Patent Description:
In general, a cleaner includes a cleaner main body having a suction unit and a dust container, and a cleaning nozzle which is coupled to the cleaner main 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 main body on the surface to be cleaned while the user holds the cleaning nozzle or the cleaner main 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 main body having the suction unit and the dust container may be provided with various sensing 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 main 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 sensing 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 sensing 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 sensing unit is installed in front of the cleaner main body and the sensing unit can not rotate or move. Thus, there is a problem in that a detection range (angle of view) that the sensing unit can detect is very limited.

<CIT> discloses a cleaner having a sensing unit that is fixed to the front of a cleaner main body. In the conventional automatic cleaner, since the sensing 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 cleaning robot capable of detecting obstacles in various directions, and a control method therefor. The cleaning robot includes: a light-emitting unit for emitting light; a plurality of light-receiving units adapted to receive light in a predetermined direction from among the reflected lights reflected from the obstacle when the emitted light is reflected by the obstacle; a support plate on which the light-emitting unit and the plurality of light-receiving units are fixed and which is adapted to be rotatable; and a control unit for detecting the obstacle on the basis of an output signal transmitted from the light-emitting unit and the plurality of light-receiving units, and the rotation information of the support plate.

<CIT> relates to a system for cleaning a floor by means of at least one cleaning robot, which cleaning robot comprises control means for controlling the cleaning robot and communication means for sensing at least one event having increased soiling emergence of at least part of the floor, wherein the control means set the intensity of the use of the cleaning robot for cleaning at least part of the floor in accordance with the intensity of at least one event having increased soiling emergence.

<CIT> relates to a mobile robot comprising: a vision system, the vision system comprising a camera and at least one light source arranged to provide a level of illumination to an area surrounding the mobile robot; and a control system, the control system comprising a feature detection unit for detecting features within images captured by the vision system; wherein the level of illumination provided by the light source is adjusted in response to the number of features detected by the feature detection unit.

<CIT> relates to a vacuum cleaner comprising a main body defining an outer plan profile, and having a supporting wheel arrangement mounted inboard of the outer plan profile of the main body, drive means for driving the wheel arrangement so as to propel the appliance in a direction of movement across a surface to be cleaned, a surface treating assembly including a surface treating head associated with the main body and carried transversely to the direction of movement, the treating head being generally elongate in form and having side edges extending substantially tangentially to respective circular portions of the outer plan profile of the main body.

The present invention has been made in view of the above problems: 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.

The invention is specified by independent claim <NUM>. The present invention provides 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.

The present invention further provides a cleaner in which a sensor rotation module fixing and rotating a sensing unit is installed in a dust container cover and is constrained by the rotation of the dust container cover so that the sensing unit is rotated without disturbing the separation of the dust container.

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

According to the present invention, a cleaner comprises a rotation module configured to rotate the sensing unit relatively to the dust container cover.

Further, according to the present invention, the sensing unit and the rotation module for rotating the sensing unit are disposed between the handle and the dust container.

In accordance with the present invention, a cleaner includes: a cleaner main body; a dust container which is accommodated in the cleaner main body; a dust container cover which covers an upper portion of the dust container; a handle which is coupled to an upper end of the dust container cover; a sensing unit which detects information around the cleaner main body; and a rotation module which rotates the sensing unit relatively with respect to the dust container cover, wherein the sensing unit and the rotation module are disposed between the dust container and the handle.

Embodiments of the invention define the following further features of the cleaner. The rotation module includes: a driving motor which supplies a driving force and is fixed to the dust container cover; a sensor bracket which is rotated by receiving the driving force of the driving motor and accommodates at least a part of the sensing unit; and a rotation guide which is fixed to the sensor bracket and rotatably coupled to the dust container cover.

The rotation module includes at least one gear which transmits the rotational force of the driving motor to the sensor bracket.

The rotation guide is slidably coupled to a guide rail of the dust container cover.

The cleaner further includes a circuit board electrically coupled to the sensing unit, wherein the circuit board is coupled to the rotation guide.

The circuit board is restrained by rotation of the rotation guide and rotated together with the rotation guide.

The sensor bracket is disposed to surround the driving motor.

The sensor bracket includes: a bracket body which defines at least a part of a circle track; a sensor accommodating unit which is formed in the bracket body and receives the sensing unit to be exposed to the outside.

The bracket body is provided with a light blocking unit which protrudes inwardly in comparison with an inner circumferential surface of the bracket body.

