KR100514993B1 - unmanned sweeping unit - Google Patents

Abstract

The present invention relates to an unmanned vacuum cleaner, and more specifically, a front wheel is installed so as to be rotatable, and a main body having an accommodating portion formed therein so as to be detached while sliding a predetermined size bin to temporarily receive garbage; First brushes installed on both front sides of the main body so as to face each other so as to sweep the garbage on the bottom inwardly; The second brush is rotated so that the garbage collected by the first brush can be rolled up toward the housing of the main body, and is installed transversely to the main body of the rear adjacent from the first brush, and the second brush in which the guide brush is connected toward the other end at one end of the outer diameter surface. Wow; A guide portion extending from the lower end of the adjacent rear of the second brush to the storage portion at a predetermined inclination such that the garbage picked up by the second brush is guided to the storage portion side; Rotating means of a brush for rotating the first brush and the second brush; A rotation means of the interlocking shaft, each of which is rotatably installed by the first fixing bracket at the rear of the main body, for rotating both interlocking shafts to which the rear wheels are connected; At least one ultrasonic sensor installed at a predetermined position in front of the casing coupled to the upper portion of the main body to detect an obstacle and a distance in front of the casing; At least one infrared sensor installed at both sides of the casing to detect side obstacles and distances; It includes a control unit for setting the area range by the information detected from the ultrasonic sensor and the infrared sensor, and so as to be driven after a temporary stop at the occurrence of the obstacle and reset the area range.

Therefore, it is equipped with an extended tornado algorithm, which sweeps the garbage and debris on the floor while driving in the whirlwind direction. The cleaning can be done and the cleaning can be done autonomously at the end of the set cleaning area. The power consumption is small, the cleaning efficiency is maximized, and the pause and reset of the cleaning area can be automatically performed when an obstacle appears. Provide an unmanned vacuum cleaner.

Description

Unmanned sweeping unit

The present invention relates to an unmanned vacuum cleaner, and sets the range of the area to be cleaned at the first operation, and cleans the dust and garbage on the floor while driving in the tornado direction by the extended tornado algorithm mounted on the area. It can be cleaned while driving by the refraction algorithm that is refracted at right angles from the end of the area, and also automatically performs pause and area reset when an obstacle appears so that safe and clean cleaning can be performed in an unattended state. It is about an unmanned vacuum cleaner.

In general, the conventional vacuum cleaner is a vacuum absorption method connected to a long hose is not easy to move, and during the time required for cleaning, a person needs to clean using a vacuum cleaner, which was the first prerequisite for the person to clean the power supply. For this purpose, the wires of the vacuum cleaner are connected to the outlet, which has been constrained in space when moving and cleaning.

In addition, it is very difficult to clean a large vacuum cleaner while dragging the vacuum cleaner, so it was inconvenient for the elderly and children to clean it.

Recently, a robot for cleaning has been developed so as to overcome the above problems and can be cleaned by a vacuum suction method without autonomous movement.

However, since the cleaning robot adopts a vacuum absorption method, a large amount of power consumption and a large capacity battery are required, and a high cost is inevitably required. A high capacity motor for cleaning and a driving motor for moving a cleaner must be driven by a fixed capacity battery, respectively. The problem was that it can not be used for a long time.

Therefore, the conventional cleaning robot adopting the vacuum suction method is released at a high price because it requires a large-capacity battery and strong suction power, and the product is released due to the high cost burden for ordinary people to use it at low cost and practically. It is not widely spread.

The present invention has been made to solve the above problems, it is possible to obtain a better cleaning effect with only low power consumption to be widely distributed to the common people at a low price, as well as automatic and semi-automatic according to the user's choice It can be used after being switched so that every corner can be cleaned with a remote controller to achieve convenient use, and to automatically clean the set cleaning area by a preset driving algorithm even if the user does not control it during automatic cleaning. To provide.

