Patent Description:
Generally, a cleaner includes a cleaner body having a suction unit and a dust container, and a cleaning nozzle which is coupled to the cleaner body and performs cleaning while being in close contact with a surface to be cleaned.

The cleaner is divided into a manual cleaner for manually cleaning the surface to be cleaned by a user and an automatic cleaner for cleaning the surface to be cleaned while traveling by itself.

According to the manual cleaner, in a state where the suction unit generates a suction force by a driving force of an electric motor, when the user places the cleaning nozzle or the cleaner body on the surface to be cleaned while the user holds the cleaning nozzle or the cleaner body by hand, the cleaning nozzle sucks foreign matter including dust on the surface to be cleaned, and the sucked foreign matter is collected in the dust container, thereby cleaning the surface to be cleaned.

In addition, according to the automatic cleaner, the cleaner body having the suction unit and the dust container may be provided with various sensor units (ultrasonic sensor and/or camera sensor) to divide a traveling area, to recognize a surrounding environment, to avoid an obstacle, and to detect a cliff, or the like. The cleaning nozzle sucks the foreign matter on the surface to be cleaned by the suction force generated in the suction unit while the cleaner body automatically travels around the surface to be cleaned, and the sucked foreign matter is collected in the dust container, thereby cleaning the surface to be cleaned.

A sensor unit used in the automatic cleaner employs an optical system that irradiates light in one direction and detects reflected light or a system that emits sound waves in one direction and detects reflected sound waves.

Such a sensor unit can only collect environmental information within a certain angle (angle of view) with respect to the sensing direction.

According to the conventional automatic cleaner, the sensor unit is installed in front of the cleaner body and the sensor unit can not rotate or move. Thus, there is a problem in that a detection range (angle of view) that the sensor unit can detect is very limited.

<CIT> discloses a cleaner having a sensor unit that is fixed to the front of a cleaner body. In the conventional automatic cleaner, since the sensor unit is fixed in the movement direction of the main body of the cleaner, there is a problem in that it is difficult to recognize an obstacle positioned in the lateral direction.

<CIT> relates to a laser distance measuring device capable of measuring horizontal and vertical distances using laser, and a control method for the same. The laser distance measuring device may include a light transmitter, a light receiver, a sensing unit, and a controller configured to perform a control operation to emit split laser through the light transmitter, acquire time difference information indicating a difference between a time to emit the split laser and a time to sense, through the sensing unit, the split laser reflected from a target position, and calculate a distance to the target position using the time difference information.

<CIT> relates to a robot cleaner comprising: a main body forming the exterior of the robot cleaner; a distance sensor formed in a predetermined position of the main body; a distance sensor driving unit enabling the distance sensor to be inserted into the main body or protrude toward the outside of the main body; and a control unit controlling an inserting motion or a protruding motion of the distance sensor driving unit in accordance with a state of the robot cleaner.

<CIT> relates to a self-propelling floor dust collector including: electric motor driven running rollers; a housing; a dust container; and a device cover. The dust floor dust collector is provided with an obstruction detection unit, which is a triangular measurement system including: light sources; a light receptor unit provided with light reception lens like optical elements for reflected light; and an optical detector element.

<CIT> relates to a self-propelling floor dust collection device comprising travel wheels driven by an electric motor. An obstacle detection means consists of an optical transmitting unit, e.g., an LED or laser diode, an optical receiver unit, e.g., a charge-coupled device (CCD) chip, and a plane mirror for beam deflection. Some of the transmitting and receiver units are arranged so as to be able to rotate by <NUM>° or more. The operation of the transmitting and receiver units is based on one of the optical measuring processes of phase correlation, light propagation time measurement or heterodyne processes.

It is an object of the present invention to provide a cleaner capable of accurately and quickly recognizing an obstacle on the lateral side of a traveling direction of a cleaner.

Another object of the present invention is to provide a cleaner capable of accurately and quickly recognizing an obstacle on the lateral side in a change of traveling direction by previously rotating a sensor toward the traveling direction of the cleaner, when the traveling direction of the cleaner is changed.

Another object of the present invention is to provide a cleaner in which a sensor unit and a sensor driving module for rotating the sensor unit are installed in a dust container cover and are constrained by the rotation of the dust container cover so that the sensor unit is rotated without interfering with the separation of the dust container.

Another object of the present invention is to provide a cleaner in which a sensor unit is rotated from side to side in place.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

In order to solve the technical problem, there is provided a cleaner according to claim <NUM>, further preferred embodiments are defined by the dependent claims. There is provided a cleaner including: a cleaner body; a dust container which is accommodated in the cleaner body; a sensing module which detects information around the cleaner body and is mounted in the cleaner body rotatably about a rotating shaft that intersects a horizontal direction; and a driving module which rotates the sensing module in place relatively to the cleaner body, wherein the sensing module and the driving module are positioned above the dust container, wherein the driving module comprises a driving motor, and the rotating shaft of the driving motor is disposed in parallel with the horizontal direction.

The dust container is biased forward from the cleaner body.

The sensing module includes: at least one sensor unit which detects the information around the cleaner body; a sensor case which accommodates the sensor unit and has a sensor shaft that is rotatably coupled to the cleaner body; and a sensor gear which is coupled to the sensor case, rotated about the same axis as the sensor shaft, and receives a driving force of the driving module.

The rotating shaft of the sensing module has a preset inclination with respect to a vertical direction.

The driving module includes: a worm gear which is coupled to the rotating shaft of the driving motor; and at least one connecting gear which is coupled to the worm gear and coupled to a rotating module.

The rotating shaft of the connecting gear is disposed in parallel with the rotating shaft of the sensing module.

The rotating shaft of the connecting gear is disposed in parallel with the vertical direction, and the connecting gear includes a bevel gear.

The driving module includes: a driving motor; at least one connecting gear which transmits a driving force of the driving motor; and a position recognition unit which is disposed in the connecting gear and enables to recognize a rotation angle of the sensing module.

The position recognition unit is protruded from a connecting gear in a direction of a rotating shaft of the connecting gear.

The cleaner further includes a sensor position detecting module which detects the position recognition unit.

The cleaner further includes a power supply unit which supplies power to the sensing module; and a flexible circuit board which connects the power supply unit and the sensing module.

The cleaner body includes: a main body which accommodates the dust container; and a dust container cover which covers the dust container and is rotatably coupled to the main body.

At least a part of the sensing module is exposed to a front side of the dust container cover, and the driving module is positioned inside the dust container cover.

The driving module includes a driving motor, and a rotating shaft of the driving motor is disposed in parallel with a bottom surface of the dust container cover.

The sensing module and the driving module are constrained by a rotation of the dust container cover and rotated together.

The dust container cover includes: a lower dust container cover; and an upper dust container cover which is coupled to the lower dust container cover and defines a space for accommodating the driving module, and the driving module is fixed to the lower dust container cover.

The driving module is positioned eccentrically from a rotating shaft of the sensing module.

In another aspect, not forming part with the invention, there is provided a cleaner including: a cleaner body; a sensing module which detects information around the cleaner body and is mounted in the cleaner body rotatably about a rotating shaft that intersects a horizontal direction; and a driving module which rotates the sensing module in place relatively to the cleaner body, wherein the sensing module includes: at least one sensor unit which detects the information around the cleaner body; a sensor case which accommodates the sensor unit and has a sensor shaft that is rotatably coupled to the cleaner body; and a sensor gear which is coupled to the sensor case, rotated about the same axis as the sensor shaft, and receives a driving force of the driving module.

