair and a vacuum cleaner including the same. Specifically, it discloses a pet comb including a roll comb part that combs the fur of a pet inside a body case and a rake part that removes fur stuck in the roll comb portion and a vacuum cleaner including the same.

However, this type of pet comb and a vacuum cleaner including the same have a limitation in that they are applicable only to a handy type cleaner other than a robot cleaner or a large cleaner due to their use.

In addition, since both the roll comb part and the rake part are provided in a rake shape, there is also a limitation that it is difficult to remove hair tangled in each rake.Korean Patent No. 10-1981827 (May 23, 2019)Korean Patent Publication No. 10-2020-0028580 (Apr. 8, 2020)

DISCLOSURE OF INVENTION

Technical Problem

An aspect of the present disclosure is to provide a nozzle part having a structure capable of solving the foregoing problems, a robot cleaner including the same, and a control method thereof.

First, an aspect of the present disclosure is to provide a nozzle part having a structure capable of easily collecting trash in the form of hair or fiber scattered indoors, a robot cleaner including the same, and a control method thereof.

Furthermore, an aspect of the present disclosure is to provide a nozzle part having a structure capable of easily capturing the collected trash in the form of hair or fiber, a robot cleaner including the same, and a control method thereof.

In addition, an aspect of the present disclosure is to provide a nozzle part having a structure capable of easily discharging the trash in the form of hair or fiber, a robot cleaner including the same, and a control method thereof.

Moreover, an aspect of the present disclosure is to provide a nozzle part having a structure that does not interfere with the driving of a robot cleaner by a member provided to collect trash in the form of hair or fiber, a robot cleaner including the same, and a control method thereof.

Besides, an aspect of the present disclosure is to provide a nozzle part having a structure capable of minimizing the number of components that provide power to a member for achieving the above object, a robot cleaner including the same, and a control method thereof.

Furthermore, an aspect of the present disclosure is to provide a nozzle part having a structure capable of simplifying the structure of the member for achieving the above object, a robot cleaner including the same, and a control method thereof.

In addition, an aspect of the present disclosure is to provide a nozzle part having a structure that is applicable to other types of robot cleaners as well as achieving the above object, a robot cleaner including the same, and a control method thereof.

Solution to Problem

In order to achieve the foregoing objectives, the present disclosure provides a nozzle part, including a frame; a first brush rotatably coupled to the frame to extend in one direction; a second brush located adjacent to the first brush to extend in said one direction, and rotatably coupled to the frame; and a removal member coupled to the frame, and located adjacent to at least either one of the first brush and the second brush, wherein the removal member extends along said one direction in which the first brush and the second brush extend, and the first brush and the second brush are respectively partially in contact with the removal member to rotate in different directions to each other.

Furthermore, the first brush and the second brush of the nozzle part may be defined in a circular cross section having a predetermined curvature, and the cross section of the removal member may be defined in a round shape to be convex in a direction opposite to the first brush or the second brush.

Furthermore, the cross section of the removal member of the nozzle part may be defined to have a center located on the central axis of the first brush or the second brush, with a curvature that is the same as that of the first brush and the second brush.

Furthermore, the removal member of the nozzle part may include a first removal member located adjacent to the first brush between the first brush and the second brush to be in contact with the first brush; and a second removal member located adjacent to the second brush to be in contact with the second brush.

Furthermore, the first brush and the second brush of the nozzle part may respectively have a cylindrical shape extending in said one direction, and the first brush may include a first adhesive member constituting part of an outer circumference of the first brush, which is formed of a material having a predetermined roughness; and a first exposed portion constituting the remaining part of the outer circumference of the first brush, which is exposed to the outside, and the second brush may include a second adhesive member constituting part of an outer circumference of the second brush, which is formed of a material having a predetermined roughness; and a second exposed portion constituting the remaining part of the outer circumference of the second brush, which is exposed to the outside.

Furthermore, the removal member may be formed of a material having a relatively lower roughness than those of the first adhesive member and the second adhesive member.

Furthermore, the nozzle part may include a sensor part located adjacent to either one of the first brush and the second brush to sense information related to the rotation of the either one brush of the first brush and the second brush, wherein the sensor part includes a magnetic body coupled to the either one brush of the first brush and the second brush to rotate together with the either one brush; and a sensing unit coupled to the frame adjacent to the magnetic body to sense the strength and direction of a magnetic field generated by the rotation of the magnetic body.

Furthermore, the nozzle part may include a controller connected to the sensor part to be electrically conductive so as to receive the sensed information, wherein the controller includes a rotation information calculation module that calculates rotation information on the rotation of the either one brush using the received information; an operation information calculation module connected to the rotation information calculation module to be electrically conductive so as to calculate operation information on the operation of a power part using the calculated rotation information; and a power part control module connected to the operation information calculation module to be electrically conductive so as to control the operation of the power part using the calculated operation information.

Furthermore, the nozzle part may include a first main gear coupled to the first brush to rotate together with the first brush; a second main gear coupled to the second brush to rotate together with the second brush; a first sub-gear rotatably coupled to the frame, and coupled to a rotationally operated power part, and gear-fitted to either one main gear of the first main gear and the second main gear; and a second sub-gear rotatably coupled to the frame, and gear-coupled to the other one main gear of the first main gear and the second main gear, and the first sub-gear, respectively.

In addition, the present disclosure provides a robot cleaner, including a body part; a dust bin detachably coupled to the body part, and defined with a space therein; a nozzle housing detachably coupled to the body part, an inner space of which communicates with the space of the dust bin; and a nozzle part rotatably accommodated in the nozzle housing, and partially exposed to an outside of the nozzle housing, wherein the nozzle part includes a frame coupled to the nozzle housing; a first brush rotatably coupled to the frame to extend in one direction; a second brush located adjacent to the first brush to extend in said one direction, and rotatably coupled to the frame; and a removal member coupled to the frame, and located adjacent to at least either one of the first brush and the second brush to extend along said one direction in which the first brush and the second brush extend, wherein the removal member includes a first removal member located adjacent to the first brush between the first brush and the second brush to be in contact with the first brush; and a second removal member located adjacent to the second brush to be in contact with the second brush, and wherein the first brush and the second brush are rotated in different directions to each other.

Furthermore, the first brush and the second brush of the robot cleaner may be defined in a circular cross section having a predetermined curvature, and the cross section of the removal member may be defined in a round shape to be convex in a direction opposite to the first brush and the second brush, and defined with a curvature that is the same as that of the first brush and the second brush, and the first removal member and the second removal member may partially surround outer circumferences of the first brush and the second brush, respectively.

Furthermore, the first brush and the second brush of the robot cleaner may include a first adhesive member and a second adhesive member formed of a material having a predetermined roughness, respectively, and the removal member may formed of a material having a lower roughness than those of the first adhesive member and the second adhesive member.

Furthermore, the robot cleaner may include a magnetic body coupled to the either one brush of the first brush and the second brush to rotate together with the either one brush; a sensing unit coupled to the frame adjacent to the magnetic body to sense information on the strength and direction of a magnetic field generated by the rotation of the magnetic body; and a controller connected to the sensing unit to be electrically conductive so as to receive the sensed information, and calculate operation information on the operation of the power part using the received information, and control the operation of the power part according to the calculated operation information.

Furthermore, the robot cleaner may include a first main gear coupled to the first brush to rotate together with the first brush; a second main gear coupled to the second brush to rotate together with the second brush; a first sub-gear rotatably coupled to the frame, and coupled to a rotationally operated power part, and gear-fitted to either one main gear of the first main gear and the second main gear; and a second sub-gear rotatably coupled to the frame, and gear-fitted to the other one main gear of the first main gear and the second main gear, and the first sub-gear, respectively.

Moreover, the present disclosure provides a method of controlling a robot cleaner, and the method may include (a) allowing a sensor part to sense information on the rotation of a brush; (b) allowing a controller to calculate rotation information using the sensed information; (c) allowing the controller to calculate operation information using the calculated rotation information; (d) allowing the controller to control a power part according to the calculated operation information; and (e) operating the brush according to the calculated operation information.

Furthermore, said step (a) in the method of controlling the robot cleaner may include (a1) allowing the power part to rotate the brush and a magnetic body coupled to the brush; (a2) allowing a sensing unit to sense information on the number of rotations of the magnetic body and information on a rotation direction thereof; and (a3) allowing the sensing unit to transmit the sensed information on the number of rotations of the magnetic body and the information on the rotation direction to the controller, wherein information on the rotation of the brush includes information on the number of rotations of the magnetic body and information on the rotation direction.

