WO2012138204A2

WO2012138204A2 - Robot cleaner

Info

Publication number: WO2012138204A2
Application number: PCT/KR2012/002686
Authority: WO
Inventors: 허주표
Original assignee: 주식회사 모뉴엘
Priority date: 2011-04-08
Filing date: 2012-04-09
Publication date: 2012-10-11
Also published as: JP5535400B2; JP2013526929A; WO2012138204A3

Abstract

The present invention pertains to a robot cleaner. In the configuration of the robot cleaner, a dust case is mounted by magnetic force such that the magnetic force can be sensed, a rag-mounting structure is provided such that whether or not a rag is mounted is sensed so as to restrain the same, infrared sensing modules are provided at both sides of a driven wheel, and infrared floodlight sections are formed on the driven wheel at a uniform interval. Therefore, the dust case according to the present invention is mounted by magnetic force and the magnetic force is sensed, so that the configuration is simplified and manufacturing costs are reduced. In addition, the rag-mounting structure is provided such that the mounting of the rag holder is sensed so as to restrain the same while mounting the rag holder, such that the robot cleaner is prevented from moving to a cushioned area such as a carpet where the rag holder may get stuck. Therefore, a malfunction due to the rag holder does not occur.

Description

robotic vacuum

The present invention relates to a robot vacuum cleaner, and more particularly, to a robot vacuum cleaner, in which a dust container is mounted magnetically and magnetically sensed, and a mop mounting structure is provided below the robot body, Along with this, the purpose of the robot cleaner is to detect this, and to use the mop as needed for the cleaning process using the robot cleaner, and to allow the robot cleaner to recognize the installation of the mop.

Another object of the present invention is to detect the driven wheel drive detection means through the infrared sensing module whether the slip of the robot in the drive state of the drive wheel, so that it is possible to clearly detect the presence or absence of the driven wheel in the drive state of the drive wheel. It is for the purpose.

In general, the robot cleaner performs cleaning while automatically driving itself in a work area such as a cleaning area without a user's manipulation.

The above robot cleaner sweeps dust using a brush while driving a preset work path or an optimal work path according to a built-in program, or cleans by sucking dust by a vacuum suction input. It consists of a cleaning part for suction cleaning of the driving wheel and dust and a robot control part for controlling the operation of the driving wheel and the cleaning part.

The robot cleaner configured as described above is configured to be equipped with a dust bucket so that dust can be easily cleaned. The robot cleaner is equipped with a sensor to detect when the dust bucket is mounted. We carry out to be able.

In addition, the robot vacuum cleaner is provided with a dust container locking mechanism so that the dust container is not detached when the dust container is mounted, so that the dust container mounted is not detached.

As described above, the robot cleaner is cleaned by a brush or a vacuum cleaner, and is not easily cleaned of dust or the like on the floor.

The said baseboard is comprised so that detachment is possible as needed and is implemented.

On the other hand, the robot cleaner as described above, if there is an obstacle, such as furniture or walls in the progress path, normal progress is difficult, so in order to avoid the obstacle or low zone, the obstacle detection module can be moved to change the progress path It is provided and implemented.

In addition, if the driving wheel slips and the robot cleaner cannot move in the process of performing the robot work, the robot cannot perform the set work.

Therefore, the robot detects whether the driven wheel is driven in the driving state of the driving wheel, and the driving wheel is driven to detect whether the robot moves or is caught in an obstacle not detected by the obstacle detecting module. Robot comprising a drive wheel drive detection means for detecting a driven wheel drive detection means for detecting the presence or absence of driven wheels and the robot control unit for detecting the slip of the robot through the drive wheel drive detection means and driven wheel drive detection means. The slip driving detection device of the present invention is provided.

The driven wheel drive detecting means detects whether the driven wheel is driven by a method of sensing steering of a proximity sensor or driven wheel.