In another aspect, not forming part with the invention, there is provided a cleaner comprising: a cleaner body; a sensing module which detects information around the cleaner body and is mounted in the cleaner body rotatably about a rotating shaft that intersects a horizontal direction; and a driving module which rotates the sensing module in place relatively to the cleaner body, wherein the driving module includes: a driving motor; and at least one connecting gear which transmits a driving force of the driving motor, wherein the connecting gear further includes a position recognition unit which enables to recognize a rotation angle of the sensing module.

The cleaner according to the present invention has an advantage in that the sensing module for detecting the environment around the cleaner is rotated at a certain angle with respect to the front so that the sensing module has a wide sensing range in the left and right directions.

The present invention has an advantage in that the sensing module is rotated at a certain angle with respect to the forward direction, so that it is easy to detect obstacles existing on the lateral side of the traveling direction, and when the cleaner body rotates or changes its direction, it is possible to quickly and accurately detect an obstacle existing in the rotation expected path and travel expected path of the cleaner main body.

In addition, the present invention has an advantage in that the sensor unit is fixed and the rotating sensor driving module is restrained by the rotation of the dust container cover, so that the sensor unit and the sensor driving module are installed in the dust container cover without disturbing the dust container separation.

In addition, the present invention has an advantage in that the sensing module and the sensor driving module are disposed between the dust container and the handle so that when the user holds the handle and separates the dust container, there is no possibility that the sensing module is damaged by a user, and the user can separate the dust container without disturbance of the sensing module, and interference does not occur with respect to the dust collecting apparatus disposed inside the main body.

In addition, the present invention has an advantage in that the rotating shaft is disposed in a case of the sensing module and the sensing module is rotated in place so that the rotation radius and space of the sensing module are small.

In addition, the present invention has an advantage in that a precise position control can be performed using a large gear ratio by using a plurality of gears.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In describing the present embodiment, the same designations and the same reference numerals are used for the same components, and further description thereof will be omitted. It will be understood that when an element (e.g., first element) is referred to as being "connected" or "coupled" to another element (e.g., second element), it can be directly connected or coupled to the other element (e.g., third element) or intervening elements may be present. The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present inventive concept. It should also be noted that in some alternative implementations, the functions/acts noted in the blocks may occur out of the order noted in the flowcharts.

Hereinafter, a cleaner according to an embodiment of the present invention will be described with reference to the drawings.

<FIG> is a perspective view illustrating a cleaner according to an embodiment of the present invention, <FIG> is a schematic plan view of a cleaner according to an embodiment of the present invention, and <FIG> is a diagram illustrating a cleaner in a state in which a dust container is separated in <FIG>.

Referring to <FIG> and <FIG>, a cleaner <NUM> includes a cleaner body, a cleaning nozzle <NUM>, a sensing module <NUM>, and a dust container <NUM>. The cleaner body may include a main body <NUM> for accommodating the dust container <NUM> and a dust container cover <NUM> for covering the upper portion of the dust container <NUM>.

The cleaner <NUM> of an embodiment may further include a driving module that rotates the sensing module <NUM> relatively to the cleaner body and/or the dust container cover <NUM>.

The main body <NUM> includes various components including a controller (not shown) for controlling the cleaner <NUM>. The main body <NUM> may form a space for accommodating various components constituting the cleaner <NUM>.

The main body <NUM> may be selected in one of an automatic mode and a manual mode by the user and travel. The main body <NUM> may be provided with a mode selection input unit for selecting one of the automatic mode and the manual mode. When the user selects the automatic mode in the mode selection input unit, the main body <NUM> may automatically travel like a robot cleaner. In addition, when the user selects the manual mode in the mode selection input unit, the main body <NUM> may travel manually by being pulled or pushed by user's force.

The main body <NUM> is provided with a wheel <NUM> for moving the main body <NUM>. The wheel <NUM> may include a motor (not shown) and at least one wheel rotated by the driving force of the motor. The rotation direction of the motor may be controlled by a controller (not shown), and thus, a wheel of the wheel <NUM> may be configured to be rotatable in one direction or the other direction.

The wheels <NUM> may be provided in both left and right sides of the main body <NUM>, respectively. The main body <NUM> may be moved back and forth, left and right by the wheel <NUM>, or rotated.

Each of the wheels <NUM> may be configured to be drivable independently of each other. To this end, each wheel <NUM> may be driven by a different motor.

The controller controls the driving of the wheel <NUM>, so that the cleaner <NUM> is implemented to autonomously travel on the floor.

The wheel <NUM> is provided in a lower portion of the main body <NUM> to move the main body <NUM>. The wheel <NUM> may be configured only of circular wheels, may be configured by circular rollers which are connected by a belt chain, or may be configured by circular wheels and circular rollers which are connected by a belt chain. The upper portion of the wheel of wheel <NUM> may be disposed inside the main body <NUM> and the lower portion thereof may protrude to a lower side of the main body <NUM>. At least the lower portion of the wheel of wheel <NUM> is provided in contact with the floor surface which is a surface to be cleaned, so that the main body <NUM> can travel.

The wheels <NUM> may be installed in the left and right sides of the main body <NUM>, respectively. The wheel <NUM> disposed in the left side of the main body <NUM> and the wheel <NUM> disposed in the right side of the cleaner <NUM> may be independently driven. That is, the wheels <NUM> disposed in the left side of the main body <NUM> may be coupled to each other via at least one first gear, and may be rotated by the driving force of a first traveling motor that rotates the first gear. In addition, the wheel <NUM> disposed in the right side of the main body <NUM> may be coupled to each other via at least one second gear, and may be rotated by the driving force of a second traveling motor that rotates the second gear.

The controller may determine the travelling direction of the main body <NUM> by controlling the rotational speed of each rotating shaft of the first traveling motor and the second traveling motor. For example, when the rotating shafts of the first traveling motor and the second traveling motor are simultaneously rotated at the same speed, the main body <NUM> can move straight. In addition, when the rotating shafts of the first traveling motor and the second traveling motor are simultaneously rotated at different speeds, the main body <NUM> can be turned to the left or right. The controller may drive one of the first traveling motor and the second traveling motor and stop the other so as to turn the main body <NUM> to the left or right.

A suspension unit may be installed inside the main body <NUM>. The suspension unit may include a coil spring. The suspension unit can absorb the shock and vibration transmitted from the wheel <NUM> during travel of the main body <NUM> by using an elastic force of the coil spring.

Further, the suspension unit may be provided with an elevating unit for adjusting the height of the main body <NUM>. The elevating unit can be vertically movably installed in the suspension unit and can be coupled to the cleaner <NUM>. Therefore, when the elevating unit is moved upward from the suspension unit, the cleaner <NUM> can be moved upward together with the elevating unit. When the elevating unit is moved downward from the suspension unit, the cleaner <NUM> can be moved downward together with the elevating unit. The cleaner <NUM> may be vertically moved by the elevating unit to adjust the height.