The sensor bracket forms at least a part of a lateral side surface of the dust container cover.

The rotation guide is provided with an internal gear which receives the driving force of the driving motor.

The dust container cover includes: a lower dust container cover which is hinged to the cleaner main body; an upper dust container cover which is coupled to the lower dust container cover and coupled to the handle; and a rotation module accommodating unit which accommodates the rotation module between the lower dust container cover and the upper dust container cover.

The cleaner further includes a sensor position detection module which detects a position of the sensing unit.

The sensor position detection module includes a photo interrupter which is installed in the dust container cover and detects a rotation position of the rotation module.

The dust container cover is rotatably hinged to the cleaner main body, and a direction of a rotating shaft of the sensing unit intersects with a direction of a rotating shaft of the dust container cover.

The dust container cover is rotatably hinged to the cleaner main body, and the sensing unit and the rotation module are constrained by rotation of the dust container cover and are rotated together.

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

The present invention is advantageous in that the sensing unit 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 main 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 is advantageous in that the sensor rotation module for fixing and rotating the sensing unit is restrained by the rotation of the dust container cover, so that the sensing unit and the sensor rotation module are installed in the dust container cover without disturbing the dust container separation.

In addition, the present invention is advantageous in that the sensing unit and the sensor rotation 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 unit is damaged by a user, and the user can separate the dust container without disturbance of the sensing unit.

In addition, the present invention is advantageous in that, when the sensing unit rotates, the circuit board connected to the sensing unit by an electric signal is rotated together, thereby reducing the possibility of disconnection between the circuit board and the sensing unit due to rotation of the sensing unit.

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

Further, the present invention is advantageous in that the rotation radius of the sensor bracket to which the sensing unit is coupled is large, thereby providing a wider angle of view than the rotation of the sensing unit in place, and the angle of view of the sensing unit is not limited by the lateral side surface of the cleaner main body, and the like.

The objects, features and advantages of the present invention will be more apparent from the following detailed description in conjunction with the accompanying drawings, in which:.

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 showing a cleaner according to an embodiment of the present invention, and <FIG> is a view showing 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 main body <NUM>, a cleaning nozzle <NUM>, a sensing unit <NUM>, and a dust box <NUM>.

The cleaner <NUM> of an embodiment may further include a dust container cover <NUM> covering an upper portion of the dust container <NUM> and a rotation module for relatively rotating the sensing unit <NUM> with respect to the dust container cover <NUM>.

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

The cleaner main body <NUM> may be selected in one of an automatic mode and a manual mode by the user and travel. The cleaner 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 cleaner 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 cleaner main body <NUM> may travel manually by being pulled or pushed by user's force.

The cleaner main body <NUM> is provided with a wheel <NUM> for moving the cleaner 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 cleaner main body <NUM>, respectively. The cleaner 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 cleaner main body <NUM> to move the cleaner 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 cleaner main body <NUM> and the lower portion thereof may protrude to a lower side of the cleaner 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 cleaner main body <NUM> can travel.

The wheels <NUM> may be installed in the left and right sides of the cleaner main body <NUM>, respectively. The wheel <NUM> disposed in the left side of the cleaner 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 cleaner 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 cleaner 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 cleaner 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 cleaner 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 controller may turn the cleaner main body <NUM> to the left or right side. The controller may drive one of the first traveling motor and the second traveling motor and stop the other so as to turn the cleaner main body <NUM> to the left or right.

A suspension unit may be installed inside the cleaner 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 cleaner 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 cleaner 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 cleaner 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 cleaner main body <NUM> may be reduced. In addition, the traveling performance of the cleaner 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 cleaner 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 cleaner 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 cleaner 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 cleaner main body <NUM> is coupled to the second traveling motor through the second gear, when the user desires to move the cleaner 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 cleaner 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 cleaner main body <NUM> to connect the wheels of the left and right wheels <NUM> and the first and second traveling motors when the cleaner 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 cleaner main body <NUM> is in the manual mode.

The cleaner 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 cleaner main body <NUM>.

The cleaner 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 cleaner main body <NUM> and may be recessed from the front F side of the cleaner 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 cleaner 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 cleaner main body <NUM>.

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 cleaner 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 cleaner 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 cleaner main body <NUM>.