However, as described above, the conventional robot cleaner has a sensor and a dust container locking means for maintaining a combined state of the dust container to detect the mounting state of the dust container, so that the structure is complicated and the production cost is expensive. there was.

In addition, when the robot cleaner is moved to an area having a cushion, such as a carpet, when the robot cleaner is not installed, the robot cleaner has a problem in that it cannot travel due to the cloth receiver.

In addition, the slip driving detection apparatus of the conventional robot has a problem that the driven wheel drive detection means is driven through the indirect sensing of the driven wheel, such as the proximity sensor or steering wheel steering detection, the detection is not clear.

Thus, the present invention as described above, the conventional robot cleaner is a dust container mounting structure is complicated and the production cost is formed at a high cost, and whether or not the mounting of the baseboard is not confirmed, it is impossible to run in a cushioned area, such as carpet To solve the problem that is, and the driven wheel drive detection by the driven wheel drive detection means is not clear and the configuration is complicated.

That is, the present invention, in the robot vacuum cleaner, the dust container is equipped with a magnetic force mounted and magnetically sensed, and provided with a mop mounting structure that can detect and restrain the presence of the mop base, both sides of the driven wheel Infrared sensing module is provided on the driven wheel, and the infrared light emitting units are formed at equal intervals at equal intervals on the driven wheel.

Therefore, the present invention is to simplify the configuration and reduce the production cost by allowing the dust container is magnetically mounted and magnetically sensed, and equipped with a mop mounting structure that detects and restrains when mounting the mop, the robot cleaner hangs the mop This does not move to a cushioned area such as a carpet, which may cause a bad driving due to the baseboard, and detects whether the driven wheel is driven through the infrared sensing modules provided on both sides of the driven wheel. Is done clearly.

1 is an illustration of a robot cleaner according to the present invention.

2 is a partial cross-sectional side view of the robot cleaner according to the present invention.

Figure 3 is a partial cross-sectional plan view of the robot cleaner according to the present invention.

4 is a partial cross-sectional plan view of the separated state of the dust container according to FIG.

5 shows an exemplary perspective view of the dust container according to FIG. 3;

Figure 6 is a partial cross-sectional plan view of a robot cleaner according to another embodiment of the present invention.

Figure 7 is a perspective view illustrating an example of a dust lid separation state of the dust container according to FIG.

Figure 8 is a perspective view illustrating a dust cover combined state of the dust container according to Figure 5;

9 shows a detailed side view according to FIG. 5;

Figure 10 is an exploded view of the baseboard showing an embodiment according to the present invention.

Figure 11 is an exemplary view showing an embodiment of a mop mounting structure in an embodiment according to the present invention.

12 is a detailed cross-sectional view of an example of a detached state according to FIG. 11;

Figure 13 is an exemplary view showing another embodiment of the mop mounting structure in an embodiment according to the present invention.

14 is a cross-sectional view of the detail according to FIG.

15 is a detailed cross-sectional view of the one-touch lock guide groove according to FIG. 13.

Figure 16 is an exploded view showing another embodiment of the mop binding means in one embodiment according to the present invention.

Figure 17 is an exemplary view showing another embodiment of the mop binding means in one embodiment according to the present invention.

18 is a partial side cross-sectional view of a cleaning robot that is one of the robots to which the present invention is applied.

19 is a detailed cross-sectional view showing that the driven wheel mounting portion is modularized by separating the driven wheel mounting portion from the robot body in an embodiment of the present invention.

20A is a partially exploded perspective view showing an embodiment of the present invention.

Figure 21b is a partial cross-sectional front view showing an embodiment of the present invention.

Figure 22 is an exploded cross-sectional view showing another embodiment of the sensor coupling portion in the embodiment of the present invention.

Figure 23 is a detailed side view showing an embodiment of the infrared light transmitting unit in the embodiment of the present invention.

24 is a detailed cross-sectional view showing that the light-emitting core is provided in the infrared light-emitting hole in the embodiment of the present invention.