The above object is the front wheel 110 is installed so as to be rotatable in front of the main body 101 is formed with a receiving portion 112 is inserted and removed while sliding the collection bin 111 of a predetermined size to temporarily accommodate the garbage; A first brush 103 installed at both front sides of the main body 101 and rotating to face each other to sweep the garbage of the bottom inwardly; The first brush 103 is rotated so that the garbage collected inwardly can be rolled up toward the housing 112 of the main body 101, and laterally adjacent to the main body 101 adjacent to the rear side of the first brush 103. A second brush 105 installed and connected with the guide brush 104 toward the other end from one end of the outer diameter surface; Guide portion 113 extending from the lower end of the adjacent rear of the second brush 105 to the storage portion 112 by a predetermined inclination so that the garbage collected by the second brush 105 is guided to the storage portion 112 side. )Wow; Rotating means of a brush for rotating the first brush 103 and the second brush 105; Rotating means for interlocking shafts respectively installed at the rear of the main body 101 so as to be rotatable by the first fixing brackets 114 and for rotating both side linking shafts 116 to which the rear wheels 115 are connected; At least one first ultrasonic sensor (106a) installed at a predetermined position in front of the casing (102) coupled to the upper portion of the main body (101) to detect an obstacle and a distance in front of the main body (101); At least one infrared sensor 107 which is installed at predetermined positions on both sides of the casing 102 so as to sense an obstacle and a distance from the side; And a control unit 108 for controlling the area to be driven after setting the area range with the information detected by the first ultrasonic sensor 106a and the infrared sensor 107 and pausing at the occurrence of an obstacle. It is achieved by an unmanned vacuum cleaner, characterized in that.

Here, the rotating means of the brush, and the first worm wheel 118 is arranged on the first rotating shaft 117 of the second brush 105; A first motor 119 coupled to a predetermined position of the main body 101; A worm gear 109 arranged on the first driving shaft 119a of the first motor 119 and engaged with the first worm wheel 118; A first bevel gear 120a arranged at an end of the first driving shaft 119a; Second worm wheels 122 arranged on second rotation shafts 121 of both side first brushes 103 vertically protruding to the upper portion of the main body 101; The main body 101 is installed on the third rotation shaft 124 rotatably coupled by the second fixing bracket 123 in the transverse direction, and are engaged with the second worm wheel 122, respectively, both first brush 103 It is preferable to include the forward and reverse rotation worm gears (125a, 125b) is formed threaded so that the () is rotated facing each other.

The rotation means of the interlocking shaft may include first and second interlocking gears 126a and 126b respectively arranged on the one interlocking shaft 116 and the other interlocking shaft 116; A second motor 129 installed on the main body 101 and having a first driving gear 127a built on the second driving shaft 128 so as to be engaged with the first interlocking gear 126a; Preferably, the second driving gear 127b includes a third motor 131 installed on the main drive 101 to be engaged with the second interlocking gear 126b.

In addition, the control unit 108 includes: a sensor processing unit 132 configured to convert the analog signals generated from the first ultrasonic sensor 106a and the infrared sensor 107 into digital signals; By calculating the signal received from the sensor processing unit 132 with the data stored in the memory unit 151 to set the area range to be cleaned, and to calculate and control the driving direction, the driving distance and the first motor 119 according to the set area A central processing unit 133; The motor driving unit 134 is configured to individually control the driving of the second motor 129 and the third motor 131 according to the signal of the central processing unit 133.

In addition, the slit disc 135 having a plurality of slits formed in the circumferential direction is enclosed on both side interlocking shafts 116, and the light emitting sensor 136 and the light receiving sensor 137 are disposed on both sides of the slit disc 135. An encoder 138 configured to generate an electric signal according to the rotation of the disc 135; The calculator 138 may further include an operation unit 139 configured to calculate the electric signal received from the encoder 138 as driving distances for both wheels and transmit the electric signal to the controller 108.

In addition, the ultrasonic sensor 106, and the first ultrasonic sensor (106a) to oscillate the ultrasonic wave from the front of the casing (102) to the front; A second ultrasonic sensor 106b disposed on both sides of the first ultrasonic sensor 106a and configured to oscillate ultrasonic waves at a 45 ° angle symmetrically with each other.

In addition, the infrared sensor 107 preferably transmits infrared rays in a direction perpendicular to the body traveling direction.

In addition, the remote control receiver 140 is connected to the control unit 108 and installed at a predetermined position of the casing 102 to receive a signal from a remote remote controller (not shown) and transmit a signal to the control unit 108. It is preferable to include.

In addition, the guide brush 104 is formed to be linked to the 'V' toward the center from the outer diameter surface of one end and the other end of the second brush 105, the control unit 108 is the second, third motor 129 It is preferable to control 131 to drive the set area in the whirlwind direction and to travel in the refraction direction when the end of the set area is reached.