Furthermore, said step (b) in the method of controlling the robot cleaner may include (b1) allowing a rotation information calculation module to receive the sensed information on the rotation of the brush; (b2) allowing the rotation information calculation module to compare the information on the rotation of the brush with preset reference rotation information to calculate the rotation information; and (b3) allowing the rotation information calculation module to transmit the calculated rotation information to an operation information calculation module.

Furthermore, said step (c) in the method of controlling the robot cleaner may include (c1) allowing an operation information calculation module to receive the calculated rotation information; (c2) allowing the operation information calculation module to calculate the operation information using the calculated rotation information; and (c3) allowing the operation information calculation module to transmit the calculated operation information to the power part control module.

Furthermore, said step (d) in the method of controlling the robot cleaner may include (d1) allowing a power part control module to receive the calculated operation information; and (d2) allowing the power part control module to control the rotation of the power part according to the calculated operation information.

Furthermore, said step (e) in the method of controlling the robot cleaner may include (e1) operating the power part according to the calculated operation information; (e2) operating the brush coupled to the power part according to the calculated operation information; and (e3) allowing the sensor part to sense information on the rotation of the brush.

Advantageous Effects of Invention

According to an embodiment of the present disclosure, the following effects may be achieved.

First, a first brush and a second brush is provided in the nozzle part. The first and second brushes extend in one direction, and first and second adhesive members formed of a material such as felt having high roughness are respectively provided on outer circumferences thereof.

In other words, the first and second adhesive members constitute a part of the outer circumference surfaces of the first and second brushes. The first and second brushes are partially exposed to an outside of the nozzle housing.

When the robot cleaner is operated, the first and second adhesive members roll along a floor surface to be cleaned. Due to the characteristics of the material and shape of the first and second adhesive members, trash such as hair staying on the floor surface is easily adhered to the first and second adhesive members.

Accordingly, trash such as fur existing in a region where the robot cleaner has passed while being driven may be easily collected.

Furthermore, a removal member is provided in the nozzle part. The removal member is located adjacent to the first and second brushes to be in contact with the first and second brushes. The removal member is disposed at a lower frame to partially surround an outer circumference of the brush.

Trash such as hair adhered to the first and second adhesive members provided on the first and second brushes may be separated while in contact with the removal member, and removed into an inner space of the nozzle housing.

Accordingly, the collected trash such as fur may be easily collected in a dust bin through an inner space of the nozzle housing and body part without any additional operation.

Furthermore, the dust bin is detachably coupled to the body part. An inner space of the dust bin communicates with an inner space of the body part. Through the foregoing process, trash such as fur scattered on the floor surface is collected and then moved and accommodated in the dust bin.

Accordingly, a user may separate only the dust bin to easily discharge the collected trash such as fur.

Furthermore, the first brush and the second brush are rotated in different directions. The first brush and the second brush may be rotated alternately and repeatedly in different directions.

Specifically, a sensor part is provided adjacent to at least one of the first and second brushes. The sensor part includes a magnetic body that is rotated together with the first and second brushes and a sensing unit that senses a magnetic field formed by the rotation of the magnetic body.

Information sensed by the sensor part is transmitted to the controller. The controller calculates rotation information using the sensed information. The controller calculates operation information for controlling a power part and the resultant operation of the first and second brushes according to the calculated rotation information.

For an example, after one end portion of either one of the first and second adhesive members provided on the first and second brushes, respectively, is in contact with one end portion of the removal member, the controller calculates whether the other end portion of the either one thereof is in contact with the other end portion of the removal member.

According to the calculation result, the controller calculates operation information for maintaining a current rotation direction or changing the rotation direction. Accordingly, the first and second brushes are rotated in opposite directions to each other, but controlled to alternately rotate in a clockwise or counterclockwise direction.

As a result, either one of the first and second brushes is rotated along a direction in which the robot cleaner drives. Accordingly, even when a brush for separating trash such as fur adhered thereto is operated, the driving of the robot cleaner may not be disturbed.

Furthermore, a main gear and a sub-gear are coupled to the first and second brushes. The main gear is gear-coupled to the power part and the sub-gear. The sub-gear is gear-coupled to a teeth part disposed on an inner circumference of the main gear and the support part.

When the power part is operated, the sub-gear and the main gear gear-coupled thereto are rotated together. At this time, the first and second brushes coupled to the main gear are also rotated together.

As a result, when the sub-gear is rotated by a single number of the power part, the main gear and the first and second brushes coupled thereto may also be rotated by various combinations. Accordingly, the number of power sources required to rotate the first and second brushes may be minimized.

Moreover, through the foregoing configuration, the first and second brushes may be rotated simultaneously by a single power part. Accordingly, the configuration of the nozzle part may be defined simply.

In addition, the nozzle housing accommodating the nozzle part is detachably coupled to the body part. Therefore, the foregoing effects may be achieved only by separating the nozzle housing from the body part and coupling it to the body part of another robot cleaner.

Accordingly, the versatility of the nozzle part may be improved. In addition, the user may purchase only the nozzle part separately without purchasing an entire robot cleaner to use it for the robot cleaner previously used.

MODE FOR THE INVENTION

Hereinafter, a nozzle part according to an embodiment of the present disclosure and a robot cleaner including the same will be described in detail with reference to the accompanying drawings.

In the following description, the description of some components may be omitted to clarify the features of the present disclosure.

1. Definition of Terms

In case where an element is “connected” or “linked” to the other element, it may be directly connected or linked to the other element, but it should be understood that any other element may be existed therebetween.

On the contrary, in case where an element is “directly connected” or “directly linked” to the other element, it should be understood that any other element is not existed therebetween.

Unless clearly used otherwise, a singular expression used in the present disclosure may include a plural expression.

The term “dust” used in the following description refers to fine-sized particles, dust, etc. existing in an environment such as indoors where a robot cleaner is operated.

The term “small trash” used in the following description refers to trash of a size that is larger than dust but can be collected by the robot cleaner.

The term “fur” used in the following description refers to a fine thread-like material that has been removed from animals, including humans. The fur may be body hair that has been removed from a human body, hair on the head, or body hair that has been removed from an animal body.

The term “fiber” used in the following description refers to any fine thread-like material except for the fur. In one embodiment, the fiber may be a material that has been removed from clothing, bedding, furniture, and miscellaneous goods.

In the following description, hair and fiber are collectively referred to as “fur (F) or the like.”

The terms “front side”, “rear side”, “left side”, “right side”, “top side” and “bottom side” used in the following description will be understood with reference to a coordinate system illustrated inFIG.1.

2. Description of Configuration of Robot Cleaner1According To Embodiment of Present Disclosure

Referring toFIGS.1and5, a robot cleaner1according to an embodiment of the present disclosure includes a body part10, a driving part20, a dust bin30, an external sensor part40, a nozzle housing50, and a nozzle part60.

Hereinafter, each configuration of the robot cleaner1according to an embodiment of the present disclosure will be described with reference to the accompanying drawings, but the nozzle part60will be described as a separate paragraph.

Description of Body Part10

The body part10forms an outer shape of the robot cleaner1. The body part10may accommodate components for the robot cleaner1to perform a cleaning operation in a space accommodated therein.

The body part10may collide with various obstacles provided in a region where the robot cleaner1is driven, for example, indoors. Therefore, the body part10is preferably formed of a material of high rigidity to prevent damage due to a collision.

In addition, the body part10is preferably formed of a lightweight material. This is to reduce power required for the driving of the robot cleaner1.

In one embodiment, the body part10may be formed of a synthetic resin such as reinforced plastic.

A user interface may be provided outside the body part10. The user may manipulate the user interface to control the operation of the robot cleaner1. Furthermore, the user interface may display information on the robot cleaner1and the state of a region where the robot cleaner1is driven.

An inner space of the body part10may communicate with the outside. Air or small trash collected while the robot cleaner1is driven may flow into the dust bin30that is detachably coupled through an inner space of the body part10. In addition, air introduced together with dust or small trash may be discharged to an outside of the body part10.

Various sensors may be provided in the body part10. In other words, in addition to the external sensor part40which will be described later, the body part10may be provided with a gyro sensor or the like for sensing an inclination of the floor surface (G).