25 is a detailed cross-sectional view showing that the floodlight cover is provided in the infrared floodlight hole in the embodiment of the present invention.

Figure 26 is a control diagram of the main components of the robot in the embodiment of the present invention.

Hereinafter, described in detail by the accompanying drawings as follows.

The present invention allows the installation and detection of the dust container in one configuration to simplify the configuration and to reduce the production cost, to enable the robot cleaner to detect the installation of the baseboard and move the cleaning area to select and move the driven wheel. It clearly detects the presence or absence of driving of the robot so that it can be detected clearly.

That is, the present invention comprises a driving wheel 21 for driving, a cleaning unit 30 for suction cleaning of dust and a dust container 50 for storing the sucked dust, and detects whether the driving wheel 110 is driven or not. Drive wheel drive detection means 310, and driven wheel drive detection means 120 for detecting the presence or absence of the driven wheel, and detects the slip of the robot to operate the drive wheel 21 and the cleaning unit 30 In the robot vacuum cleaner comprising a robot control unit 40 for controlling, the unit is equipped with a magnetic force mounting means such that the holding and mounting detection of the dust container 50 is made by magnetic force, and the base plate 210 is provided under the robot body 10. Equipped with a mop mounting structure to detect and restrain the mounting of).

Hereinafter, the magnetic mounting monitoring means will be described in detail.

As shown in FIGS. 1 to 9, the magnetic force mounting detecting means forms a dust container coupling part 11 so that the dust container 50 can be coupled to the robot body 10 in a drawer manner from the rear, and the dust container coupling part On the inner wall of the (11) is provided with a mounting detection switch 110 for detecting the combination of the dust container 50, one side of the mounting detection switch 110 dust container magnetic to maintain the combined state of the combined dust container 50 The binding plate 120 is provided, and the mounting holding magnets 130 are provided on the inner wall of the dust container 50 corresponding to the inner wall of the dust container coupling unit 11.

On the other hand, the mounting holding magnet 130 is provided so that the mounting holding magnet 130 is provided to be biased toward the upper side of the inner wall or bend-extended from the upper side so as to magnetically bind the dust container lid 51, The dust container lid 51 corresponding to the mounting holding magnets 130 may be provided with a lid magnetic binding plate 140.

In addition, the mounting holding magnet 130 for the binding of the dust container lid 51 can be carried out separately formed.

6 to 9, a magnetic transfer dust barrier layer 151 having an upper end coupled to the dust inlet 52 is provided, and the dust of the magnetic transfer dust barrier layer 151 is partially opened. It is provided with a dust-only magnetic force generating plate 152, the magnetic force is generated on the side of the inlet 52, the dust blocking membrane 151 is filled with dust in the dust container 50 on the opposite side of the dust-only magnetic force generating plate 152 When the vehicle part is opened, the dust filling membrane 151 may be provided with a dust filling sensor 153 so as to detect the magnetic force transmitted through the dust blocking film 151.

On the other hand, the dust-filled magnetic force generating plate 152 may be configured by selecting any one of the one end is formed integrally connected to the mounting holding magnets 130, and formed separately from the mounting holding magnets 130 It can be.

As described above, the mounting and holding means for detecting and mounting the dust container 50 is made by magnetic force, but the magnetic force mounting means is coupled to the magnetic body mounting means in the drawer type from the rear of the dust container 50 to the robot body 10. The dust container coupling part 11 may be formed to be provided, and a mounting detecting switch 110 may be provided on the inner wall of the dust container coupling part 11 to detect the coupling of the dust container 50. One side is provided with a dust container magnetic binding plate 120 to maintain the coupled state of the dust container 50, the mounting holding magnet on the inner wall of the dust container 50 corresponding to the inner wall of the dust container coupling portion 11 ( 130), the dust container 50 is magnetically mounted and magnetically sensed to simplify the construction of the robot cleaner and reduce the production cost.