On the other hand, a plurality of guide holes 141 formed on the bottom surface of the main body 101; A plurality of guides 142 and a magnet portion 143 are formed to be inserted into the guide hole 141, the panel 144 having a thickness that can form a gap of a predetermined size and the bottom surface when the bottom surface of the main body 101 is attached )and; In order to fix the rag 145 of a predetermined material in close contact with the panel 144, it is preferable to further include a stator magnet 146 attached to the magnet portion 143 by magnetic force.

Hereinafter, the present invention will be described with reference to the accompanying drawings, FIGS. 1 to 6.

First, as shown in FIG. 1, the cleaner according to the present invention is installed so that the front wheel 110 can be freely rotated on both sides of the front, and the garbage can be guided through the front opening 101a shown in FIG. The guide part 113 is extended to the accommodating part 112 inside the main body 101.

Here, the opening 101a to the receiving portion 112 is a section in which garbage is moved, and is made of a sealed structure as shown so that dust or foreign matter does not flow into the main body 101 to damage components. It is preferable.

In addition, the first brush 103 shown in FIG. 1 is erected on both sides of the opening 101a, and the first brush 103 is rotated to face each other by the rotating means of the brush to be described later. The second brush 105 is installed in the lateral direction near the rear adjacent portion of the first brush 103.

A guide brush 104 is formed on the outer diameter surface of the second brush 105 to form a 'V'-shaped bending from both ends toward the center as shown in the figure, and the guide brush 104 includes a second brush ( When 105) rotates forward, garbage can be collected from both ends to the center side.

In addition, the brush rotating means, the first brush 103 should be able to rotate to face each other, the second brush 105 should be rotated toward the front.

Accordingly, as shown in FIG. 1, a first motor 119 is installed at one side of the main body 101, and a worm gear 109 is formed at the first driving shaft 119a of the first motor 119 to form a second. The first worm wheel 118 is installed in the first rotation shaft 117 of the brush 105 is engaged with the first motor 119 is driven when the first drive shaft 119a rotates to rotate the worm gear 109 engaged. The first worm wheel 118 is to be rotated toward the front.

In addition, a first bevel gear 120a is formed at an end of the first driving shaft 119a, and a second bevel gear 121 is formed on the second rotation shaft 121 of both side first brushes 103 protruding upward of the main body 101. The worm wheel 122 is built up.

In addition, as shown in the upper portion of the main body 101, the third rotation shaft 124 is fixed to the second fixed bracket 123 so that the forward rotation worm gear 125a and the reverse rotation worm gear 125b are engaged with the second worm wheel 122, respectively. The second bevel gear 120b meshes with the first bevel gear 120a at one end of the third rotation shaft 124.

Therefore, when the first motor 119 is rotated, the second brush 105 is rotated forward by the worm gear 109 and the first worm wheel 118, and the first shaft 119a is installed at the end of the first driving shaft 119a. As the second bevel gear 120b receiving power from the first bevel gear 120a rotates, the third rotating shaft 124 and the forward and reverse rotation worm gears 125a and 125b rotate, and thus, the first brush 103 on one side. ), The second worm wheel 122 is rotated forward and the second worm wheel 122 of the other first brush 103 is rotated reversely so that the first brush 103 is rotated facing each other.

Here, in the present invention, but the worm gear 109, the forward, reverse rotation worm gear (125a, 125b), the first, the second bevel gear (120a) (120b) and the like as the rotation means of the brush, but this one It is merely an example for transmitting power in two directions from the drive shaft and at the same time changing the direction of the power. A general component that replaces components other than the components of the present invention corresponds to the claims of the present invention. I will say.

For example, a large number of spur gears can be easily configured to realize deceleration and speed increase, to drive a rotating shaft with a belt or chain, or to change the coaxial shaft using a bevel gear instead of a worm gear. Say what it is.

On the other hand, after the collection box 111 is inserted into the storage unit 112 to slide in and out, the recess 148 is formed on the bottom surface of the storage unit 112 so that the fixed state can be maintained and the corresponding collection box It is preferable to form the protrusion 149 on the bottom surface of the 111 so that the protrusion 149 can be inserted into the groove 148 during the sliding insertion.

In addition, the rear wheel 115 is installed at the rear of the main body 101, as shown in Figure 1, the rear wheel 115 is fixed by the linkage shaft 116, respectively, the linkage shaft 116 is a plurality It is fixed to the rotatable state by the first fixing bracket (114).