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

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

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

In addition, the sensing unit <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 unit <NUM> is disposed in the front side of the cleaner main body <NUM> and disposed between the dust container <NUM> and the handle <NUM>. The sensing unit <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 cleaner 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 unit <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 cleaner main body <NUM> to form a part of the cleaner main body <NUM>. That is, when the cable adaptor is coupled to the cleaner main body <NUM>, the cable adaptor may be considered as the same configuration as that of the cleaner main body <NUM>. The dust container <NUM> for storing foreign matter may be placed on the cable adaptor. The cable adaptor may connect the cleaner main body <NUM> and the cleaning nozzle <NUM>. The cable adaptor may connect the intake flow path of the cleaner 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 cleaner main body <NUM>. When the suction module is detached from the cleaner main body <NUM>, the mop module may be detachably coupled to the cleaner 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 cleaner main body <NUM>, and when the user desires to wipe the floor, the mop module may be mounted in the cleaner 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 cleaner main body <NUM> or may protrude from one side of the cleaner main body <NUM> as shown in the drawing. One side of the cleaner main body <NUM> may be a side in which the cleaner main body <NUM> travels in the forward direction, i.e., the front portion of the cleaner 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 cleaner 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 cleaner 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 cleaner main body <NUM> to the left and right sides of the cleaner main body <NUM>.

A suction motor may be installed inside the cleaner 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 cleaner 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 cleaner 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 cleaner 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 cleaner main body <NUM>, the suction port may be disposed toward the floor surface.

The cleaning nozzle <NUM> may be coupled to the cleaner main body <NUM> through a cable adaptor. The cleaning nozzle <NUM> may communicate with the intake flow path of the cleaner 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 cleaner 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 cleaner main body <NUM>. The cable adaptor may connect the cleaner 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 cleaner 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 cleaner 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 cleaner 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 cleaner 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 cleaner 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 cleaner main body <NUM> through the mode selection input unit provided in the cleaner main body <NUM>, and then detach the cleaning nozzle <NUM> from the cleaner main body <NUM>, and may couple a manual cleaning nozzle to the cleaner 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 cleaner main body <NUM>.

Meanwhile, the cleaner <NUM> according to the embodiment of the present invention may relatively rotate the sensing unit <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 unit <NUM>, a sensor rotation module, and the dust container cover <NUM> to which the sensing unit <NUM> and the sensor rotation module are coupled will be described in detail.

<FIG> is a perspective view of a dust container cover including a sensing unit and a rotation module according to an embodiment of the present invention, <FIG> is a perspective view of the dust container cover of <FIG> when viewed from a direction different from that of <FIG>, <FIG> is a front view of the dust container cover of <FIG>, <FIG> is a side view of the dust container cover of <FIG>, <FIG> is a perspective view of the dust container cover of <FIG> that removed an upper dust container cover, <FIG> is an exploded perspective view of the dust container cover of <FIG> that removed an upper dust container cover, and <FIG> is a plan view of the dust container cover of <FIG> that removed an upper dust container cover.

Referring to <FIG>, the sensing unit <NUM> is disposed along the vertical direction on the lateral side surface of the cleaner main body <NUM>. The sensing unit <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.

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 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 cleaner main body <NUM>. In the drawing, it is shown that the camera 132c is disposed below the second laser 132b.

The first laser 132a is disposed downwardly inclined with respect to the lateral side surface of the cleaner main body <NUM>, and the second laser 132b is disposed upwardly inclined with respect to the lateral side surface of the cleaner main body <NUM>.

The sensing unit <NUM> further includes a window unit <NUM> and a case <NUM>.

The window unit <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 unit <NUM> may be formed of a synthetic resin material or a glass material. When the window unit <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 case <NUM> is mounted in a rotation module described later, and is configured to fix the first laser 132a, the second laser 132b, the camera 132c, and the window unit <NUM>. As shown, the case <NUM> is configured to accommodate at least a part of the window unit <NUM>. The case <NUM> may be formed of a synthetic resin material or a metal material, and may be opaque.

Although the angle of view in the left and right direction (i.e., the horizontal direction) of the sensing unit <NUM> is <NUM> degrees, when the left and right ends of an obstacle are partially recognized, the sensing unit <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 unit <NUM> in the left-right direction through the rotation module.

The dust container cover <NUM> may have a space in which a sensor bracket <NUM> for fixing the sensing unit <NUM> is installed to be exposed to at least front side or to the front side and the lateral side.