The dust inlet 52 has a magnetic transfer dust barrier 151 having an upper end bound to the dust inlet 52, and the magnetic force is filled with dust on the side of the dust inlet 52 where the magnetic transfer dust barrier 151 is partially open. It is provided with a magnetic force generating plate 152, the dust blocking film 151 on the opposite side of the dust-filling magnetic force generating plate 152 through the dust blocking film 151 when the dust container 50 is full of dust is opened When the dust filled filling sensor 153 is provided to detect the transmitted magnetic force, the dust container 50 is filled with dust to maintain a partially open state in which the dust barrier membrane 151 is not completely closed.

At this time, the magnetic force is transmitted to the dust blocking film 151 by the dust-filling magnetic force generating plate 152 provided on the side of the dust blocking film 151, so that it is detected by the dust filling sensor 153 and the robot controller 40 The robot controller 40 is shown through a display unit (not shown) so that the user emptyes the dust container 50 to perform an efficient cleaning operation.

Hereinafter, the mop mounting structure will be described in detail.

The mop mounting structure is provided with protruding mounting projections 211 on both upper surfaces of the mop tray 210, as shown in Figure 10 to 17, and provided with a mop binding portion at the bottom of the corresponding robot body 10 It is configured to include a mounting detecting means for detecting the coupling of the mounting projection 211 in the mop binding unit to input the mounting signal of the mop 210 to the robot control unit 40.

Here, the mop binding portion can be implemented by forming an enlarged reduction hole 241 that becomes narrower toward the inner side so that the mounting protrusion 211 is fitted.

The enlarged contraction hole 241 is preferably made of a light transmitting material to enable infrared light transmission.

On the other hand, as another embodiment of the mop binding portion is shown in Figure 13 to 15 coupling hole 242 formed through the lower portion of the robot body 10, and is provided inside the coupling hole 242 mounting projections Insertion tool 250 for holding and holding the 211, and the insertion tool 250 immersed with respect to the one-touch in accordance with the mounting projection 211, the insertion tool according to the one-touch according to the separation of the mounting projection (211) ( It is composed of a one-touch binding hole 260 to allow 250 to protrude elastically.

The insertion slot 250 is configured to be opened by its own elastic force when the elastic protrusion protrudes from the one-touch binding hole 260, and is configured to tighten and tighten the mounting protrusion 211 when immersed.

And, the one-touch binding hole 260 is a one-touch lock guide groove 262 formed on any one side of the binding body 261 and the insertion slot 250, as shown in Figure 13 and 14, the binding sphere It is provided on the other side of the body 261 and the insertion slot 250 is moved along the one-touch lock guide groove 262 in accordance with the immersion and protrusion of the insertion slot 250 so that the insertion slot 250 is projected with the immersion lock The lock guide pin 263 and the insertion slot 250 is composed of a spring 264 to elastically protrude.

The one-touch lock guide groove 262 is made of a guide groove of the closed curve as shown in Figure 15, the immersion guide groove 262a formed on one side and the protrusion guide groove 262b formed on the other side, and immersion support formed in the lower side The guide groove 262c and the protruding support guide groove 262d formed on the upper side thereof.

On the other hand, the mounting detection means can be implemented by configuring the baseboard infrared sensor 271 provided on both sides to detect the engagement of the mounting projection 211 is coupled to the inside of the mop binding portion.

Another example of the mounting detecting means is a limit switch and a proximity sensor for detecting the immersion of the insertion hole 250 in the one-touch binding hole 260 when the mop binding portion is composed of the insertion hole 250 and the one-touch binding hole 260. It can be configured and implemented by the immersion sensor 272 made of any one.

In addition, the mop 210 is provided with a mop binding means to bind the mop 220 as shown in FIG.

The mop binding means can be implemented by attaching the mop 220 to the lower part of the mop 210 by any one of the Velcro 231 and the hook 232.