When the main body <NUM> travels on a hard floor, the bottom surface of the cleaning nozzle <NUM> may move while being in close contact with the floor surface so that the floor surface can be cleaned. However, when a carpet is laid on the floor surface to be cleaned, slipping may occur in the wheel of wheel <NUM> so that the traveling performance of the main body <NUM> may be reduced. In addition, the traveling performance of the main body <NUM> may be reduced due to the force of sucking the carpet by the cleaning nozzle <NUM>.

However, since the elevating unit adjusts the height of the main body <NUM> according to the slip rate of the wheel of wheel <NUM> (the same in below), the degree to which the bottom surface of the cleaning nozzle <NUM> is in close contact with the surface to be cleaned can be adjusted, so that the traveling performance of the main body <NUM> can be maintained regardless of the material of the surface to be cleaned.

Meanwhile, if the wheel of wheel <NUM> disposed in the left side of the main body <NUM> is coupled to the first traveling motor through the first gear, and if the wheel of wheel <NUM> disposed in the right side of the main body <NUM> is coupled to the second traveling motor through the second gear, when the user desires to move the main body <NUM> in the manual mode in a state in which the first traveling motor and the second traveling motor are stopped, both the wheels of the left and right wheels <NUM> can not be rotated. Therefore, in the manual mode of the main body <NUM>, the wheels of the left and right wheels <NUM> and the first and second traveling motors should be disconnected. To this end, it is preferable that a clutch is disposed inside the main body <NUM> to connect the wheels of the left and right wheels <NUM> and the first and second traveling motors when the main body <NUM> is in the automatic mode, and to disconnect the wheels of the left and right wheels <NUM> and the first and second traveling motors when the main body <NUM> is in the manual mode.

The main body <NUM> is equipped with a battery (not shown) for supplying power to an electrical components of the cleaner <NUM>. The battery is configured to be chargeable and detachable from the main body <NUM>.

The main body <NUM> is provided with a dust container accommodating unit <NUM>, and the dust container <NUM> for separating and collecting dust in the sucked air is detachably coupled to the dust container accommodating unit <NUM>.

The dust container accommodating unit <NUM> may have a shape opened frontward and upward of the main body <NUM> and may be recessed from the front F side of the main body <NUM> to the rear R side. The dust container accommodating unit <NUM> may be formed such that the front side, the upper side U, and the lower side D of a front portion of the cleaning body <NUM> are opened.

The dust container accommodating unit <NUM> may be formed in other position (e.g., behind the main body <NUM>) depending on the type of the cleaner.

The dust container <NUM> is detachably coupled to the dust container accommodating unit <NUM>. A part of the dust container <NUM> may be accommodated in the dust container accommodating unit <NUM> and the other part of the dust container <NUM> may protrude toward the front of the main body <NUM>.

The dust container <NUM> may be disposed to be shifted toward the front or rear of the cleaner body. Specifically, the dust container <NUM> may be disposed in the center of the cleaner body (specifically, the main body <NUM>) eccentrically in a front direction or rear direction.

The dust container <NUM> has a large volume as it is a multi-cyclone type, and it is required to visually recognize the accumulated amount of dust, so that the dust container <NUM> is exposed in a direction of at least one of a front surface, a side surface, and a rear surface of the cleaner body. Preferably, the dust container <NUM> is disposed eccentrically toward the front side of the main body and at least a part of the lateral side of the dust container <NUM> is exposed forward in the cleaner body so as to shorten a flow path connecting the cleaning nozzle <NUM> protruding from the front surface of the cleaner body with the dust container <NUM> and minimize the reduction of suction power.

The dust container <NUM> has an inlet <NUM> through which the dust-containing air is introduced and an outlet <NUM> through which the dust-separated air is discharged. When the dust container <NUM> is installed in the dust container accommodating unit <NUM>, the inlet <NUM> and the outlet <NUM> are configured to communicate with a first opening <NUM> and a second opening <NUM> formed in the inner lateral side wall of the dust container accommodating unit <NUM>, respectively.

An intake flow path formed in the main body <NUM> corresponds to a flow path ranging from the cleaning nozzle <NUM> to the first opening <NUM>, and an exhaust flow path corresponds to a flow path ranging from the second opening <NUM> to an exhaust port.

Based on such a configuration, the dust-containing air introduced through the cleaning nozzle <NUM> flows into the dust container <NUM> through the intake air flow path inside the main body <NUM>, and passes through at least one filtering unit (e.g., a cyclone, a filter, etc.) to separate the air and the dust from each other. The dust is collected in the dust container <NUM> and the air is discharged from the dust container <NUM>, and then finally discharged to the outside through the exhaust port via the exhaust flow path inside the main body <NUM>.

The main body <NUM> is provided with a dust container cover <NUM> covering the dust container <NUM> accommodated in the dust container accommodating unit <NUM>. The dust container cover <NUM> may be hinged to one side of the main body <NUM> to be rotatable. The dust container cover <NUM> may cover the opened upper side of the dust container accommodating unit <NUM> and cover the upper side of the dust container <NUM>. In addition, the dust container cover <NUM> may be configured to be detachable from the main body <NUM>.

The separation of the dust container <NUM> from the dust container accommodating unit <NUM> may be restricted in a state in which the dust container cover <NUM> is disposed to cover the dust container <NUM>. The dust container cover <NUM> is rotatably coupled to the main body <NUM> by a hinge <NUM>. The hinge <NUM> may be disposed such that the dust container cover <NUM> can be rotated about an axis parallel to the horizontal direction (in detail, the left-right direction LeRi).

The dust container cover <NUM> may be composed of a single component, and the dust container cover <NUM> of the embodiment may include an upper dust container cover <NUM> and a lower dust container cover <NUM>. The configuration of the dust container cover <NUM> will be described later.

A coupling protrusion (not shown) protrudes from the bottom surface of the dust container cover <NUM> and a coupling groove <NUM> to which the coupling protrusion is inserted into and coupled is formed in the upper surface of the dust container <NUM>. When the dust container cover <NUM> covers the upper side of the dust container accommodating unit <NUM>, the coupling protrusion is inserted into the coupling groove <NUM>. Accordingly, the dust container <NUM> is coupled to the dust container cover <NUM> and is not removable from the main body <NUM>. On the other hand, when the dust container cover <NUM> opens the upper side of the dust container accommodating unit <NUM>, the coupling protrusion comes out of the coupling groove <NUM>, so that the dust container <NUM> is disconnected from the dust container cover <NUM> and can be detachable from the main body <NUM>.

A handle <NUM> is provided in the upper end of the dust container cover <NUM>. The handle <NUM> may be provided with a photographing unit <NUM>. At this time, it is preferable that the photographing unit <NUM> is disposed to be inclined with respect to the bottom surface of the main body <NUM> so that the photographing unit <NUM> can photograph both the front side and the upper side together.

The photographing unit <NUM> may be provided in the main body <NUM> to photograph an image for simultaneous localization and mapping (SLAM) of the cleaner. The image photographed by the photographing unit <NUM> is used to generate a map of the traveling area or to detect the current position in the traveling area.

The photographing unit <NUM> may generate three-dimensional coordinate information related to the surroundings of the main body <NUM>. That is, the photographing unit <NUM> may be a 3D Depth Camera that calculates the distance between the cleaner <NUM> and an object to be photographed. Accordingly, field data for three-dimensional coordinate information may be generated.