In addition, first and second interlocking gears 126a and 126b are arranged in the interlocking shafts 116 of both sides, respectively, and the second motor is engaged with the first and second interlocking gears 126a and 126b. First and second driving gears 127a and 127b are respectively arranged on the second and third driving shafts 128 and 130 of the 129 and the third motor 131.

Therefore, when the second motor 129 and the third motor 131 are driven, the first and second driving gears 127a and 127b rotate, respectively, to rotate the first and second interlocking gears 126a and 126b. To allow the interlocking shaft 116 and the rear wheel 115 to rotate.

Here, the slit disc 135 formed with a plurality of slits in the circumferential direction is laid on the interlocking shafts 116 on both sides, and the light emitting sensor 136 and the light receiving sensor 137 are disposed on both sides of the slit disc 135. When the light is transmitted from the light emitting sensor 136 between the slits and the light receiving sensor 137 receives the light, the encoder 138 is installed to generate an electric signal.

Therefore, the generated electric signal is transmitted to the calculation unit 139, which calculates the electric signals received from the encoder 138 of both wheels individually to determine how much driving in which direction the central processing unit. By calculating the position of the main body 101 with the signal of the sensor processing unit 132 within the set area range by transmitting to (133) it is possible to determine the position more accurately, according to the calculation of the remaining time of cleaning and display It may be displayed in the window 150.

In addition, a plurality of ultrasonic sensors 106 are installed in front of the casing 102 coupled to the upper portion of the main body 101, and the first ultrasonic sensor 106a disposed at the center is ultrasonically forward. Oscillates and detects the reflected ultrasonic waves so as to measure the obstacles and the distance in front, and the second ultrasonic sensor 106b disposed on the left and the right is ultrasonic waves at a 45 ° angle from the first ultrasonic sensor 106a. The ultrasonic wave that is oscillated and reflected can be detected to measure an obstacle and a distance.

In addition, the infrared sensor 107 provided on the left and right sides of the casing 102 transmits infrared rays in a direction of 90 ° from the ultrasonic wave oscillation direction of the first ultrasonic sensor 106a to detect the reflected infrared rays and distance and obstacles. The remote control receiver 140 is installed at a predetermined position of the casing 102, and the remote controller receiver 140 is connected to the controller 108 to receive a command received from the remote controller receiver 140. 108).

On the other hand, a plurality of guide holes 141 are formed on the bottom of the body 101 in the lateral direction, and a plurality of guides 142 are formed in the panel 144 so that the guide holes 141 can be inserted into the guide holes 141. The guide 142 is slidably inserted into the guide hole 141 at the side as shown in FIG. 3 to be coupled.

Here, the bottom of the panel 144 is provided with a magnet portion 143, when the panel 144 is coupled to the bottom of the main body 101, the bottom of the panel 144 is close to or almost in contact with the bottom surface. To be in a state.

Therefore, after the cloth 145 is brought into close contact with the bottom surface of the panel 144 and the magnet part 143, and the fixed magnet 146 is attached to the magnet part 143, the mop 145 is the magnet part 143. When the main body 101 is driven by being clamped between the and the stator magnets 146, the mop 145 on the bottom surface thereof can clean the bottom surface of the mop 145.

First of all, the unmanned vacuum cleaner of the present invention having the above-described configuration transmits ultrasonic wave oscillation and infrared rays to the ultrasonic sensor 106 and the infrared sensor 107, and then detects the reflected ultrasonic waves and infrared rays. The amplified signal is converted into digital data and transmitted to the central processing unit 133.

Here, the ultrasonic sensor 106 detects the reflected ultrasonic signal while the first and second ultrasonic sensors 106a and 106b maintain an angle of 90 ° and 45 °, as shown in FIG. 5. Since the reflected distances are different from each other, more accurate positioning and region setting are possible, and additionally, the infrared sensor 107 emits infrared rays from the side and detects the reflected infrared rays. As information increases, accurate location and distance can be calculated.

Therefore, the central processing unit 133 sets the radius to be cleaned from the unmanned vacuum cleaner of the present invention based on the data received from the sensor processing unit 132 and the data table stored in the memory unit 151 and stores it in the memory unit 151.

Then, by operating the first motor 119 to rotate the second brush 105 and the first brush 103, and transmits a control signal to the motor driving unit 134 to rotate in a whirlwind direction from the current position.