Specifically, the dust container cover <NUM> may include a lower dust container cover <NUM> hinged to the cleaner main body, an upper dust container cover <NUM> which is coupled to the lower dust container cover <NUM> and coupled to the handle <NUM>, and a rotation module accommodating unit which accommodates a rotation module between the lower dust container cover <NUM> and the upper dust container cover <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 side and lateral side appearances of the dust container cover <NUM>. A hinge <NUM> is formed in the lower dust container cover <NUM>. Together with the upper dust container cover <NUM>, the lower dust container cover <NUM> may define a rotation module accommodating unit <NUM> for accommodating the rotation module.

The upper dust container cover <NUM> is coupled to an upper portion of the lower dust container cover <NUM>, and defines a part of the upper side and lateral side appearances of the dust container cover <NUM>.

The rotation module accommodating unit <NUM> may include a rotation module accommodating unit for accommodating a rotation module between the lower dust container cover <NUM> and the dust container cover <NUM>. The rotation module accommodating unit <NUM> may be formed in a shape having at least opened front side. Specifically, the rotation module accommodating unit <NUM> can be defined by a lower portion of the upper dust container cover <NUM> being recessed from the front end to the center, and an upper portion of the lower dust container cover <NUM> being recessed from the front end to the center.

The rotation module accommodating unit <NUM> may include a mounting unit 192b in which the rotation module is mounted, and a guide rail 192a which is formed in the mounting unit 192b and guides a rotation guide <NUM> of the rotation module.

Specifically, the mounting unit 192b is formed in the lower dust container cover <NUM>, and is in the form of a plate which is opened frontward and laterally. It may have a circular shape corresponding to the sensor bracket <NUM> of the rotation module. A driving motor <NUM> of the rotation module is provided in the center of the mounting unit 192b. The rear portion of the mounting unit 192b may be disposed such that a part of the lower dust container cover <NUM> protrudes upward to enclose a part of the lateral side surface of the sensor bracket <NUM>.

The guide rail 192a is disposed in the rim of the mounting unit 192b. Specifically, the guide rail 192a may define a circle track around the axis parallel to the vertical direction in the lower dust container cover <NUM>. The rotation guide <NUM> is slidably coupled to the guide rail 192a. The guide rail 192a may be a groove, a protrusion, or the like formed in the lower dust container cover <NUM>.

The sensing unit <NUM> and the rotation module may be constrained by the rotation of the dust container cover <NUM> and rotated together. At this time, the rotation direction of the sensing unit <NUM> and the rotation direction of the dust container cover <NUM> may be intersected with each other. Specifically, the direction of the rotating shaft of the sensing unit <NUM> may intersect the direction of the rotating shaft of the dust container cover <NUM>. The rotating shaft of the sensing unit <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 rotation module may rotate the sensing unit <NUM> relatively with respect to the dust container cover <NUM>. The sensing unit <NUM> and the rotation module may be disposed between the dust container <NUM> and the handle <NUM>. The rotation module may tilt the sensing unit <NUM> from side to side relatively with respect to the cleaner main body <NUM>. The tilt angle of the sensing unit <NUM> may be <NUM> degrees of left and right sides respectively around the front.

Specifically, the rotation module may be disposed between a part of the upper dust container cover <NUM> and a part of the lower dust container cover <NUM>, and the entire rotation module may be disposed to be overlapped with a part of the upper dust container cover <NUM> and a part of the lower dust container cover <NUM> in the vertical direction and the front-rear direction.

The sensing unit <NUM> may be disposed to protrude forward of the dust container cover <NUM> and the main body so that the angle of view can be prevented from being obscured by the cleaner when detecting the surrounding environment. The sensing unit <NUM> may be positioned forward of the rotation module.

For example, the rotation module may include a driving motor <NUM> which supplies a driving force and is fixed to the dust container cover <NUM>, a sensor bracket <NUM> which is rotated by receiving the driving force of the driving motor <NUM>, and accommodates at least a part of the sensing unit <NUM>, and a rotation guide <NUM> which is fixed to the sensor bracket <NUM> and is rotatably coupled to the dust container cover <NUM>.

The driving motor <NUM> supplies a driving force to the rotation guide <NUM> and/or the sensor bracket <NUM> and is fixed to the dust container cover <NUM>. Specifically, the driving motor <NUM> is disposed in the mounting unit 192b in the lower dust container cover <NUM>. Preferably, the driving motor <NUM> may be positioned inside a circle formed by the guide rail 192a in the lower dust container cover <NUM>.