Specifically, the photographing unit <NUM> may photograph a two-dimensional image related to the surroundings of the main body <NUM>, and may generate a plurality of three-dimensional coordinate information corresponding to the photographed two-dimensional image.

In an embodiment, the photographing unit <NUM> may include two or more cameras that obtain an existing two-dimensional image, and may achieve a stereoscopic vision scheme that generates three-dimensional coordinate information by combining two or more images obtained from two or more cameras.

Specifically, the photographing unit <NUM> according to the embodiment may include a first pattern irradiating unit for irradiating light of a first pattern downward toward the front side of the main body, a second pattern irradiating unit for irradiating light of a second pattern upward toward the front side of the main body <NUM>, and an image acquiring unit for acquiring an image of the front side of the main body. Thus, the image acquiring unit may acquire an image of an area to which light of the first pattern and light of the second pattern are emitted.

In another embodiment, the photographing unit <NUM> may include an infrared ray pattern irradiating unit for irradiating an infrared ray pattern together with a single camera, and captures the shape of the infrared ray pattern, irradiated by the infrared ray pattern irradiating unit, projected onto an object to be photographed so that the distance between the photographing unit <NUM> and the object to be photographed can be measured. The photographing unit <NUM> may be an Infra Red (IR) type photographing unit <NUM>.

In another embodiment, the photographing unit <NUM> may include a light emitting unit that emits light together with a single camera, may receive a part of the laser, emitted from the light emitting unit, reflected from the object to be photographed, and may analyze the received laser, so that the distance between the photographing unit <NUM> and the object to be photographed can be measured. The photographing unit <NUM> may be an time-of-flight (TOF) type photographing unit <NUM>.

Specifically, the laser of the above mentioned photographing unit <NUM> is configured to irradiate a laser extending in at least one direction. In one example, the photographing unit <NUM> may include first and second lasers, and the first laser may irradiate linear lasers intersected with each other and the second laser may irradiate a single linear laser. According to this, the lowermost laser is used to detect obstacles in the floor, the uppermost laser is used to detect obstacles in the upper portion, and the intermediate laser between the lowermost laser and the uppermost laser detects an obstacle in the middle portion.

The sensing module <NUM> may be disposed below the dust container cover <NUM> and the sensing module <NUM> may be detachably coupled to the dust container <NUM>.

The sensing module <NUM> is disposed in the main body <NUM> and detects information related to the environment where the main body <NUM> is positioned. The sensing module <NUM> detects information related to the environment to generate field data.

The sensing module <NUM> detects surrounding features (including obstacles) so that the cleaner <NUM> does not collides with the obstacle. The sensing module <NUM> may sense information on the outside of the cleaner <NUM>. The sensing module <NUM> may detect a user in the vicinity of the cleaner <NUM>. The sensing module <NUM> may detect an object in the vicinity of the cleaner <NUM>.

In addition, the sensing module <NUM> is configured to be able to accomplish panning (move to left and right) and tilting (disposed to be inclined up and down) in order to improve the detecting function of the cleaner and the traveling function of the robot cleaner.

The sensing module <NUM> is disposed in the front side of the main body <NUM> and disposed between the dust container <NUM> and the handle <NUM>. The sensing module <NUM> may include at least one of an external signal sensor, an obstacle sensor, a cliff sensor, a lower camera sensor, an upper camera sensor, an encoder, a shock sensor, and a microphone.

The external signal sensor can detect an external signal of the cleaner <NUM>. The external signal sensor may be, for example, an infrared ray sensor, an ultrasonic sensor, a Radio Frequency (RF) sensor, or the like. Thus, field data for the external signal may be generated.

The cleaner <NUM> may receive a guide signal generated by a charging signal by using the external signal sensor and detect information on the position and the direction of the charging base. At this time, the charging base may transmit a guide signal indicating the direction and the distance so that the cleaner <NUM> can return. That is, the cleaner <NUM> may receive a signal transmitted from the charging base, determine the current position, and set the moving direction so that it can return to the charging base.

The obstacle sensor can detect an obstacle ahead. Thus, field data for the obstacle is generated.

The obstacle sensor may detect an object existing in the moving direction of the cleaner <NUM> and may transmit the generated field data to the controller. That is, the obstacle sensor can detect protrusions existing on the moving path of the cleaner <NUM>, furnishings in the house, furniture, wall, wall corner, and the like, and transmit the field data to the controller.

The obstacle sensor may be, for example, an infrared sensor, an ultrasonic sensor, a RF sensor, a geomagnetic sensor, and the like. The cleaner <NUM> may use one type of sensor as an obstacle sensor or use two or more types of sensors together as needed.

The cliff sensor can detect obstacles on the floor supporting the main body <NUM> by mainly using various types of optical sensors. Thus, field data for an obstacle on the floor is generated.

The cliff sensor may be, like an obstacle sensor, an infrared sensor having a light emitting unit and a light receiving unit, an ultrasonic sensor, an RF sensor, a position sensitive detector (PSD) sensor, or the like.

For example, the cliff sensor may be a PSD sensor, but it may be composed of a plurality of different types of sensors. The PSD sensor has a light emitting unit that emits infrared rays to an obstacle, and a light receiving unit that receives infrared rays that are reflected from the obstacle and is returned, and is generally configured in the form of a module. When an obstacle is detected by using the PSD sensor, a stable measurement value can be obtained irrespective of the reflectance and the color difference of the obstacle.

The controller may measure an infrared angle between a light emitting signal of the infrared ray emitted by the cliff sensor toward the ground and a reflection signal received after being reflected by the obstacle so that it can detect the cliff and acquire the field data of the depth.

A lower camera sensor acquires image information (field data) about the surface to be cleaned while the cleaner <NUM> is moving. The lower camera sensor is also referred to as an optical flow sensor. The lower camera sensor may convert a lower side image inputted from an image sensor provided in the sensor to generate image data (field data) of a certain format. Field data for an image recognized through the lower camera sensor can be generated.

By using the lower camera sensor, the controller may detect the position of a mobile robot irrespective of the slip of the mobile robot. The controller may compare and analyze the image data photographed by the lower camera sensor according to time and calculate the movement distance and the movement direction, and calculate the position of the mobile robot based on the calculated movement distance and the movement direction.

An upper camera sensor may be installed to face the upper side or the front side of the cleaner <NUM> to photograph the vicinity of the cleaner <NUM>. When the cleaner <NUM> includes a plurality of upper camera sensors, the camera sensors may be formed in the upper side or lateral side surface of the mobile robot at a certain distance or at a certain angle. Field data for an image recognized through the upper camera sensor may be generated.

The encoder may detect information related to the operation of the motor that drives the wheel of the wheel <NUM>. Thus, field data on the operation of the motor is generated.

The shock sensor may detect a shock when the cleaner <NUM> collides with an external obstacle or the like. Thus, field data on an external shock is generated.

The microphone may detect an external sound. Accordingly, field data for the external sound is generated.

In the present embodiment, the sensing module <NUM> includes an image sensor. In the present embodiment, the field data is image information acquired by the image sensor or feature point information extracted from the image information, but it is not necessarily limited thereto.