In the illustrated embodiment, the body part10has a circular cross section, and is provided in a disk shape having a predetermined height in a vertical direction. Accordingly, when the robot cleaner1collides with various obstacles while being driven, the body part10may rotate and drive in various directions.

A nozzle housing50and a nozzle part60accommodated in the nozzle housing50are detachably coupled to the body part10. An inner space of the nozzle housing50may communicate with an inner space of the body part10and the dust bin30.

Accordingly, trash (H) such as fur collected by the nozzle part60may be introduced and collected in the dust bin30through an inner space of the body part10.

The driving part20is rotatably coupled to a lower side of the body part10.

The driving part20provides power for moving the robot cleaner1. In addition, the driving part20allows the robot cleaner1to be rotated to change the driving direction.

The driving part20is located at a lower side of the robot cleaner1. The driving part20is rotatably coupled to a lower side of the body part10.

The driving part20may be provided in a form capable of being rotated to move forward or backward. In the illustrated embodiment, the driving part20is provided in the form of a wheel.

A plurality of driving parts20may be provided. In the illustrated embodiment, the driving part20is provided on the left and right sides, respectively, at a lower side of the body part10. The rotational speed and rotation direction of each driving part20positioned on each side may be controlled independently of each other.

Although not shown, the driving part20may be coupled to a power device (not shown). The power device (not shown) may be provided in the form of a motor that rotates the driving part20by receiving an electric signal.

In one embodiment, a plurality of power devices (not shown) may be provided, and coupled to a plurality of driving parts20, respectively. Accordingly, the plurality of driving parts20may be controlled independently of each other.

The dust bin30stores the collected trash while the robot cleaner1is driven. In one embodiment, the dust bin30may accommodate trash (H) such as fur.

A predetermined space is defined inside the dust bin30. The space communicates with a space disposed inside the body part10. The trash collected through the nozzle part60may pass through the space disposed inside the body part10to enter an inside of the dust bin30.

The dust bin30is detachably coupled to the body part10. The user may release the dust bin30from the body part10to easily remove trash accommodated in the dust bin30.

The dust bin30may be formed of a transparent material. This is to allow the user to visually recognize an amount of trash accommodated in the dust bin30and easily determine the discharge timing of trash.

Alternatively, a sensor (not shown) may be provided in the dust bin30. In one embodiment, the sensor (not shown) may sense the mass or volume of trash accommodated in an inner space of the dust bin30. The sensed mass or volume may be transmitted to the user in the form of visualization information or auditory information to allow the user to easily recognize the discharge timing of trash.

The external sensor part40senses information on a path on which the robot cleaner1is driven.

The external sensor part40may be located in a direction in which the robot cleaner1is to be driven. In the illustrated embodiment, the external sensor part40is located at a front side of the body part10to sense information about an environment at a front side of the robot cleaner1.

The external sensor part40may be provided in an arbitrary form capable of detecting information on the environment of a path on which the robot cleaner1is driven or to be driven. In the illustrated embodiment, the external sensor part40is provided as a camera capable of sensing image information.

Although not shown, the external sensor part40may further include an infrared sensor or the like for sensing a distance to an obstacle.

The nozzle housing50is detachably coupled to a lower side of the external sensor part40, that is, at a lower side of the front of the body part10.

The nozzle housing50accommodates the nozzle part60. As the robot cleaner1is driven, trash collected by the nozzle part60, particularly, trash (H) such as fur may be introduced into a space inside the body part10and the dust bin30through the nozzle housing50.

The nozzle housing50is located at a lower side of the front of the body part10. When the driving part20is rotated, a lower side of the nozzle housing50may be in contact with the floor surface (G) or spaced apart by a predetermined distance to move together with the body part10.

A space is defined inside the nozzle housing50. The nozzle part60is accommodated in the space. As will be described later, the nozzle part60includes a frame100, a brush200rotatably coupled to the frame100, and a removal member300. The brush200and the removal member300of the nozzle part60may be rotated in an inner space of the nozzle housing50.

The nozzle housing50is detachably coupled to the body part10. When the nozzle housing50and the body part10are coupled to each other, the inner space of the nozzle housing50communicates with the inner space of the body part10. Accordingly, the inner space of the nozzle housing50may communicate with the dust container30.

The nozzle housing50is coupled to the body part10and moved together, and may have any shape capable of accommodating the nozzle part60therein. In the illustrated embodiment, the nozzle housing50has a polygonal columnar shape that extends long in a left-right direction, and protrudes upward with different inclination angles in the front and rear directions.

The nozzle housing50may collide with various obstacles provided in a region where the robot cleaner1is driven, for example, indoors. It is because the nozzle housing50is coupled to the body part10to be exposed to an outside of the body part10. Therefore, the nozzle housing50is preferably formed of a material of high rigidity to prevent damage due to a collision.

Furthermore, the nozzle housing50is preferably formed of a lightweight material. This is to reduce power required for the driving of the robot cleaner1.

In one embodiment, the nozzle housing50may be formed of a synthetic resin such as reinforced plastic.

In the illustrated embodiment, the nozzle housing50includes an outer housing51, an inner housing52and a communication part53.

The outer housing51defines an outer side of the nozzle housing50. The outer housing51is exposed to an outside of the nozzle housing50.

A predetermined space is defined inside the outer housing51. The inner housing52and the nozzle part60accommodated in the inner housing52are accommodated in the space. The space communicates with a space disposed inside the body part10. The communication is achieved by the communication part53.

The inner housing52is located inside the outer housing51.

The inner housing52defines an inner side of the nozzle housing50. The inner housing52is not exposed to the outside.

A space is defined inside the inner housing52. The nozzle part60is accommodated in the space. The brush200and the removal member300of the nozzle part60may be rotated while being accommodated in the inner housing52.

The nozzle part52may be coupled to the inner housing60. Specifically, the frame100of the nozzle part60may be coupled to the inner housing52.

An opening part is disposed at one side of the inner housing52, at a lower side in the illustrated embodiment. The nozzle part60accommodated in the inner housing52may be exposed to an outer side of the inner housing52through the opening part. Accordingly, when the robot cleaner1is driven, various types of trash placed on the floor surface (G) may be collected by the nozzle part60.

The space defined inside the inner housing52communicates with the communication part53. Various types of trash collected by the nozzle part60may pass through the communication part53to be introduced into the inner space of the body part10and the dust container30.

The communication part53communicates an inner space of the outer housing51and an inner space of the inner housing52with an inner space of the body part10.

The communication part53may be located in the outer housing51. The communication part53is located on one side facing the body part10, at upper side of the rear in the illustrated embodiment.

The communication part53may be detachably coupled to the body part10. By the coupling, the nozzle housing50and the body part10may be detachably coupled to each other.

3. Description of Nozzle Part60According to Embodiment of Present Disclosure

Referring back toFIGS.1and5, the robot cleaner1according to an embodiment of the present disclosure includes a nozzle part60.

The nozzle part60is rotated as the robot cleaner1is operated to collect various types of trash located on the floor surface (G) in a region where the nozzle part60is exposed.

The nozzle part60may be moved together as the robot cleaner1is moved. Accordingly, the nozzle part60may collect trash in various regions.

The nozzle part60may be accommodated in the nozzle housing50, and exposed toward the floor surface (G). When the robot cleaner1is driven, the nozzle part60is driven while being in contact with the floor surface (G) or being separated by a predetermined distance.

The nozzle part60may be rotated. Accordingly, various types of trash located on the floor surface (G) may be collected by the nozzle part60, and collected in the dust bin30through the nozzle housing50.

In this specification, the description will be made on the premise that the nozzle part60is rotated to collect trash (H) such as fur.

Description of Components of Nozzle Part60

Hereinafter, components of the nozzle part60according to an embodiment of the present disclosure will be described in detail with reference toFIGS.6through14.

In the illustrated embodiment, the nozzle part60includes a frame100, a brush200, a removal member300, a gear part400, a power part500, a sensor part600, and a controller700.

The frame100is a portion in which the nozzle part60is coupled to the nozzle housing50. In addition, the frame100rotatably supports the brush200and the removal member300.

The frame100may be formed of a lightweight and high rigid material. In one embodiment, the frame100may be formed of a synthetic resin material such as reinforced plastic.

The frame100defines part of the outer shape of the nozzle part60. In the illustrated embodiment, the frame100defines lower, left and right sides of the nozzle part60.

In the illustrated embodiment, the frame100includes a lower frame110, and a side frame120.

The lower frame110defines a lower side of the frame100. The lower frame110partially surrounds a lower side of the brush200.