The rotation module may include at least one gear that transmits the rotational force of the driving motor <NUM> to the sensor bracket <NUM>. When the sensor bracket <NUM> is coupled to the rotation guide <NUM>, the gear may transmit the rotational force of the driving motor <NUM> to the rotation guide <NUM>.

The plurality of gears may be named as a gear assembly. The driving motor <NUM> may generate a rotational force about a rotating shaft parallel to the horizontal direction, and the rotation guide <NUM> may be rotated about a rotating shaft parallel to the vertical direction.

The gear assembly may include a worm gear <NUM> which is coupled to a rotating shaft of the driving motor <NUM>, a spur gear <NUM> which is engaged with the worm gear <NUM>, and an internal gear <NUM> which is engaged with the spur gear <NUM> and formed in the rotation guide <NUM>. The spur gear <NUM> rotates about the vertical direction as a rotating shaft, and the internal gear <NUM> rotates about the vertical direction as a rotating shaft.

The rotation guide <NUM> is fixed to the sensor bracket <NUM>, and is rotatably coupled to the dust container cover <NUM>. The sensor bracket <NUM> is constrained by the rotation of the rotation guide <NUM> and rotated together. The rotation guide <NUM> may be formed integrally with the sensor bracket <NUM>.

The sensor bracket <NUM> is coupled to the upper portion of the rotation guide <NUM>. The rotation guide <NUM> guides the rotation path of the sensor bracket <NUM> and the sensing unit <NUM>.

For example, the rotation guide <NUM> may be a ring shape that is slidably coupled with the guide rail 192a of the dust container cover <NUM> or a shape defining a part of a ring shape.

More specifically, the rotation guide <NUM> may include a guide main body <NUM> defining a circle track, a boss protruding radially from the guide body, and a substrate supporting unit <NUM> extending in the center direction from the guide main body <NUM>.

The guide main body <NUM> is slidably coupled with the guide rail 192a of the lower dust container cover <NUM>. The guide main body <NUM> defines a circle track having an axis which is the vertical direction, and is rotated about an axis which the vertical direction.

The substrate supporting unit <NUM> supports a circuit board <NUM> electrically connected to the sensing unit <NUM>. When the circuit board <NUM> is supported by the rotation unit <NUM>, the sensing unit <NUM> rotates together with the circuit board <NUM>. Thus, even when the sensing unit <NUM> rotates, the possibility that a connection between the circuit board <NUM> and the sensing unit <NUM> is released is reduced. That is, the circuit board <NUM> is coupled to the rotation guide <NUM>, and constrained by the rotation of the rotation guide <NUM> to be rotated together with the rotation guide <NUM>.

The rotation guide <NUM> is provided with an internal gear <NUM> for receiving the driving force of the driving motor <NUM>. The internal gear <NUM> is formed on at least a part of the inner circumferential surface of the guide main body <NUM>. The internal gear <NUM> has a length corresponding to the turning radius of the guide main body <NUM>. The internal gear <NUM> is engaged with the spur gear <NUM>.

The spur gear <NUM> is rotated by the driving force of the driving motor <NUM>. When the spur gear <NUM> is rotated, the rotation guide <NUM> coupled to the internal gear <NUM> is rotated. When the rotation guide <NUM> is rotated, the sensor bracket <NUM> and the sensing unit <NUM> constrained to the rotation guide <NUM> are rotated.

The sensor bracket <NUM> is coupled to the sensing unit <NUM>. The sensor bracket <NUM> restrains the sensing unit <NUM> such that the sensing unit <NUM> is exposed to the outside of the sensor bracket <NUM>. The sensor bracket <NUM> may be coupled to the sensing unit <NUM> by a hook, a fastening member, or the like.

The sensor bracket <NUM> may be disposed to surround the driving motor <NUM>. The driving motor <NUM> may be positioned inside the sensor bracket <NUM> so that the driving motor <NUM> may not be exposed to the outside. The driving motor may be located inside the sensor bracket <NUM>. Obviously, the spur gear <NUM> and the worm gear <NUM> may also be positioned inside the sensor bracket <NUM>.

The sensor bracket <NUM> may form at least a part of the lateral side surface of the dust container cover <NUM>. Specifically, the sensor bracket <NUM> may form a part of the front surface and a part of both lateral sides of the dust container cover <NUM>. The sensor bracket <NUM> may be exposed to the front and lateral side surfaces of the dust container cover <NUM> while being rotated by the rotation guide <NUM>.