Meanwhile, a cable adaptor (not shown) may be disposed in the open lower side of the dust container accommodating unit <NUM>. The cable adaptor may be coupled to the main body <NUM> to form a part of the main body <NUM>. That is, when the cable adaptor is coupled to the main body <NUM>, the cable adaptor may be considered as the same configuration as that of the main body <NUM>. The dust container <NUM> for storing foreign matter may be placed on the cable adaptor. The cable adaptor may connect the main body <NUM> and the cleaning nozzle <NUM>. The cable adaptor may connect the intake flow path of the main body <NUM> and the intake flow path of the cleaning nozzle <NUM>.

The cleaning nozzle <NUM> is configured to suck the dust-containing air or to wipe the floor. Here, the cleaning nozzle <NUM> for sucking the dust-containing air may be referred to as a suction module, and the cleaning nozzle <NUM> for wiping the floor may be referred to as a mop module.

The cleaning nozzle <NUM> may be detachably coupled to the main body <NUM>. When the suction module is detached from the main body <NUM>, the mop module may be detachably coupled to the main body <NUM> in place of the detached suction module. Accordingly, when a user desires to remove the dust on the floor, the suction module is mounted in the main body <NUM>, and when the user desires to wipe the floor, the mop module may be mounted in the main body <NUM>.

The cleaning nozzle <NUM> may be configured to have a function of wiping the floor after sucking the dust-containing air.

The cleaning nozzle <NUM> may be disposed below the main body <NUM> or may protrude from one side of the main body <NUM> as shown in the drawing. One side of the main body <NUM> may be a side in which the main body <NUM> travels in the forward direction, i.e., the front portion of the main body <NUM>. The cleaning nozzle <NUM> may be disposed forward of the wheel <NUM>, and a part of the cleaning nozzle <NUM> may protrude forward of the dust container <NUM>.

In the drawing, it is shown that the cleaning nozzle <NUM> protrudes from one side of the main body <NUM> to the front side and to both the left and right sides. Specifically, the front end portion of the cleaning nozzle <NUM> is disposed in a position spaced forward from one side of the main body <NUM>, and the left and right end portions of the cleaning nozzle <NUM> are disposed to be spaced apart from one side of the main body <NUM> to the left and right sides of the main body <NUM>.

A suction motor may be installed inside the main body <NUM>. An impeller (not shown) may be coupled to the rotating shaft of the suction motor. When the suction motor is driven so that the impeller is rotated together with the rotating shaft, the impeller can generate a suction force.

An intake flow path may be formed in the main body <NUM>. Foreign matter such as dust flows into the cleaning nozzle <NUM>, from the surface to be cleaned, by the suction force generated by the driving force of the suction motor, and the foreign matter introduced into the cleaning nozzle <NUM> may be introduced into the intake flow path.

The cleaning nozzle <NUM> may clean the floor surface to be cleaned when the main body <NUM> travels in the automatic mode. The cleaning nozzle <NUM> may be disposed adjacent to the floor surface among the front side surface of the main body <NUM>. A suction port for suctioning air may be formed on the bottom surface of the cleaning nozzle <NUM>. When the cleaning nozzle <NUM> is coupled to the main body <NUM>, the suction port may be disposed toward the floor surface.

The cleaning nozzle <NUM> may be coupled to the main body <NUM> through a cable adaptor. The cleaning nozzle <NUM> may communicate with the intake flow path of the main body <NUM> through the cable adaptor. The cleaning nozzle <NUM> may be disposed below the dust container <NUM> disposed in the front portion of the main body <NUM>.

The cleaning nozzle <NUM> may include a case having a suction port formed in a bottom surface thereof, and a brush unit may be rotatably installed in the case. The case may provide an empty space so that the brush unit can be rotatably installed therein. The brush unit may include a rotating shaft formed to be long in the left and right direction and a brush protruded to an outer circumference of the rotating shaft. The rotating shaft of the brush unit may be rotatably coupled to the left and right side surfaces of the case.

The brush unit is disposed such that the brush protrudes through the suction port formed in the bottom of the case. When the suction motor is driven, the brush unit is rotated by the suction force and can sweep upward dust and other foreign matter on the floor surface to be cleaned. The swept foreign matter may be sucked into the case by the suction force. Preferably, the brush is formed of a material that does not generate triboelectricity so that foreign matter can not easily adhere thereto.

The cable adaptor may be coupled to the front surface of the main body <NUM>. The cable adaptor may connect the main body <NUM> and the cleaning nozzle <NUM>. The cleaning nozzle <NUM> may be detachably coupled to the cable adaptor. The cable adaptor can support the lower side of the dust container <NUM>.

The dust container <NUM> may be detachably coupled to the front surface of the main body <NUM>, and the lower side may be supported by the cable adaptor. The dust container <NUM> may include a hollow cylindrical case. In the interior of the cylindrical case, a filter unit for separating foreign matter and air from the air sucked through the intake flow path of the main body <NUM> may be disposed.

The filter unit may include a plurality of cyclones. Foreign matter including the dust filtered in the filter unit may be dropped and accommodated in the dust container <NUM>. Only air may be discharged outside the dust container <NUM>, and moved to the suction motor side by the suction force of the suction motor, and then may be escaped to the outside of the body <NUM>.

The lower side of the dust container <NUM> may be opened and the lower side of the opened dust container <NUM> may be covered by a lid <NUM>. One side of the lid <NUM> may be rotatably coupled to the dust container <NUM> to be opened and closed. When the lid <NUM> is opened, the opened lower side of the dust container <NUM> may be opened, and the foreign matter accommodated in the dust container <NUM> may be dropped through the opened lower side of the dust container <NUM>. The user may separate the dust container <NUM> from the main body <NUM> and then open the lid to discard the foreign matter accommodated in the dust container <NUM>. When the dust container <NUM> is coupled to the main body <NUM>, the dust container <NUM> is placed on the cable adaptor. That is, the lid of the dust container <NUM> is placed on the upper side of the cable adaptor.

As described above, the cleaning nozzle <NUM> is provided in a state of being in close contact with the floor surface to be cleaned, so that the floor surface can be automatically cleaned when the main body <NUM> travels in the automatic mode. However, when a user desires to manually perform the cleaning, the user may input a manual mode travel of the main body <NUM> through the mode selection input unit provided in the main body <NUM>, and then detach the cleaning nozzle <NUM> from the main body <NUM>, and may couple a manual cleaning nozzle to the main body <NUM> to perform manual cleaning. The manual cleaning nozzle may include a long hose in the form of a bellows. In this case, the hose portion of the manual cleaning nozzle may be coupled to the main body <NUM>.

Meanwhile, the cleaner <NUM> according to the embodiment of the present invention may relatively rotate the sensing module <NUM> with respect to the dust container cover <NUM>, thereby detecting an obstacle in the left and right direction quickly and accurately.

Hereinafter, the sensing module <NUM>, the driving module, and the dust container cover <NUM> to which the sensing module <NUM> and the driving module are coupled will be described in detail.

Referring to <FIG>, the sensing module <NUM> may be mounted in the cleaner body rotatably around a rotating shaft that intersects the horizontal direction. The sensing module <NUM> may include at least one sensor unit <NUM>. The sensor unit <NUM> is disposed along the vertical direction on the side surface of the main body <NUM>. The sensing module <NUM> includes a first laser 132a, a second laser 132b, and a camera 132c.