The lower frame110may be defined in a shape corresponding to the shape of the brush200. In the illustrated embodiment, the brush200has a cylindrical shape extending in a left-right direction, and the lower frame110may also be provided in a plate shape extending in a left-right direction.

An opening part is disposed inside the lower frame110. The opening part may be disposed to pass through upper and lower portions of the lower frame110. Part of the brush200, in the illustrated embodiment, part of the lower side may be exposed to a lower side of the lower frame110through the opening part. Accordingly, the brush200may be exposed to an outside of the nozzle housing50.

The lower frame110includes a removal member coupling surface111.

The removal member coupling surface111is a portion provided with the removal member300for separating trash (H) such as fur adhered to the adhesive member210of the brush200.

The removal member coupling surface111may partially support the brush200. In other, words, the brush200may be rotated in a state in contact with the removal member coupling surface111. Accordingly, trash (H) such as fur adhered to the adhesive member210of the brush200may be effectively separated by the removal member300.

The removal member coupling surface111is disposed inside the lower frame110. Specifically, the removal member coupling surface111is disposed inside the lower frame110, at a position facing the brush200.

As best illustrated inFIG.11, a plurality of removal member coupling surfaces111may be disposed. The plurality of removal member coupling surfaces111are disposed to surround the plurality of brushes200, respectively, in a direction different from an extension direction of the brush200, from a front side in the illustrated embodiment.

The removal member coupling surface111may be defined to be round. The removal member coupling surface111is disposed to be convex in a direction opposite to the brush200, toward a front side in the illustrated embodiment.

In this case, a curvature of the removal member coupling surface111may be defined to correspond to that of an outer circumference of the brush200. In an embodiment, the center of the removal member coupling surface111may be located at the central axis of the brush200.

The removal member coupling surface111may be defined in an arc shape. In this case, the removal member coupling surface111may have an arc shape whose center is located at the central axis of the brush200and whose central angle is an acute angle.

The removal member coupling surface111may be recessed in a direction opposite to the brush200on one surface of the lower frame110facing the brush200. Accordingly, a space to which the removal member300can be coupled may be defined between the brush200and the removal member coupling surface111.

The removal member coupling surface111may be located at a relatively lower side with respect to the central axis of the brush200. Accordingly, trash (H) such as fur adhered to the adhesive member210of the brush200may be swept and easily separated by the removal member300.

The removal member coupling surface111may extend in a direction in which the lower frame110extends, or in a left-right direction in the illustrated embodiment. In one embodiment, the removal member coupling surface111may be extended by an extension length of the lower frame110. In other words, each end portion in a direction in which the removal member coupling surface111extends may overlap with an end portion in each direction in which the lower frame110extends in a front-rear direction.

Side frames120are located at respective end portions in both directions in which the lower frame110extends, and at left and right end portions in the illustrated embodiment, respectively.

The side frames120define respective end portions in a length direction of the frame100and in a left-right direction in the illustrated embodiment. The side frames120are coupled to end portions in respective directions in which the brush200extends, and to the left and right end portions, respectively, in the illustrated embodiment.

Either one of the side frames120, the side frame120located on the right side in the illustrated embodiment, may have a through hole formed in the length direction. A power part500for rotating the gear part400may be coupled to the through hole to pass therethrough.

The brush200and the removal member300are rotatably coupled to the side frame120. In other words, the side frame120is not rotated irrespective of the rotation of the brush200and the removal member300.

The side frame120may be defined in a shape corresponding to the shape of the inner space of the nozzle housing50. In the illustrated embodiment, the side frame120is provided in a plate shape in which an upper end portion thereof is defined to be rounded in a convex manner toward the upper side.

The brush200is rotated to collect various types of trash staying on the floor surface (G).

The brush200is rotatably coupled to the frame100. Specifically, both end portions of the brush200are rotatably supported by a plurality of side frames120.

The brush200is disposed to extend in one direction. In the illustrated embodiment, the brush200is formed to extend in a left-right direction. It will be understood that the extension direction is the same as that of the nozzle housing50.

Accordingly, when the robot cleaner1moves forward, an area that the brush200sweeps may increase. Accordingly, the cleaning efficiency of the robot cleaner1may be improved.

The brush200may have any shape that is rotatable between the side frames120. In the illustrated embodiment, the brush200has a circular cross section and a cylindrical shape extending in a left-right direction.

In the above embodiment, even when the rotation of the brush200is advanced, a distance between the center of the cross section and the outer circumference of the brush200may be kept constant to perform an efficient cleaning operation.

Respective end portions in a direction in which the brush200extends, left and right end portions in the illustrated embodiment are rotatably coupled to the side frames120, respectively.

One side of the brush200, a lower side in the illustrated embodiment, is partially exposed to an outside of the lower frame110. Through the exposed portion, trash (H) such as fur located on the floor surface (G) may be adhered to the adhesive member210of the brush200.

The brush200is supported by the lower frame110. In addition, the brush200is partially supported by the removal member300. In one embodiment, the brush200may be rotated while being in contact with the removal member300.

Accordingly, trash (H) such as fur adhered to the adhesive member210of the brush200may be effectively separated by the removal member300.

The sensor part600(seeFIG.16) is provided at least one of the respective end portions in a direction in which the brush200extends. The sensor part600may sense information related to rotation, such as a rotation direction and a rotation angle of the brush200. The detailed description thereof will be described later.

A main gear410is coupled to an outer circumference of each end portion in a direction in which the brush200extends, or the left and right end portions in the illustrated embodiment. The main gears410are gear-coupled to sub-gears420located adjacent to an outer circumference of the brush200, respectively.

Accordingly, when the power part500is operated, the plurality of brushes200may be rotated in different directions. As a result, a plurality of brushes200may be operated by a single power part500.

A plurality of brushes200may be provided. Each of the plurality of brushes200may be provided at different positions of the lower frame110, and rotatably coupled to the side frames120.

In the illustrated embodiment, the brush200includes a first brush200alocate at the rear side and a second brush200blocated at the front side.

The first brush200aand the second brush200bare disposed to be spaced apart from each other. In the illustrated embodiment, the first brush200aand the second brush200bare disposed to face each other with the removal member coupling surface111and the first removal member300alocated at the rear side therebetween.

The first brush200aand the second brush200bmay be rotated independently of each other. In other words, the first brush200aand the second brush200bmay have different rotation directions and rotation speeds.

In one embodiment, the first brush200aand the second brush200bmay be rotated in opposite directions. The difference is achieved by the adjustment of the gear part400which will be described later.

Accordingly, while either one brush of the first brush200aand the second brush200badheres trash (H) such as fur existing on the floor surface (G), the other one brush of the first brush200aand the second brush200bseparates trash (H) such as fur that has been previously adhered thereto.

The first brush200ais coupled to a first main gear411. The second brush200bis coupled to a second main gear412. As will be described later, the first main gear411and the second main gear412are gear-coupled to a second sub-gear422and a first sub-gear421, respectively. The detailed description thereof will be described later.

The brush200may be formed of a lightweight and high rigid material. In one embodiment, the brush200may be formed of a synthetic resin material such as reinforced plastic.

The brush200includes an adhesive member210and an exposed part220.

The adhesive member210defines part of an outer circumferential surface of the brush200. In other words, the adhesive member210is provided on the brush200to surround part of the outer circumferential surface of the brush200.

In the illustrated embodiment, the adhesive member210is disposed to surround at least half of the outer circumferential surface of the brush200. In this case, a portion of the outer circumferential surface of the brush200that is not covered by the adhesive member210may be defined as the exposed part220. An area of the adhesive member210may be defined such that an area of the exposed part220is larger than that of the removal member300.

In other words, as illustrated inFIGS.11and12, the adhesive member210is disposed to have a predetermined length along the outer circumference of the brush200. In this case, a length in the circumferential direction of a portion of the outer circumference of the brush200that is not covered by the adhesive member210may be disposed to be larger than that in the circumferential direction of the removal member300.

The adhesive member210may be formed of a material having a predetermined roughness. This is to easily collect trash (H) such as fur staying on the floor surface (G) by frictional force and electrostatic attraction.

Furthermore, the adhesive member210may be formed of a material having a predetermined adhesive strength. This is to facilitate collection by pressing and adhering trash (H) such as fur staying on the floor surface (G).

In one embodiment, the adhesive member210may be formed of a fibrous material such as felt, blended fabric, linen, or bristle. Alternatively, the adhesive member210may be formed of a material such as rubber, latex, or acryl.