The sensor bracket <NUM> is rotated together with the rotation guide <NUM> while being coupled to the sensing unit <NUM> so that it can restrict the exposure of the rotation guide <NUM> and the driving motor <NUM>. Accordingly, the rotation guide <NUM> may be inserted into the lower end of the sensor bracket <NUM>.

Specifically, the sensor bracket <NUM> may include a bracket body <NUM> defining at least a part of a circle track, and a sensor accommodating unit <NUM> which is formed in the bracket body <NUM> and accommodates the sensing unit to be exposed to the outside.

A coupling unit to which the circuit board <NUM> is coupled may be formed in the bracket body <NUM>. A light blocking unit 213a, 213b protruding inward in comparison with the inner circumferential surface of the bracket body <NUM> may be formed in the bracket body <NUM>.

The light blocking unit 213a, 213b is detected by a sensor position detection module <NUM> that detects the position of the sensing unit <NUM> described later. The light blocking unit 213a, 213b blocks the light emitted from the sensor position detection module <NUM>. Specifically, the light blocking unit 213a, 213b may protrude in the direction of the center of the bracket main body <NUM> in comparison with the inner circumferential surface of the bracket main body <NUM>, and may form a partial area of a circle track smaller than the inner circumferential surface of the bracket main body <NUM>. Preferably, at least two light blocking unit s 213a, 213b may be spaced apart from each other. The light blocking unit 213a, 213b contains a material for blocking the light emitted from the sensor position detection module <NUM>.

The embodiment may further include a sensor position detection module <NUM> that detects the position of the sensing unit <NUM>. The sensor position detection module <NUM> can determine the position of the sensing unit <NUM> by an optical method. Specifically, the sensor position detection module <NUM> may include a photo interrupter which is installed in the dust container cover <NUM> and detects the rotational position of the rotation module.

More specifically, the photo interrupter may include a light emitting unit (not shown) for emitting light to a path along which the light blocking unit 213a, 213b moves and a light receiving unit (not shown) for detecting the light emitted from the light emitting unit. When the light blocking unit 213a, 213b is positioned in an arbitrary position, it blocks the light emitted from the light emitting unit, so that the photo interrupter can determine the position of the sensing unit <NUM>.

Preferably, the photo interrupter is installed in the lower dust container cover <NUM>, and the light emitting unit and the light receiving unit may be disposed to overlap with a track in which the light blocking unit 213a, 213b moves in a direction intersecting the track in which the light blocking unit 213a, 213b moves.

<FIG> is a view showing a state in which a sensing unit in <FIG> is rotated, and <FIG> is an external perspective view of a dust container cover in a state in which a sensing unit is rotated.

Referring to <FIG>, the sensing unit <NUM> is positioned to face forward from the center axis of the rotation guide <NUM>, when the cleaner travels straight or is in a normal operation.

The controller may rotate the sensing unit <NUM>, when the cleaner main 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 spur gear <NUM> are rotated, and the rotation guide <NUM> engaged with the spur gear <NUM> is rotated. When the rotation guide <NUM> is rotated, the sensing unit <NUM> and the sensor bracket <NUM> constrained to the rotation guide <NUM> are rotated together. When the rotation guide <NUM> is rotated, the facing direction of the sensing unit <NUM> is changed from the front side to the lateral side.

Even if the sensing unit <NUM> rotates together with the sensor bracket <NUM>, since the sensor bracket <NUM> has a ring shape, the driving motor <NUM>, and the like inside the sensor bracket <NUM> is not exposed to the outside, and the dust container cover <NUM> and the handle <NUM> are not rotated. Therefore, the dust container cover <NUM> may be opened by holding the handle <NUM> even when the sensing unit <NUM> is positioned to face the lateral side.

Claim 1:
A cleaner comprising:
a cleaner main body (<NUM>);
a dust container (<NUM>) accommodated in the cleaner main body (<NUM>);
a dust container cover (<NUM>) covering an upper portion of the dust container (<NUM>);
a handle (<NUM>) coupled to an upper end of the dust container cover (<NUM>); and
a sensing unit (<NUM>) detecting information around the cleaner main body (<NUM>);
wherein a rotation module is configured to rotate the sensing unit (<NUM>) relatively with respect to the dust container cover (<NUM>), and
wherein the sensing unit (<NUM>) and the rotation module are disposed between the dust container (<NUM>) and the handle (<NUM>).