Here, the whirlwind direction may be any one of left and right directions, but it will be described assuming that the whirlwind travels in the right whirlwind direction for the sake of explanation.

As described above, when the motor driving unit 134 receives the control signal, the driving of the second and third motors 129 and 131 is controlled to travel in the right whirlwind direction.

Therefore, as shown in FIG. 6A, the unmanned vacuum cleaner travels around the set area like a tornado.

At this time, the first brush 103 rotates as if sweeping the floor, and collects garbage or dust to the second brush 105 side, and at the same time the first brush 103 rotates in the advancing direction while the guide brush 104 rotates. ) Can be accommodated in the collection box 111 is inserted into the accommodating portion 112 to lift the garbage to the guide portion (113).

In addition, even when the main body 101 is running, the ultrasonic sensor 106 and the infrared sensor 107 continuously transmit ultrasonic waves and infrared rays in a specified direction and detect the reflected ultrasonic waves and infrared rays, and the sensor processing unit 132 may The signal is transmitted to the CPU 133.

Here, the central processing unit 133 continuously calculates the received signal to determine where the position of the current unmanned vacuum cleaner is within the initially set area range.

That is, continuously comparing whether the received signal is within the signal range to be detected within the set area range, and when a signal exceeding the range is detected, it is determined that an obstacle has appeared and the first motor 119 is stopped and the motor driver A stop signal is sent to the current position at 134 for a predetermined time, and when a predetermined time elapses, the cleaning radius is reset from the current position so that cleaning can be started again.

That is, it is determined that an obstacle has appeared when a virtual edge is set in the initially set area range and the signal detected for each sensor is not a signal detected in the initially set area range.

Here, the encoder 138 of the left and right encoders 138 generate an electrical signal according to the optical signal (light) passing through the slit, so that the operation unit 139 is left and right according to the electrical signal. It calculates how much the right rear wheel 115 has moved in which direction and transmits it to the control part 108 (central processing apparatus 133).

Therefore, since the main body 101 travels in the set area and how far it is located, it is always comparatively calculated. Therefore, when the main body 101 completes the set area without reaching an obstacle or when it reaches the end of the set area, the central processing unit ( 133 changes the tornado algorithm that proceeds in the whirlwind direction to a refracting refraction algorithm and deflects the width as much as the body 101 as shown in FIG. 6B to make a straight run. Refract to the width of) so that it can run straight.

In addition, when driving all the area set by the operation of the signal received from the encoder 138 and the sensor processing unit 132, the central processing unit 133 returns to the hibernation mode to cut off all power and the remote control receiver 140 ) Is in a sleep state to receive a signal.

In addition, as described above, when the panel 144 is coupled to the bottom of the main body 101 and the rag 145 is attached and driven, the rag 145 is wiped again to clean the dust and trash. This can be done.

As described above, the present invention can clean the garbage and dust on the floor even at low power, as well as switch the driving of the tornado algorithm and the refraction algorithm of the unmanned vacuum cleaner according to the present invention according to the user's choice. By repeatedly cleaning the set area, convenient and effective cleaning can be achieved, and the remote control with the remote control receiver can eliminate the inconvenience of the user holding the vacuum cleaner directly, and it is operated without using a high capacity battery. It can be manufactured at low price itself, so it can supply the product at low price, thus enhancing the competitiveness of the product and spreading it to the common people.

1 is an exploded perspective view showing the entire structure of the present invention.

Figure 2 is a cross-sectional plan view showing a structure of the present invention.

Figure 3 is a side cross-sectional view showing the structure of the present invention.

Figure 4 is a block diagram schematically showing the organic coupling relationship of the overall configuration of the present invention.

Figure 5 is a schematic diagram showing the operation of the present invention unmanned cleaner.

6A is a schematic diagram showing a tornado algorithm of the present invention drone.

Figure 6b is a schematic diagram showing the refraction algorithm of the present invention unmanned cleaner.