In this case, the roughness of a surface in a direction in which the adhesive member210is exposed to the outside, and in a direction toward a radial outer side with respect to the center of the brush200in the illustrated embodiment is preferably defined to be relatively higher.

As the brush200and the adhesive member210provided therein are rotated, trash (H) such as fur located on the floor surface (G) may adhere to the adhesive member210. Trash (H) such as sticky fur may be rotated together with the brush200and the adhesive member210, and then separated by the removal member300. The detailed description thereof will be described later.

A plurality of adhesive members210may be provided. The plurality of adhesive members210may be provided on the plurality of brushes200, respectively. In other words, the plurality of adhesive members210may be disposed to surround the outer circumferences of the plurality of brushes200, respectively.

In the illustrated embodiment, the adhesive member210includes a first adhesive member211provided on the first brush200aand a second adhesive member212provided on the second brush200b.

The first adhesive member211is disposed to surround an outer circumference of the first brush200a. As the first brush200ais rotated, the first adhesive member211may be in contact with or spaced apart from the first removal member300a. When the first adhesive member211is in contact with the first removal member300a, trash (H) such as fur adhered to the first adhesive member211may be separated.

The second adhesive member212is disposed to surround an outer circumference of the second brush200b. As the second brush200bis rotated, the second adhesive member212may be in contact with or spaced apart from the second removal member300b. When the second adhesive member212is brought into contact with the second removal member300b, trash (H) such as fur adhered to the second adhesive member212may be separated.

The exposed part220is defined as the remaining part of the outer circumference of the brush200except for part covered by the adhesive member210. In other words, the exposed part220is a portion of the outer circumference of the brush200that is directly exposed to the outside.

Accordingly, the exposed part220may be defined as an arc whose center is located on the central axis of the brush200, and having the same curvature as the outer circumference of the brush200.

Accordingly, one end portion in a circumferential direction in which the adhesive member210extends and one end portion in a circumferential direction in which the exposed part220extends are continuous with each other. Similarly, the other end portion in the circumferential direction from which the adhesive member210extends and the other end portion in the circumferential direction from which the exposed part220extends are continuous with each other.

As will be described later, when either one of the one end portion or the other end portion of the exposed part220is adjacent to one end portion of the removal member300, the power part500is rotated in one direction. In addition, when the other one of the one end portion and the other end portion of the exposed part220is adjacent to the other end portion of the removal member300, the power part500is rotated in another direction.

Accordingly, the adhesive member210adheres to trash (H) such as fur located on the floor surface (G), and trash (H) such as fur adhered in contact with the removal member300may be separated. The detailed description thereof will be described later.

A plurality of exposed parts220may be provided. The plurality of exposed parts220may be arranged on the plurality of brushes200, respectively. In the illustrated embodiment, the exposed part220includes a first exposed part221disposed on the first brush200aand a second exposed part222disposed on the second brush200b.

It will be understood that the first exposed part221and the second exposed part222are respectively defined as a portion that is not provided with the first adhesive member211and the second adhesive member212on the outer circumferential surfaces of the first and second brushes200a,200b.

The removal member300is provided adjacent to an outer circumference of the brush200.

The removal member300separates trash adhered to the adhesive member210of the brush200, particularly, trash (H), such as fur, from the adhesive member210. The separated adhesive member210may be removed into the inside of the nozzle housing50, and moved and collected into the dust bin30through the communication part53.

The removal member300is located adjacent to the brush200. Specifically, the removal member300is coupled to the removal member coupling surface111disposed on the lower frame110. According to the location of the removal member coupling surface111as described above, the removal member300is also located at a lower side compared to the central axis of the brush200.

In the illustrated embodiment, the removal member300is located at a front lower side of the brush200at a radial outer side of the brush200. The removal member300is disposed to partially surround a outer circumference of the brush200.

The removal member300may be defined in a shape corresponding to the shape of an outer circumference of the brush200. In the illustrated embodiment, the brush200has a cylindrical shape having a circular cross section, and the removal member300may be defined in an arc-shaped cross section having a predetermined curvature.

In this case, the center of the removal member300may be located at the central axis of the brush200. Furthermore, a curvature of the removal member300may be defined to be the same as that of the outer circumference of the brush200.

The removal member300may extend in the same direction as the brush200, in a left-right direction in the illustrated embodiment. The removal member300may have both end portions in an extending direction thereof, left and right end portions in the illustrated embodiment, respectively, coupled to the side frames120.

In other words, the removal member300may be extended by an extension length of the lower frame110or the removal member coupling surface111. In other words, each end portion in a direction in which the removal member300extends may overlap with each end portion in a direction in which the lower frame110or the removal member coupling surface111extends in a front-rear direction.

The removal member300may be formed of a material having a lower roughness than the adhesive member210. This is to more easily separate trash (H) such as fur adhered to the adhesive member210by being in contact with the adhesive member210.

In one embodiment, the removal member300may be formed of a cotton flannel material.

The removal member300may alternately be in contact with and spaced apart from each other with the first adhesive member211and the second adhesive member212. In other words, at a specific point in time, the removal member300is in contact with either one of the first adhesive member211and the second adhesive member212, and separated from the other one of the first adhesive member211and the second adhesive member212.

Accordingly, while either one brush of the first brush200aand the second brush200badheres trash (H) such as fur, the other one brush of the first brush200aand the second brush200bmay separate trash (H) such as fur that has been previously adhered thereto.

A plurality of removal members300may be provided. The plurality of removal members300are located adjacent to the plurality of brushes200, respectively. The plurality of removal members300are spaced apart from or in contact with the plurality of adhesive members210, respectively.

In the illustrated embodiment, two removal members300including a first removal member300aand a second removal member300bare provided. The first removal member300ais located adjacent to the first brush200ato be in contact with or spaced apart from the first adhesive member211. The second removal member300bis located adjacent to the second brush200bto be in contact with or spaced apart from the second adhesive member212.

The gear part400transmits the rotation of the power part500to the brush200. In addition, the gear part400is coupled to the plurality of brushes200a,200b, respectively, to transmit a rotational force.

Accordingly, the plurality of brushes200a,200bmay both be rotated by a single power part500.

Furthermore, by the gear part400, the first brush200aand the second brush200bmay be rotated in different directions.

The gear part400is connected to the power part500. When the power part500is operated, the gear part400may be rotated.

A plurality of gear parts400may be provided. The plurality of gear parts400may be located at respective end portions in a direction in which the brush200extends. In the illustrated embodiment, two gear parts400are provided, and located at left and right end portions of the brush200, respectively.

In the above embodiment, the gear part400is coupled to the left end and the right end of the brush200, respectively. Accordingly, the brush200and the gear part400may be integrally rotated.

In the illustrated embodiment, the gear part400includes a main gear410and a sub-gear420.

The main gear410is coupled to the brush200. The main gear410may be rotated together with the brush200. In the illustrated embodiment, the main gear410is coupled to the brush200at both end portions in a direction in which the brush200extends.

The main gear410is rotated together with the brush200. The main gear410may be rotatably coupled to the side frame120.

The main gear410is gear-fitted to the sub-gear420. The maingear410may be provided in any form capable of being gear-coupled to the sub-gear420.

A plurality of main gears410may be provided. The plurality of main gears410may be respectively coupled to the plurality of brushes200, and rotated together with each brush200.

In the illustrated embodiment, the main gear410includes a first main gear411coupled to the first brush200aand a second main gear412coupled to the second brush200b.

The first main gear411is coupled to an end portion in a direction in which the first brush200aextends. A plurality of first main gears411are provided, and respectively coupled to both end portions in a direction in which the first brush200aextends.

The first main gear411is gear-coupled to the second sub-gear422. Accordingly, the first main gear411is rotated in a direction opposite to the second sub-gear422.

The second main gear412is coupled to an end portion in a direction in which the second brush200bextends. A plurality of second main gears412are provided, and respectively coupled to both end portions in a direction in which the second brush200bextends.

The second main gear412is gear-coupled to the first sub-gear421. Accordingly, the second main gear412is rotated in a direction opposite to the first sub-gear421.

The main gear410may include a plurality of teeth parts. In other words, the main gear410may include a plurality of concave portions and a plurality of convex portions that are alternately arranged with each other along an outer circumference thereof.