The first laser 132a irradiates laser toward the front lower side of the cleaner <NUM> and the second laser 132b irradiates laser toward the front upper side of the cleaner <NUM>. The first laser 132a and the second laser 132b may be disposed in a line along the vertical direction. In the drawing, it is shown that the second laser 132b is disposed below the first laser 132a.

Obviously, the first laser 132a and the second laser 132b can irradiate the laser toward the direction orthogonal to the rotating shaft A1 of the sensing module <NUM>.

The camera 132c is configured to photograph the laser irradiated by the first laser 132a and the second laser 132b within a preset photographing area. The preset photographing area includes an area ranging from the floor to the upper end of the robot cleaner <NUM>. Therefore, the obstacle ahead of the robot cleaner <NUM> may be detected, and the problem that the robot cleaner <NUM> collides with or is caught in the upper obstacle can be prevented. The camera 132c can irradiate the laser toward the direction orthogonal to the rotating shaft A1 of the sensing module <NUM>.

The set photographing area may be, for example, an angle of view of <NUM> degrees in an up and down direction (i.e., vertical direction), an angle of view of <NUM> degrees in a left and right direction (i.e., horizontal direction), and an area within <NUM> meters. The preset photographing area may be changed by various factors such as the installation position of the first and second lasers 132a and 132b, the irradiation angle of the first and second lasers 132a and 132b, the height of the robot cleaner <NUM>, and the like.

The first laser 132a, the second laser 132b, and the camera 132c may be disposed in a line along the vertical direction of the main body <NUM>. In the drawing, it is shown that the camera 132c is disposed below the second laser 132b. An arbitrary line connecting the first laser 132a, the second laser 132b, and the camera 132c may be disposed parallel to the rotating shaft A1 of the sensing module <NUM>. Hereinafter, the term "parallel" does not mean a perfect parallel in a mathematical sense but means parallel in a range including an error in an engineering sense.

The irradiation direction of the first laser 132a, the second laser 132b, and the camera 132c may be a direction between a forward direction and a downward direction. The irradiation direction of the first laser 132a, the second laser 132b, and the camera 132c may be disposed to be inclined downwardly forward with respect to the dust container cover <NUM>. Accordingly, the sensing module <NUM> may detect the forward and downward sides.

The sensing module <NUM> further includes a window <NUM>, a sensor case <NUM>, and a sensor gear <NUM>.

The window <NUM> is disposed to cover the first laser 132a, the second laser 132b, and the camera 132c, and has a transparency. Here, the term "transparency" means a property of transmitting at least a part of incident light, and includes a concept of semi-transparency.

The window <NUM> may be formed of a synthetic resin material or a glass material. When the window <NUM> is semi-transparency, a material itself may be formed to have semi-transparency, or the material itself may be formed to have transparency and a film attached to the material may have semi-transparency.

The sensor case <NUM> is configured to fix the sensor unit and the window <NUM>. As shown, the sensor case <NUM> is configured to accommodate at least a part of the window <NUM>. The sensor case <NUM> may be formed of a synthetic resin material or a metal material, and may be opaque.

As another example, the window may be provided in the dust container cover <NUM> and may cover at least the front side and the lateral side of the sensor case <NUM>. The window <NUM> may be rotated together with the sensor case <NUM>, and may not be affected by the rotation of the sensor case <NUM> when it is installed in the dust container cover <NUM>.

When the angle of view in the left and right direction (i.e., the horizontal direction) of the sensing module <NUM> is <NUM> degrees, but the sensing module <NUM> partially recognizes the left and right ends of an obstacle, the sensing module <NUM> can not determine whether it is an obstacle, and can not determine the obstacle quickly and accurately during the rotation motion or direction change of the cleaner due to the narrow angle of view. In order to solve such a problem, the embodiment can rotate the sensing module <NUM> in the left-right direction through the rotation module.

The sensor case <NUM> may accommodate the sensor unit and may be rotatably coupled to the dust container <NUM> cover of the cleaner body. When the sensor case <NUM> is rotated, the sensor unit <NUM> is restrained by the rotation of the sensor case <NUM> and rotated together.

Specifically, the sensor shaft Al may be formed in the sensor case <NUM>. The sensor case <NUM> is rotated about the sensor shaft A1. The sensor shaft A1 may be coupled to the upper and lower ends of the sensor case <NUM>, respectively. Each sensor shaft A1 is rotatably coupled to the dust container cover <NUM>.

The sensor shaft A1 may be disposed in parallel with the up and down direction or may have a preset inclination with respect to the up and down direction. The upper portion of the sensor shaft A1 may be positioned forward of the lower portion. Therefore, when the sensing module <NUM> is rotated about the sensor shaft A1, the floor in the front side and lateral side of the cleaner body and a remote area can be detected at the same time.

The sensor gear <NUM> is coupled to the sensor case <NUM> and is rotated about the same axis as the sensor shaft A1, and receives the driving force of the driving module <NUM>. The sensor gear <NUM> receives the driving force from the driving module <NUM> and rotates the sensor case <NUM> about the sensor shaft A1. The sensor gear <NUM> is coupled to the sensor case <NUM> and/or the sensor shaft A1.

At least a part of the sensing module <NUM> may be exposed to the front of the cover of the dust container <NUM>. Specifically, a part of the sensor case <NUM> and the window may be exposed to the front of the dust container <NUM> cover. Accordingly, even if the sensing module <NUM> is rotated, the angle of view of the sensing module <NUM> is not restricted by the cover of the dust container <NUM>. The front end of the sensor case <NUM> preferably protrudes forward from the front end of the cover of the dust container <NUM>.

The sensing module <NUM> is disposed to protrude forward from the dust container cover <NUM> and the main body <NUM> so that the angle of view can be prevented from being obscured by the cleaner when the ambient environment is detected. The sensing module <NUM> may be positioned in front of the driving module <NUM>.

The dust container cover <NUM> may be installed such that the sensing module <NUM> is exposed to the front side, or to the front side and lateral side and the sensing module <NUM> is rotated. The dust container <NUM> cover may define a space for accommodating the driving module <NUM> therein.

Specifically, the dust container cover <NUM> may include a lower dust container cover <NUM> hinged to the cleaner body, and an upper dust container cover <NUM> coupled to the lower dust container cover <NUM> and coupled to the handle <NUM>.

The lower dust container cover <NUM> is coupled to the upper dust container cover <NUM> and defines at least a part of the lower and outer appearance of the dust container cover <NUM>. A hinge <NUM> is formed in the lower dust container cover <NUM>. The lower dust container cover <NUM> may define a accommodating unit <NUM> for accommodating the driving module <NUM> together with the upper dust container cover <NUM>.

The lower dust container cover <NUM> may include a cover bottom surface 192a that forms a bottom and a cover lateral side surface 192b that extends from the edge of the bottom surface to intersect the bottom surface. The accommodating unit <NUM> is a space defined by a cover bottom surface 192a and the cover lateral side surface 192b. The driving module <NUM> is fixed to the cover bottom surface 192a as described later.