<Description of the symbols for the main parts of the drawings>

101: main body 102: casing

103: first brush 104: guide brush

105: second brush 106: ultrasonic sensor

107: infrared sensor 108: control unit

109: worm gear 110: front wheel

111: collection box 112: storage

113: guide portion 114: first fixing bracket

115: rear wheel 116: linkage shaft

117: first rotating shaft 118: first worm wheel

119: first motor 120: bevel gear

122: second worm wheel 126: interlocking gear

129: second motor 131: third motor

132: sensor processing unit 133: central processing unit

134: motor drive unit 135: slit disc

138: encoder 139: arithmetic unit

140: remote control receiver 141: guide ball

142: guide 143: magnet

144: Panel 145: Mop

148: groove 149: projection

151: memory

Claims (11)

Front wheels are installed at both front sides to be rotatable, and a bin having a predetermined size for inserting and removing waste bins of a predetermined size for temporarily storing garbage is installed at the rear of the body and rotatably by a first fixing bracket, respectively. First and second interlocking gears respectively disposed on both of the interlocking shafts, a second motor provided on the main body to be fitted to the first interlocking gear, and a second motor installed on the second driving shaft, and a second interlocking gear installed on the main body. A second motor geared to the third drive shaft, the at least one ultrasonic sensor installed at a predetermined position in front of the casing coupled to the upper part of the main body to detect the obstacle and the distance in front of the casing, and the casing At least one infrared sensor installed at both sides of the predetermined position to detect an obstacle and a distance from the side, and the ultrasonic sensor and the infrared sensor unit Sensor processing unit for converting analog signals generated from ultrasonic sensors and infrared sensors into processable digital signals so as to set the area range with the detected information, pause the occurrence of obstacles, reset the area range, and control the drive. A central processing unit for setting the area range to be cleaned by calculating the signal received from the sensor processing unit with the data stored in the memory unit, and a motor driving unit for controlling the driving of the second motor and the third motor separately according to the signal of the central processing unit In the unmanned vacuum cleaner including a control unit, A first brush installed at both front sides of the main body so as to face each other so as to sweep the garbage of the bottom inwardly; The first brush is rotated so as to roll up the waste collected inward toward the housing of the main body, the second side is installed in the transverse to the rear body adjacent from the first brush and the guide brush is connected to the other end from one end of the outer surface With a brush; A guide portion extending from the lower end of the adjacent rear of the second brush to the storage portion at a predetermined inclination such that the garbage picked up by the second brush is guided to the storage portion side; Unattended cleaner comprising a rotating means of the brush for rotating the first brush and the second brush. The method of claim 1, Rotating means of the brush, A first worm wheel arranged on a first rotation shaft of the second brush; A first motor coupled to a predetermined position of the main body and controlled by a controller that calculates a driving direction and a driving distance according to a set area; A worm gear disposed on the first driving shaft of the first motor and engaged with the first worm wheel; A first bevel gear arranged at an end of the first drive shaft; Second worm wheels arranged on second rotation shafts of both first brushes vertically protruding to the upper portion of the main body; The positive and reverse rotation worm gears are formed on the third rotation shaft coupled to the second rotation wheel rotatably coupled by the second fixing bracket in the transverse direction from the top of the main body, and are respectively engaged with the second worm wheels. Unmanned vacuum cleaner comprising a. delete delete The method of claim 1, An encoder configured to enclose a slit disc having a plurality of slits in the circumferential direction on both side interlocking shafts, and to arrange an emission sensor and a light receiving sensor on both sides of the slit disc to generate an electric signal according to the rotation of the slit disc; And an operation unit configured to calculate an electric signal received from the encoder as driving distances for both wheels and transmit the electric signal to the controller. The method of claim 1, The ultrasonic sensor, A first ultrasonic sensor configured to oscillate ultrasonic waves from the front of the casing to the front; And a second ultrasonic sensor disposed on both sides of the first ultrasonic wave so as to oscillate ultrasonic waves at 45 ° angles symmetrically with each other. The method of claim 1, The infrared sensor is an unmanned cleaner, characterized in that for transmitting the infrared ray in the direction perpendicular to the body travel direction. delete The method of claim 1, The guide brush is an unmanned vacuum cleaner, characterized in that to form a linking 'V' toward the center from the outer diameter surface of one end and the other end of the second brush. The method of claim 1, And the controller controls the second and third motors to drive the set area in a whirlwind direction, and to travel in a refraction direction when the end of the set area is reached. The method of claim 1, A plurality of guide holes formed in the transverse direction on the bottom of the main body; A panel having a plurality of guides and a magnet part formed to be inserted into the guide hole and having a thickness such that a gap having a predetermined size and a bottom surface is formed when the bottom surface of the main body is attached; And a staging magnet attached to the magnet part magnetically to fix the mop of a predetermined material in close contact with the panel.