The sub-gear420is coupled to the power part500to rotate according to the operation of the power part500. Furthermore, the sub-gear420is gear-coupled to the main gear410. Accordingly, when the power part500is operated, the sub-gear420coupled thereto and the main gear410connected to the sub-gear420are rotated. As a result, the brush200coupled to the main gear410may also be rotated.

The sub-gear420may be provided in any form capable of being gear-coupled to the main gear410.

The sub-gear420may be rotatably coupled to the side frame120. In addition, the sub-gear420is located adjacent to each end portion in a direction in which the brush200extends and the main gear410coupled thereto.

A plurality of sub-gears420may be provided. The plurality of sub-gears420may be gear-coupled to the plurality of main gears410at respective end portions in a direction in which the brush200extends.

In the illustrated embodiment, the sub-gear420includes a first sub-gear421and a second sub-gear422. The first sub-gear421is located between the first main gear411and the second main gear412, and coupled to the power part500. The second sub-gear422is located at an upper side of the first main gear411.

The first sub-gear421is gear-coupled to the second main gear412and the second sub-gear422, respectively. The second sub-gear422is gear-coupled to the first main gear411and the first sub-gear421.

Accordingly, the rotation of the power part500is first transmitted to the first sub-gear421. The rotation of the first sub-gear421is transmitted to the second main gear412and the second sub-gear422. In addition, the rotation of the second sub-gear422is transmitted to the first main gear411.

The sub-gear420may include a plurality of teeth parts. In other words, the sub-gear420may include a plurality of concave portions and a plurality of convex portions alternately arranged with each other along an outer circumference thereof.

The power part500generates power for rotating the brush200. The power part500is coupled to the sub-gear420of the gear part400, in particular, the first sub-gear421. The power part500and the first sub-gear421may be rotated together.

The power part500may be provided in any form capable of controlling rotation or non-rotation, rotation direction, rotation speed or the like thereof by an input of an electrical signal. In one embodiment, the power part500may be provided with an electric motor.

The power part500is connected to the controller700to be electrically conductive. The connection may be carried out in a wireless or wired manner.

The power part500is electrically connected to an external power source (not shown) and a controller (not shown). Power for operating the power part500may be supplied from the power source (not shown). In addition, a control signal for controlling the rotation or non-rotation, rotation direction, rotation speed or the like of the power part500may be applied from the controller (not shown).

The power part500may be coupled to the side frame120of the frame100. Accordingly, the power part500may be stably supported.

The detailed description of a process of rotating the brush200as the power part500is operated will be described later.

The sensor part600senses the rotation direction and rotation angle of the brush200. Information on the rotation sensed by the sensor part600is transmitted to the controller700. The controller700calculates the rotation information of the brush200and operation information for operating the power part500accordingly using the information.

The sensor part600is connected to the controller700to be electrically conducted. The information sensed by the sensor part600may be transmitted to the controller700. The electrical conduction between the sensor part600and the controller700may be carried out in a wired manner through a conductor member (not shown) or in a wireless manner such as Bluetooth.

The sensor part600is located adjacent to the brush200. The sensor part600senses the rotation direction and rotation speed of the brush200. The sensor part600may be provided in any form capable of sensing the rotation or non-rotation, rotation direction, rotation speed or the like of another member.

The sensor part600is located adjacent to one end portion of the brush200to sense the rotation of the brush200. In the illustrated embodiment, the sensor part600is provided in the form of a hall sensor. In addition, in the illustrated embodiment, the sensor part600is located adjacent to one end portion of the second brush200b.

Alternatively, the sensor part600may be provided with an encoder sensor, a photo sensor or the like. Furthermore, alternatively, the sensor part600may be provided at one end portion of the first brush200a.

In other words, the sensor part600may be provided at one or both end portions of at least one of the first and second brushes200a,200b.

In the illustrated embodiment, the sensor part600includes a sensing unit610and a magnetic body620.

The sensing unit610is located adjacent to the end portion of the brush200. The sensing unit610senses a magnetic field formed by the magnetic body620rotated together with the brush200.

The sensing unit610may not be rotated irrespective of the brush200. This is to more accurately sense a magnetic field formed by the brush200and the magnetic body620coupled thereto.

In one embodiment, the sensing unit610may be coupled to the lower frame110or the side frame120.

Information sensed by the sensing unit610, that is, information on the rotation of the brush200is transmitted to the controller700.

The magnetic body620is located adjacent to the sensing unit610.

The magnetic body620is rotated together with the brush200. Accordingly, when the brush200is rotated, the location of the magnetic body620and the strength and direction of a magnetic field formed by the magnetic body620are changed. The sensing unit610senses the change to transmit it to the sensor part600.

The magnetic body620may be coupled to the brush200. In the illustrated embodiment, the magnetic body620is coupled to one end portion of the second brush200bto rotate together with the second brush200b.

In other words, in the illustrated embodiment, the sensor part600may sense the rotation of the second brush200b.

The magnetic body620may be provided in any form capable of forming a magnetic field. In one embodiment, the magnetic body620may be provided in the form of a permanent magnet or an electromagnet.

A plurality of magnetic bodies620may be provided. The plurality of magnetic bodies620may be disposed at a plurality of positions in the cross section of the brush200. In this case, the plurality of magnetic bodies620may be disposed to be spaced apart from each other along an outer circumference of the cross section of the brush200. Accordingly, the sensing unit610may accurately sense a magnetic field formed as the brush200is rotated.

In the illustrated embodiment, two magnetic bodies620including a first magnetic body621and a second magnetic body622are provided. The first magnetic body621and the second magnetic body622are disposed to face each other with the center of the brush200interposed therebetween.

In one embodiment, the first magnetic body621and the second magnetic body622may be located adjacent to an outer circumference of the cross section of the brush200. In the above embodiment, as the brush200is rotated, a distance at which the first magnetic body621and the second magnetic body622move increases to also enhance the strength of the formed magnetic field.

A process of sensing a magnetic field formed by the rotation of the magnetic body620by the sensing unit610is a well-known technology, and thus the detailed description thereof will be omitted.

Although not shown, the magnetic body620may be located inside the brush200. The magnetic body620may be located inside at a specific position in a direction in which the brush200extends, that is, in a left-right direction in the illustrated embodiment.

In the above embodiment, the sensing unit610may be disposed to overlap with the magnetic body620in a top-down direction or a front-rear direction. Even in this case, the sensing unit610is preferably spaced apart from the brush200not to rotate together with the brush200.

Referring toFIG.17, the nozzle part60according to an embodiment of the present invention further includes a controller700.

The controller700calculates information related to the rotation of the brush200using information sensed by the sensor part600. In addition, the controller700calculates information related to the operation of the power part500using the calculated information. Furthermore, the controller700controls the power part500according to the calculated information.

The controller700is connected to the sensor part600to be electrically conducted. Information sensed by the sensor part600may be transmitted to the controller700.

The controller700is connected to the power part500to be electrically conducted. The controller700may control the rotation or non-rotation, rotation direction, rotation speed or the like of the power part500based on the calculated information.

The electrically conductive connection may be formed by wired or wireless means. In one embodiment, the controller700may be provided in any form capable of allowing the input, output, and calculation of information.

In one embodiment, the controller700may be provided with a microprocessor, a CPU, or the like.

In one embodiment, the controller700may be accommodated in an inner space of the body portion10. In the above embodiment, when the nozzle housing50accommodating the nozzle part60is coupled to the body part10, the controller700may be connected to the power part500and the sensor part600to be electrically conductive.

In another embodiment, the controller700may be accommodated in an inner space of the nozzle housing50. In the above embodiment, as the nozzle housing50is coupled to the body part10, power for operating the controller700may be transmitted to the controller700from a power source accommodated inside the body portion10.

The controller700includes a plurality of modules710,720,730. The plurality of modules710,720,730may be connected to each other so as to be electrically conductive to each other. Each of the information received or calculated by each module710,720,730may be transmitted to another module710,720,730.

In the illustrated embodiment, the controller700includes a rotation information calculation module710, an operation information calculation module720, and a power part control module730.

The rotation information calculation module710calculates rotation information, which is information on the rotation state of the brush200, using information sensed by the sensor part600. The rotation information calculation module710is connected to the sensor part600in a wired or wireless manner so as to be electrically conductive.

As described above, the sensor part600senses information on the current rotation state of the brush200. The information may be defined as “information on the rotation of the brush200”.

At this time, the information on the rotation of the brush200is expressed as information related to a change in the intensity and direction of a magnetic field sensed by the sensor part600.