A power supply unit for supplying power to the sensing module <NUM> may be accommodated in the accommodating unit <NUM>. Specifically, the power supply unit may include a circuit board and may be coupled to the cover lateral side surface 192b. The power supply unit and the sensing module <NUM> may be connected by a flexible circuit board. Therefore, when the sensing module <NUM> is rotated, there is less possibility of power failure.

A lower shaft coupling unit 192c which protrudes forward of the cover lateral side surface 192b from the cover bottom surface 192a and to which the sensor shaft A1 is rotatably coupled may be formed in the upper dust container cover <NUM>. The lower shaft coupling unit 192c protrudes forward of the cover lateral side surface 192b so that the cover lateral side surface 192b does not restrict the angle of view when the sensing module <NUM> is rotated.

In addition, a connection groove <NUM> having an opened area adjacent to the lower shaft coupling unit 192c may be formed in the cover lateral side surface 192b. The connection groove <NUM> provides a space in which the sensor gear <NUM> and the gear of the driving module <NUM> are connected.

The upper dust container cover <NUM> is coupled to the upper portion of the lower dust container cover <NUM> and defines a part of the upper and side outer appearance of the dust container cover <NUM>.

The upper dust container cover <NUM> may be formed with an upper shaft coupling unit 191a which protrudes forward from the upper dust container cover <NUM> in the upper dust container cover <NUM> and is rotatably coupled with the sensor shaft A1. The upper shaft coupling unit 191a protrudes forward of the upper dust container cover <NUM> so that the cover lateral side surface 192b does not restrict the angle of view when the sensing module <NUM> is rotated.

The sensor case <NUM> may be blocked in the direction excluding the front direction by the dust container cover <NUM> and/or the handle <NUM>.

The sensing module <NUM> and the driving module <NUM> may be constrained by the rotation of the dust container cover <NUM> and rotated together. At this time, the rotation direction of the sensing module <NUM> and the rotation direction of the dust container cover <NUM> may be intersected with each other. Specifically, the direction of the sensor shaft A1 of the sensing module <NUM> may be parallel to the direction intersecting the rotating shaft of the dust container cover <NUM>. The rotating shaft A1 of the sensing module <NUM> may extend in the vertical direction and the rotating shaft of the dust container cover <NUM> may extend in the left and right direction.

The driving module <NUM> may relatively rotate the sensing module <NUM> with respect to the cleaner body and/or the dust container cover <NUM>. The sensing module <NUM> and the driving module <NUM> may be disposed between the dust container <NUM> and the handle <NUM>. The sensing module <NUM> and the driving module <NUM> may be disposed above the dust container <NUM>. The driving module <NUM> may relatively tilt the sensing module <NUM> to the left and right with respect to the main body <NUM>.

The tilting angle of the sensing module <NUM> may be <NUM> degrees for left and right sides around the front side respectively. The driving module <NUM> may rotate the sensing module <NUM> in place. Here, the expression "rotate in place" means that the position of the rotating shaft A1 of the sensing module <NUM> is overlapped with the center of the sensing module <NUM>, so that the sensing module <NUM> is not moved during rotation.

Specifically, the driving module <NUM> may be disposed between the upper dust container cover <NUM> and the lower dust container cover <NUM>, and the whole driving module <NUM> is disposed inside the dust container cover <NUM>. The driving module <NUM> is eccentrically positioned from the rotating shaft A1 of the sensing module <NUM>, so that the height of the cleaner can be reduced.

The driving module <NUM> is fixed to the cleaner body. Specifically, the driving module <NUM> may be fixed to the dust container cover <NUM>. Preferably, the driving module <NUM> may be coupled to the cover <NUM> of the lower dust container <NUM> by a fastening member.

For example, the driving module <NUM> includes a driving motor <NUM> for supplying a driving force, at least one connecting gear <NUM> which is rotated by receiving the driving force of the driving motor <NUM> and transmits the driving force of the driving motor <NUM>, and a housing <NUM> for accommodating the driving motor <NUM> and the connecting gear <NUM>.

When the rotating shaft of the driving motor <NUM> extends in the vertical direction, the thickness of the cover of the dust container <NUM> may be increased. Therefore, the rotating shaft of the driving motor <NUM> is disposed to be parallel to the horizontal direction.

The rotating shaft of the driving motor <NUM> may be disposed parallel to the bottom surface of the cover of the dust container <NUM>. Therefore, the thickness of the cover of the dust container <NUM> is prevented from being increased due to the driving motor <NUM>. A worm gear <NUM> is coupled to the rotating shaft of the driving motor <NUM>. The worm gear <NUM> is coupled to the connecting gear <NUM> having a rotating shaft parallel to a direction intersecting the rotating shaft of the driving motor <NUM>.

The connecting gear <NUM> transmits the driving force of the driving motor <NUM> to the sensing module <NUM>. The connecting gear <NUM> is gear-coupled to the worm gear <NUM> of the driving motor <NUM> and the sensor gear <NUM> of the sensing module <NUM>. A plurality of connecting gears <NUM> may be disposed to adjust a rotation speed difference between the sensing module <NUM> and the driving motor <NUM>. The rotating shaft of the connecting gear <NUM> may be disposed parallel to the rotating shaft A1 of the sensor gear <NUM> of the sensing module <NUM>.

More specifically, an upper portion of the rotating shaft A1 of the sensor gear <NUM> may have an angle inclined by <NUM> to <NUM> degrees in the forward direction in the vertical direction, and the rotating shaft A2 of the connecting gear <NUM> may be disposed in parallel to the rotating shaft A1 of the sensor gear <NUM>. At this time, the connecting gear <NUM> may include a spur gear. Obviously, in another embodiment, as shown in <FIG>, the rotating shaft A2 of the connecting gear <NUM> and the rotating shaft A1 of the sensor gear <NUM> may not be disposed in parallel with each other.

A position recognition unit <NUM> is a sensing target of a sensor position detecting module <NUM> that senses the position of the sensing module <NUM> which will be described later. The position recognition unit <NUM> blocks a light emitted from the sensor position detecting module <NUM>.

Specifically, the position recognition unit <NUM> may be defined in a path that moves between a light emitting unit <NUM> and a light receiving unit <NUM> of the sensor position detecting module <NUM>. Although the position recognition unit <NUM> may be installed in the sensing module <NUM>, since the sensing module <NUM> protrudes forward, it is difficult to dispose the sensor position detecting module <NUM>. Therefore, the position recognition unit <NUM> may be installed in the connecting gear <NUM>.

The position recognition unit <NUM> is disposed in the connecting gear <NUM> and is rotated together with the connecting gear <NUM>, and enables to recognize the rotation angle of the sensing module <NUM>. The position recognition unit <NUM> protrudes from the connecting gear <NUM> in the direction of the rotating shaft A2 of the connecting gear <NUM>, and is positioned in an eccentric point from the rotating shaft A2 of the connecting gear <NUM>. When the connecting gear <NUM> is rotated, the position recognition unit <NUM> is also rotated so that the position recognition unit <NUM> rotates along a circular track. The sensor position detecting module <NUM> may be disposed in a circular track defined by the position recognition unit <NUM>.

Preferably, at least two position recognition units <NUM> may be provided spaced apart from each other. The plurality of position recognition units <NUM> may be disposed in the same distance from the rotating shaft of the connecting gear <NUM>. The position recognition unit <NUM> includes a material for shielding light emitted from the sensor position detecting module <NUM>.