As shown in FIG. 17, the mop 220 is placed on the upper surface of the mop bin 210 of the mop binding means, and the mop 220 is provided at the center of the mop base 210 so as to be coupled to the lower part of the robot body 10. ) To form a mop coupling portion 233 perforated to be exposed to the lower surface, and the mop coupling portion 233 can be implemented by forming a mop support 234 to prevent sagging of the mop 220 will be.

In the robot cleaner comprising a driving wheel 21 for driving, a cleaning unit 30 for cleaning and suctioning dust and a robot control unit 40 for controlling the operation of the driving wheel 21 and the cleaning unit as described above, the robot body ( When the mop mounting structure is applied to the lower part of 10) to detect and restrain the mounting of the mop base 210, the robot cleaner performs the cleaning operation of the mop 220 through the mop mounting structure. By detecting the presence or absence of the mop 220 does not move to the cushion area, such as a carpet that may cause a jam when the driving bad due to the mop will not occur.

In addition, the mop mounting structure of the mop binding portion consists of an enlarged reduction hole 241 that narrows the width toward the inner side so that the mounting protrusion 211 is fitted, the mounting projection 211 is coupled to the inside of the mop binding portion. In the case of carrying out the mounting detecting means composed of the baseboard infrared sensor 271 provided on both sides to sense the coupling of the), the mounting of the baseboard 210 is bound by forcible fitting and the binding is mounted. It is made by the sensing means and the detection is made quickly with the binding of the baseboard (210).

In addition, the mop mounting structure is provided with a coupling hole 242 penetrating the lower portion of the robot body 10, the insertion hole 250 is provided on the inner side of the coupling hole 242 to bind the mounting projection 211 and; The one-touch binding hole 260 allows the insertion tool 250 to be immersed with respect to the one-touch according to the mounting protrusion 211 and the insertion tool 250 is elastically protruded according to the one-touch according to the separation of the mounting protrusion 211. If the configuration is carried out by the immersion sensor 272 made of any one of a limit switch and a proximity sensor to detect the immersion of the insertion slot 250 in the one-touch binding hole 260, mounting of the receiving base 210 It is easy to mount because it is attached by one touch, and the sensing is quickly performed by the immersion sensor 272 together with the mounting of the base 210.

Hereinafter, the driven wheel drive detection means will be described in detail.

As shown in FIGS. 18 to 26, the driven wheel drive detecting means includes an infrared detecting module 330 provided at both sides of the driven wheel 22, and an infrared light emitting unit provided at equal intervals in the driven wheel 22. will be.

Here, the infrared detection module 330 is to be selectively coupled to the inner or outer side of the driven wheel mounting portion 341, when the infrared detection module 330 is mounted on the outer surface of the driven wheel mounting portion 341, the driven wheel mounting portion 341 is made of a light transmitting material, and the driven wheel cover 342 is configured to be coupled to the lower portion of the driven wheel mounting portion 341 so as to axially couple the driven wheel 22.

The driven wheel mounting part 341 may be formed integrally with the robot body 500, but may be separated from the robot body 500 to separate the driven wheel 22, the infrared sensing module 330, and the driven wheel cover ( 342 is configured to be implemented in a combined module state, the body coupling portion 341a which can be mounted on the robot body 500 by using fixing means such as pieces on both sides of the driven wheel mounting portion 341. ) Is formed.

The infrared detection module 330 accommodates the wheel infrared sensor 331 and the wheel infrared sensor 331 for transmitting and receiving infrared rays as shown in FIGS. 23 to 25 so as to be mounted on the driven wheel mounting unit 341. It can be implemented by configuring the coupler 332.

On the other hand, the sensor coupling sphere 332 is independently separated and configured to accommodate each wheel infrared sensor 331, and configured to constrain the wheel infrared sensor 331 on both sides can be selected. will be.

The infrared light transmitting part may be implemented by forming an infrared light transmitting hole 320 penetrated from the side of the driven wheel 22.

As shown in FIG. 24, the infrared light emitting hole 320 may be formed by filling a transparent core 321a to prevent foreign material from entering.