Accordingly, the rotation information calculation module710calculates rotation information using information on the rotation of the brush200. The rotation information includes information related to the rotation or non-rotation, rotation direction, rotation speed or the like of the brush200.

In one embodiment, the calculated rotation information may include information on whether one end portion of the adhesive member210is in contact with one end portion or the other end portion of the removal member300.

The calculated rotation information is transmitted to the operation information calculation module720. The rotation information calculation module710and the operation information calculation module720are connected to be electrically conductive.

The operation information calculation module720calculates information for operating the power part500using the calculated rotation information. The information may be defined as “operation information”.

The operation information calculated by the operation information calculation module720may include information related to the rotation or non-rotation, rotation direction, rotation speed or the like of the power part500.

In addition, the operation information calculation module720may calculate operation information according to whether respective end portions of the adhesive member210and the removal member300are spaced apart or in contact with each other, among rotation information calculated by the rotation information calculation module710.

For example, while the second brush200bprovided with the sensor part600is rotated in one direction, the calculated rotation information indicates that one end portion of the adhesive member210is in contact with one end portion or the other end portion of the removal member300, the operation information calculation module720calculates operation information for rotating the second brush200bin an opposite direction.

At this time, as described above, the first brush200aand the second brush200bare rotated in opposite directions. Accordingly, it will be understood that the operation information includes the content of rotating the first brush200ain a direction in which the second brush200bwas previously rotated.

Accordingly, the first brush200amay be repeatedly rotated in one direction and another direction. Likewise, the second brush200bmay be repeatedly rotated in the another direction and the one direction. The detailed description of the process will be described later.

The operation information calculated by the operation information calculation module720is transmitted to the power part control module730. The operation information calculation module720and the power part control module730are connected to be electrically conductive.

The power part control module730controls the power part500according to the calculated operation information. As described above, the calculated operation information includes information related to the rotation or non-rotation, rotation direction, rotation speed or the like of the power part500.

Accordingly, the power part control module730controls the rotation or non-rotation, rotation direction, rotation speed or the like of the power part500according to the calculated operation information. The power part control module730is connected to the power part500to be electrically conductive.

When the power part500is operated by the power part control module730, the brush200is also rotated. The rotation of the brush200is sensed by the sensor part600and transmitted to the controller700again to repeat the above process.

Accordingly, while the robot cleaner1is operating, the power part500may be controlled in real time to change the rotation direction of the brush200in real time.

Description of Operation Process of Nozzle Part60

In the nozzle part60according to an embodiment of the present disclosure, the brush200may be rotated by a single number of the power part500through the foregoing configuration.

Furthermore, while either one brush200of the first brush200aand the second brush200bcollects trash (H) such as fur, the other one brush200of the first brush200aand the second brush200bmay separate trash (H) such as fur.

In other words, the first brush200aand the second brush200bconstituting the brush200are rotated in different directions. Accordingly, compared to a case where both the first and second brushes200a,200bperform an adhesive operation at a time, and perform a separation operation, an effect on the driving of the robot cleaner1may be reduced.

For example, it may be assumed that the brush200is rotated in a clockwise direction to perform an adhesion operation, and rotated in a counterclockwise direction to perform a separation operation.

In addition, when the brush200is rotated in a clockwise direction, it may be assumed that the driving of the robot cleaner1is accelerated. Likewise, when the brush200is rotated in a counterclockwise direction, it may be assumed that the driving of the robot cleaner1is decelerated.

At this time, by the foregoing configuration, either one of the first brush200aand the second brush200bis always rotated in a clockwise direction. Accordingly, a driving resistance of the robot cleaner1generated by the rotation of the brush200may be minimized.

Hereinafter, an operation process of the nozzle part60according to an embodiment of the present disclosure will be described in detail with reference toFIGS.15and16.

The power part500is electrically connected to a power source (not shown) and a controller700by a member such as an electric wire. When power and control signals are applied to the power part500, the power part500is rotated.

Accordingly, the first sub-gear421coupled to the power part500is rotated in the same direction as the power part500.

The first sub-gear421is gear-coupled to the second main gear412and the second sub-gear422. Accordingly, the second main gear412and the second sub-gear422are rotated in a direction opposite to the first sub-gear421.

The second main gear412is coupled to the second brush200b. Accordingly, the second brush200bis also rotated in a direction opposite to the power part500and the first sub-gear421.

On the other hand, the second sub-gear422is gear-coupled to the first main gear411. Accordingly, the first main gear411is rotated in the same direction as the power part500and the first sub-gear421.

In addition, the first main gear411is coupled to the first brush200a. Accordingly, the first brush200ais rotated in the same direction as the power part500and the first sub-gear421.

Accordingly, the first brush200aand the second brush200bmay be rotated in different directions.

First, it will be described under the assumption that the first brush200ais rotated in a clockwise direction and the second brush200bis rotated in a counterclockwise direction.

When the second brush200bis rotated in a clockwise direction, the sensor part600senses the strength and direction of a magnetic field formed by the magnetic body620rotated together with the second brush200b.

The sensed result is transmitted to the rotation information calculation module710of the controller700.

The rotation information calculation module710calculates rotation information using the transmitted information. In particular, after one end portion of the second adhesive member212is located at one end portion of the second removal member300b, the rotation information calculation module710calculates whether the other end portion of the second adhesive member212is rotated up to the other end portion of the second removal member300b.

In other words, in an embodiment illustrated inFIG.16, after a front end portion of the second adhesive member212is in contact with an upper end portion of the second removal member300b, the rotation information calculation module710calculates whether the second brush300bis rotated in a clockwise direction such that a rear end portion of the second adhesive member212is in contact with a lower end portion of the second removal member300b.

In the above process, trash (H) such as fur is adhered to the second adhesive member212. Furthermore, on the first brush200arotated in a direction opposite to the second brush200b, trash (H) such as fur adhered to the first adhesive member211is separated while in contact with the removal member300.

The operation information calculation module720calculates operation information by using the calculated rotation information.

In particular, in case where the calculated rotation information indicates that one end portion of the second adhesive member212is located at one end portion of the second removal member300b, and then the other end portion of the second adhesive member212is rotated up to the other end portion of the second removal member300b, the operation information operation module720calculates operation information having the content of rotating the power part500in an opposite direction.

The power part control module730controls the power part500according to the calculated operation information. In the foregoing embodiment, the power part500is rotated in a direction opposite to the initial state.

In other words, in the above embodiment, the second brush200bis rotated in a counterclockwise direction. Accordingly, on the second brush200b, an operation of separating trash (H) such as fur adhered to the second adhesive member212is carried out. In addition, on the first brush200a, an operation of adhering trash (H) such as fur to the first adhesive member211is carried out.

Accordingly, in the nozzle part60according to an embodiment of the present disclosure, a plurality of brushes200are repeatedly rotated in different directions. Accordingly, on each of the brushes200a,200b, adhesion and separation of trash (H) such as fur are repeated.

As a result, trash (H) such as fur may be easily collected, separated, and collected in the dust bin30.

Furthermore, a size of driving resistance applied to the robot cleaner1by the rotation of each of the brushes200a,200bmay be minimized.

4. Description of Control Method of Nozzle Part60According to Embodiment of the Present Disclosure and Robot Cleaner1Including the Same

Hereinafter a control method of the nozzle part60according to an embodiment of the present disclosure and a robot cleaner1including the same will be described in detail with reference toFIGS.17through23.

A configuration for implementing the control method of the robot cleaner1has been described in the preceding paragraph, and the redundant description thereof will be omitted.

Referring toFIG.18, the control method of the robot cleaner1according to an embodiment of the present disclosure includes allowing the sensor part600to sense information on the rotation of the brush200(S100), allowing the controller700to calculate rotation information using the sensed information (S200), allowing the controller700to calculate operation information using the calculated rotation information (S300), allowing the controller700to control the power part500according to the calculated operation information (S400), and allowing the brush200to be operated according to the calculated operation information (S500).

Description of Step S100of Allowing Sensor Part600to Sense Information on Rotation of Brush200

The step S100is a step of allowing the sensor part600to sense information related to the rotation of the brush200rotated by the power part500, and transmit the sensed information to the controller700.

Hereinafter, this step will be described in detail with reference toFIG.19.

First, the power part500is operated to rotate the brush200and the magnetic body620coupled to the brush200(S110). At this time, the first brush200aand the second brush200bare rotated in different directions.