The housing <NUM> receives the driving motor <NUM> and the connecting gear <NUM> and is coupled to the lower dust container cover <NUM>.

The embodiment may further include the sensor position detecting module <NUM> that detect the position of the sensing module <NUM>. The sensor position detecting module <NUM> can determine the position of the position recognition unit <NUM> by an optical method. Specifically, the sensor position detecting module <NUM> may include a photo interrupter installed in the dust container cover <NUM> to detect the rotational position of the driving module <NUM>.

More specifically, the photo interrupter may includes a light emitting unit <NUM> for emitting light to a path on which the position recognition unit <NUM> moves, and a light receiving unit <NUM> for detecting the light emitted from the light emitting unit <NUM> (see <FIG>). When the position recognition unit <NUM> is positioned in an arbitrary position, it blocks the light emitted from the light emitting unit <NUM>, so that the photo interrupter can determine the position of the sensing module <NUM>.

Preferably, the photo interrupter is installed in the lower dust container cover <NUM> or the housing <NUM>, and the light emitting unit <NUM> and the light receiving unit <NUM> may be disposed to overlap with a track on which the position recognition unit <NUM> moves in the direction intersecting the track on which the position recognition unit <NUM> moves. That is, a circular track on which the position recognition unit <NUM> moves may be positioned between the light emitting unit <NUM> and the light receiving unit <NUM>.

<FIG> is a diagram illustrating a state in which the sensing module <NUM> is rotated in <FIG>, <FIG> is an external perspective view of a dust container <NUM> cover in a state in which the sensing module <NUM> faces forward, and <FIG> is a diagram illustrating a sensing module <NUM> rotated in the lateral direction in <FIG>.

As shown in <FIG> and <FIG>, the sensing module <NUM> is positioned to face forward from the rotating shaft A1 of the sensing module <NUM> during the straight traveling of the cleaner or in a normal state. Obviously, the window <NUM> formed in the sensor case <NUM> is also positioned to face forward.

The controller may rotate the sensing module <NUM>, when the cleaner body rotates, changes direction, or needs to collect environment information on the lateral side.

Specifically, when the driving motor <NUM> is rotated, the worm gear <NUM> and the connecting gear <NUM> are rotated, and the sensor gear <NUM> interlocked to the connecting gear <NUM> is rotated. When the sensor gear <NUM> is rotated, the sensor case <NUM> constrained to the sensor gear <NUM> is rotated together with the sensor unit <NUM>.

Even if the sensing module <NUM> is rotated on the dust container <NUM> cover, the dust container cover <NUM> and the grip <NUM> are not rotated. Therefore, the dust container cover <NUM> can be opened by holding the handle <NUM> even when the sensing module <NUM> is positioned to face the lateral side.

<FIG> is a diagram illustrating a position recognition unit <NUM> and a sensor position detecting module according to another embodiment of the present invention.

Referring to <FIG>, in comparison with <FIG>, the cleaner of another embodiment has a difference in the disposition and the shape of the position recognition unit <NUM> and the sensor position detecting module. Hereinafter, the difference of <FIG> will be mainly described.

The position recognition unit <NUM> of another embodiment is positioned outside the housing <NUM>. The position recognition unit <NUM> is coupled to the rotating shaft of the connecting gear and extends in the radial direction. The position recognition unit <NUM> is constrained to the rotation of the connecting gear <NUM> in the form of a bar. The position recognition unit <NUM> is coupled to the rotating shaft A2 of the connecting gear <NUM> exposed to the outside of the housing <NUM>.

The sensor position detecting module is coupled to the outer surface of the housing <NUM> and may be disposed in the movement path of the position recognition unit <NUM>. The light emitting unit <NUM> and the light receiving unit <NUM> of the sensor position detecting module may be disposed to face each other with the movement path of the position recognition unit <NUM> interposed therebetween.

Specifically, the light emitting unit <NUM> emits light in a direction parallel to the rotating shaft A2 of the connecting gear <NUM>. The light emitting unit <NUM> is coupled to a surface of the outer surface of the housing <NUM> perpendicular to the rotating shaft A2 of the connecting gear <NUM>. The light receiving unit <NUM> may be spaced apart from the light emitting unit <NUM> in the direction of the rotating shaft A2 of the connecting gear <NUM>, and may be disposed to overlap with the light emitting unit <NUM> in the direction of the rotating shaft A2 of the connecting gear <NUM>.

<FIG> is a conceptual diagram illustrating a connection between a sensing module <NUM> and a driving module <NUM> according to another embodiment of the present invention.

Referring to <FIG>, the configuration of the sensing module <NUM> and the driving module <NUM> according to another embodiment of the present invention is different from the configuration of the sensing module <NUM> and the driving module <NUM> of <FIG>.

The rotating shaft A2 of the connecting gear <NUM> of another embodiment may be disposed not to be parallel to the rotating shaft A1 of the sensing module <NUM>. Specifically, the rotating shaft A2 of the connecting gear <NUM> may be perpendicular to the cover bottom surface 192a of the lower dust container <NUM> cover, and the he rotating shaft A1 of the sensing module <NUM> may have a slope in which the upper portion of the rotating shaft is inclined forward in the vertical direction. Accordingly, since the connecting gear <NUM> is not disposed obliquely with respect to the cover bottom surface 192a, there is an advantage that the height of the driving module <NUM> can be reduced.

Specifically, the connecting gear <NUM> and the sensor gear <NUM>, which are not parallel to each other, may include a bevel gear. The bevel gears are disposed such that the surface on which teeth are formed are inclined with respect to the rotating shaft of the gear so that two gears having shafts which are not parallel to each other can be connected.

Referring to <FIG>, the driving module of another embodiment may further include a driving belt <NUM>.

The driving belt <NUM> may transmit the driving force of the driving motor <NUM> to the sensing module <NUM>. More specifically, an active pulley <NUM> may be coupled to the rotating shaft A2 of the connecting gear <NUM> and a driven pulley <NUM>-<NUM> may be coupled the rotating shaft A1 of the sensing module <NUM>. The driving belt <NUM> is coupled to the active pulley and the driven pulley <NUM>-<NUM>.

When the connecting gear <NUM> is rotated by the driving motor <NUM>, the active pulley <NUM> having the same shaft as the connecting gear <NUM> is rotated. When the active pulley <NUM> is rotated, the driven pulley <NUM>-<NUM> is rotated due to the driving belt <NUM>. When the driven pulley <NUM>-<NUM> is rotated, the sensor case <NUM> and the sensor unit are rotated.

Claim 1:
A cleaner comprising:
a cleaner body;
a dust container (<NUM>) which is accommodated in the cleaner body;
a sensing module (<NUM>) which detects information around the cleaner body and is mounted in the cleaner body rotatably about a rotating shaft (A1) that intersects a horizontal direction; and
a driving module (<NUM>) which rotates the sensing module (<NUM>) in place relatively to the cleaner body,
wherein the sensing module (<NUM>) and the driving module (<NUM>) are positioned above the dust container (<NUM>),
characterized in that:
the driving module (<NUM>) comprises a driving motor (<NUM>); and
the rotating shaft of the driving motor (<NUM>) is disposed in parallel with the horizontal direction.