As shown in FIG. 25, the infrared floodlight 320 may be provided with a floodlight cover 321b on its outer surface to prevent foreign substances from entering.

The floodlight cover 321b may be implemented as a polarized floodlight cover so that only the infrared ray of the straight component is transmitted so as to minimize scattering and reflection loss of the infrared light.

In the slip driving detection apparatus of the robot for slip driving detection as described above, the driven wheel drive detection means is provided with an infrared sensing module 330 on both sides of the driven wheel 22, the equal distance to the driven wheel 22 When the infrared wheel is provided, the driving wheel 22 is driven and the driving wheel 22 is sensed through the detection of the infrared light transmitted through the infrared light emitting part when the driven wheel 22 is driven.

When the infrared light transmitting portion is formed by the infrared light transmitting hole 320 penetrated from the side of the driven wheel 22, the infrared light emitting hole 320 is formed by filling the transparent core 321a to prevent foreign matter from entering, The infrared floodlight 320 is prevented from being contaminated or clogged by foreign matter, so that the detection of the driven wheel 22 is made clear.

The infrared light transmitting part is formed by an infrared light transmitting hole 320 penetrated from the side of the driven wheel 22, and the infrared light emitting hole is provided with a light emitting cover 321b on the outer surface to prevent foreign substances from entering. Blockage of the 320 is prevented.

When the floodlight cover 321b is provided with a polarized floodlight cover, scattering and reflection loss of infrared rays emitted from the infrared detection module 330 are minimized, and only infrared rays of a straight component are transmitted to improve precision of detection. .

Claims

A driving wheel 21 for driving, a cleaning unit 30 for suction cleaning of dust, and a dust container 50 for storing sucked dust, and a driving wheel driving detecting means for detecting whether the driving wheel 110 is driven or not; 310 and a driven wheel drive detecting means 120 for detecting whether a driven wheel is driven, and a robot control unit for controlling the operation of the driving wheel 21 and the cleaning unit 30 by detecting the slip of the robot ( In the robot cleaner consisting of 40);

Mounting and holding the dust container 50 is equipped with a magnetic force mounting means to be carried out by the magnetic force, and mounting the mop to detect and restrain the presence of the mop 210 in the lower part of the robot body 10 Has a structure,

The magnetic force mounting detecting means forms a dust container engaging portion 11 so that the dust container 50 can be coupled to the robot body 10 in a drawer manner from the rear, and the dust container 50 is formed on the inner wall of the dust container engaging part 11. It is provided with a mounting detection switch 110 for detecting the combination of, and one side of the mounting detection switch 110 is provided with a dust container magnetic binding plate 120 to maintain the coupled state of the dust container 50, It is configured to include a mounting holding magnet 130 on the inner wall of the dust container 50 corresponding to the inner wall of the dust container engaging portion 11,

The mounting retaining magnet 130 is provided to be biased toward the upper side of the inner wall so as to magnetically bind the dust container lid 51 by the mounting holding magnet 130, and the dust container lid corresponding to the mounting holding magnet 130. The robot vacuum cleaner, characterized in that the cover 51 is provided with a magnetic binding plate (140).
The method of claim 1;

The dust inlet 52 is provided with a magnetic transfer dust barrier 151 having an upper end bound to the dust inlet 52, and the magnetic force is applied to the dust inlet 52 at a position where the magnetic transfer dust barrier 151 is partially opened. It is provided with a generating plate 152, the dust blocking film 151 on the opposite side of the dust-filling magnetic force generating plate 152 is transmitted through the dust blocking film 151 when the dust container 50 is full of dust is opened partially It is provided with a dust full detection sensor 153 to detect the magnetic force,

The dust-filled magnetic force generating plate 152 is one end of the mounting holding magnets 130 is connected to the integrally formed, and the mounting holding magnets 130, characterized in that any one selected from the formed separately formed vacuum cleaner.
The method of claim 1,