The sensing unit610of the sensor part600senses information on the number of rotations of the magnetic body620and information on the direction of rotation (S120). Specifically, the sensing unit610senses information on the strength and direction of a magnetic field formed by the magnetic body620.

Information on the number of rotations of the magnetic body620sensed by the sensing unit610and information on the rotation direction are transmitted to the controller700(S130). To this end, the sensor part600and the controller700are connected to each other in a wired or wireless manner.

Description of Step S200of Allowing Controller700to Calculate Rotation Information Using Sensed Information

The step200is a step of allowing the rotation information calculation module710to calculate the rotation information of the brush200using the sensed information.

Hereinafter, this step will be described in detail with reference toFIG.20.

The rotation information calculation module710receives information on the rotation of the brush200sensed by the sensor part600(S210). At this time, as described above, the information on the rotation of the brush200sensed by the sensor part600is in the form of information on a change in the intensity and direction of the magnetic field.

The rotation information calculation module710calculates rotation information using the received information on the rotation of the brush200(S220). In one embodiment, the rotation information calculation module710may calculate rotation information by comparing preset reference rotation information with the received information on the rotation of the brush200.

In this case, the reference rotation information may be defined as rotation information for controlling the power part500to rotate in an opposite direction. In other words, the reference rotation information may be defined as rotation information indicating that one end portion of the second adhesive member212is located at one end portion of the second removal member300b, and then the other end portion of the second adhesive member212is rotated up to the other end portion of the second removal member300b.

Accordingly, the calculated rotation information is calculated as either one of content for maintaining the rotation direction of the power part500and content for changing the rotation direction of the power part500.

The rotation information calculation module710transmits the calculated rotation information to the operation information calculation module720(S230). The rotation information calculation module710and the operation information calculation module720are connected to be electrically conductive in a wired or wireless manner.

Description of Step S300of Allowing Controller700to Calculate Operation Information Using Calculated Rotation Information

The step S300is a step of allowing the operation information calculation module720to calculate operation information for controlling the power part500using the calculated rotation information (S300).

Hereinafter, this step will be described in detail with reference toFIG.21.

The operation information calculation module720receives rotation information calculated by the rotation information calculation module710(S310). At this time, the received rotation information is either one of content for maintaining the rotation direction of the power part500and content for changing the rotation direction of the power part500.

The operation information calculation module720calculates operation information for operating the power part500using the calculated rotation information (S320).

The operation information calculated by the operation information calculation module720is either one of content for controlling the rotation direction of the power part500to be maintained and content for controlling the rotation direction of the power part500to be changed.

The operation information calculation module720transmits the calculated operation information to the power part control module730(S330). The operation information calculation module720and the power part control module730are connected to be electrically conductive in a wired or wireless manner.

Description of Step S400of Allowing Controller700to Control Power Part500According to Calculated Operation Information

The step S400is a step of allowing the power part control module730to control the rotation of the power part500according to the calculated operation information.

Hereinafter, this step will be described in detail with reference toFIG.22.

The power part control module730receives operation information calculated by the operation information calculation module720(S410). At this time, the received operation information is information related to the rotation direction of the power part500.

The power part control module730controls the rotation of the power part500according to the transmitted operation information (S420). At this time, the power part control module730controls the power part500to maintain the rotation direction of the power part500or change the rotation direction of the power part500.

Description of Step S500of Operating the Brush200According To Calculated Operation Information

The step S500is a step of operating the brush200connected to the power part500through the power part500and the gear part400according to the calculated operation information.

Hereinafter, this step will be described in detail with reference toFIG.23.

By the power part control module730, the power part500is operated according to the calculated operation information (S510). In other words, the power part500is operated to maintain the original rotation direction or rotate in a direction opposite to the original rotation direction.

The brush200connected to the power part500through the gear part400is operated according to the calculated operation information (S520). In an embodiment of the present disclosure, the second brush200bdirectly connected to the power part500is rotated in an opposite direction to that of the power part500, and the first brush200aindirectly connected to the power part500is rotated in the same direction as that of the power part500.

The sensor part600senses information on the rotation of the brush200again (S530). In other words, while the brush200is rotating, the sensor part600continuously senses information related to the rotation of the brush200in real time.

Accordingly, in a control method of the robot cleaner1according to an embodiment of the present disclosure, the rotational state of power part500and the brush200is continuously sensed in real time. In addition, the controller700continuously controls the power part500in real time according to the sensed information.

Therefore, even when the user does not perform an additional operation, the collection and separation of trash (H) such as fur may be performed in real time, continuously and efficiently. As a result, user’s convenience may be improved.

5. Description of Process of Collecting and Separating Trash (H) Such as Fur by Nozzle Part60According to Embodiment of Present Disclosure and Robot Cleaner1Including the Same

The nozzle part60according to an embodiment of the present disclosure and the robot cleaner1including same may effectively collect trash (H) such as fur staying in the driving environment.

In addition, the collected trash (H) such as fur may be easily separated and accommodated in the dust bin30, even when the user does not perform an additional operation.

Hereinafter, with reference toFIGS.24and25, a process in which trash (H) such as fur is collected and separated by the nozzle part60according to an embodiment of the present disclosure and the robot cleaner1including the same will be described in detail.

First, a process of collecting trash (H) such as fur will be described with reference toFIG.24.

Referring to (a) ofFIG.24, the brush200of the nozzle part60provided in the robot cleaner1driven on the floor surface (G) toward the left side is illustrated.

Here, trash (H) such as fur is located on the floor surface (G) before the robot cleaner (1) passes therethrough.

Referring to (b) ofFIG.24, it is illustrated a state in which the robot cleaner1is driven and trash (H) such as fur existing on the floor surface (G) is collected by the brush200.

As described above, the brush200includes an adhesive member210surrounding an outer circumference thereof. The adhesive member210may be formed of a fiber material having a high roughness such as felt.

As the rotation of the brush200continues, trash (H) such as fur adhered to the adhesive member210is rotated in a clockwise direction inside the frame100, that is, in the illustrated embodiment.

Referring to (c) ofFIG.24, it is illustrated a state in which trash (H) such as fur adhered to the adhesive member210is removed.

In the above embodiment, trash (H) such as fur is removed toward a rear side of the brush200, that is, an inner space of the nozzle housing50.

As described above, the inner space of the nozzle housing50communicates with an inner space of the body part10and the dust bin30through the communication part53.

Accordingly, the removed trash (H) such as fur is collected in the dust bin30through the communication part53and the inner space of the body part10.

Next, with reference toFIG.25, a process of separating the trash (H) such as fur from the brush200will be described.

Referring to (a) ofFIG.25, the first brush200alocated on the left side is rotated in a clockwise direction, and the second brush200blocated on the right side is rotated in a counterclockwise direction. Accordingly, trash (H) such as fur is collected from the first brush200a, and trash (H) such as fur adhered thereto is separated from the second brush200b(seeFIG.24).

At this time, one end portion of the first adhesive member211of the first brush200ais in contact with one end portion of the first removal member300a, and then the above state is maintained until the other end portion of the first adhesive member211is in contact with the other end portion of the first removal member300b.

The time will be understood to be the same that for which one end portion of the second adhesive member212is in contact with one end portion of the second removal member300b, and then the other end portion of the second adhesive member212is rotated up to the other end portion of the second removal member300b.

Referring to (b) ofFIG.25, the first brush200alocated on the left side is rotated in a counterclockwise direction, and the second brush200blocated on the right side is rotated in a clockwise direction. Accordingly, trash (H) such as fur is separated from the first brush200a, and trash (H) such as fur is collected from the second brush200b.

In other words, it will be understood that the state is to allow operation information calculated by the controller700to change the rotation direction of the power part500.

By the above process, on the first brush200aand the second brush200b, the adhesion and separation of trash (H) such as fur thereto are alternately performed, respectively. Furthermore, the first brush200aand the second brush200bare rotated in opposite directions to each other, thereby minimizing adverse effects on the driving of the robot cleaner1.

As a result, the nozzle part60according to an embodiment of the present disclosure and the robot cleaner1including the same may effectively collect trash (H) such as fur that is difficult to remove from the floor surface (G). In addition, the collected trash (H) such as fur may be easily separated from the brush200and accommodated in the dust bin30.

As a result, user’s convenience may be improved.

Though the present invention is described with reference to preferred embodiments, various modifications and improvements will become apparent to those skilled in the art without departing from the concept and scope of the present invention as defined in the following claims.