The mop mounting structure is provided with protruding mounting protrusions 211 on both upper surfaces of the mop tray 210, and provided with a mop binding portion at the bottom of the robot body 10 corresponding to the mop binding 210, the mounting protrusion 211 to the mop binding portion ) Is provided with a mounting detecting means for inputting a mounting signal of the base plate 210 to the robot control unit 40 by detecting the combination of

The mop binding portion is provided with a coupling hole 242 penetrating the lower portion of the robot body 10, the insertion hole 250 is provided on the inner side of the coupling hole 242 to bind the mounting protrusion 211, and the mounting protrusion And a one-touch binding hole 260 which allows the insertion tool 250 to be immersed with respect to the one-touch according to the coupling, and allows the insertion tool 250 to elastically protrude according to the one-touch according to the separation of the mounting protrusion 211. ,

The insertion slot 250 is configured to be opened by its own elastic force when elastic projection from the one-touch binding hole 260, tightened when immersed and configured to bite the mounting projection 211,

The one-touch binding hole 260 is a one-touch lock guide groove 262 formed on any one side of the binding body 261 and the insertion slot 250, and the other side of the binding body 261 and the insertion slot 250 The lock guide pin 263 and the insertion slot 250 are moved along the one-touch lock guide groove 262 according to the immersion and protrusion of the insertion slot 250 and the insertion slot 250 protrudes from the immersion lock. Robot cleaner, characterized in that consisting of a spring (264) to elastically protrude.
The method of claim 3;

The mounting detecting means

When the mop binding unit is composed of the insertion tool 250 and the one-touch binding device 260, the robot cleaner comprising an immersion detector 272 for detecting the immersion of the insertion tool 250 in the one-touch binding device 260.
The method of claim 3;

The mop tray 210 is provided with a mop binding means to bind the mop 220,

The mop binding means

It is configured to attach the mop 220 to the bottom of the mop 210 by any one of the Velcro 231 and the hook 232,

The mop coupling placed on the upper surface of the mop 210 to put the mop 220 and coupled to the lower part of the robot body 10 so that the mop 220 is exposed to the bottom of the mop base 210 to be exposed to the lower surface. A part 233 is formed, and the mop coupling part 233 is a robot cleaner, characterized in that any one selected from the mop support 234 formed to prevent sagging of the mop (220).
The method of claim 1;

The driven wheel drive detecting means comprises an infrared detecting module 330 provided on both sides of the driven wheel 22, and an infrared light transmitting unit provided at equal intervals on the driven wheel 22,

The driven wheel cover 342 is configured to be coupled to the lower portion of the driven wheel mounting unit 341 so that the driven wheel 210 can be axially coupled.

Follower wheel mounting portion 341 is a robot cleaner, characterized in that any one selected from the integrally formed on the robot body 500, and configured separately from the robot body (500).
The method of claim 6;

The infrared detection module 330 is composed of a sensor coupling port 332 for receiving the wheel infrared sensor 331 for transmitting and receiving infrared rays and the wheel infrared sensor 331 to be mounted to the driven wheel mounting portion 341,

The sensor coupler 332 is separated from each other independently configured to receive each wheel infrared sensor 331, and integrally configured to select any one of the configuration configured to constrain the wheel infrared sensor 331 on both sides. Robot cleaner.
The method of claim 6;

The infrared light emitting unit is a robot cleaner, characterized in that formed by the infrared light emitting hole 320 penetrated from the side of the driven wheel (210).
The method of claim 8;

The infrared light emitting hole 320 is a robot cleaner, characterized in that to form a sputtering core (321a) to prevent foreign material inflow.
The method of claim 8;

The infrared floodlight 320, the robot cleaner, characterized in that provided with a floodlight cover (321b) on the outer surface to prevent foreign substances from entering.
The method of claim 10;

The floodlight cover (321b) is a robot cleaner, characterized in that configured as a polarized floodlight cover so that only the infrared ray of the straight component to be transmitted so as to minimize the scattering and reflection loss of the infrared light.