KR100876693B1 - Active driven cleaner - Google Patents

Abstract

An active driving cleaner is provided to maximize convenience of a user when moving the cleaner by sensing the slope change of a center shaft, using a sensor, applying the torque to left and right sides, and stabilizing the body. An active driving cleaner comprises a body(10) having a rotary center and a low weight center(11) of a first shaft. Theta is a slope of a center shaft of the body. W is a size of weight of the body. When the weight center of the body is lower than that of a wheel rotary shaft(21) and is stably horizontal, a torque(T) is maintained as 0(Power(P)=0), and the body is stable like a tumbler. The slope of the center shaft of the body sets a relative angle, between a line connecting a combined part center(31) of a suction hose and the wheel rotary shaft, as a basic value. A sensor in the body detects the slope change of the center shaft to apply the torque to left and right sides and to stabilize the body.

Description

An active type driving vacuum cleaner

1 is a side view of a cleaner having one rotating shaft and a pair of wheels when ready for cleaning;

Figure 2 is a side view when the cleaning operation has just started in the ready position of FIG.

FIG. 3 is a side view when the movement is performed in the posture of FIG. 1 or FIG.

Figure 4 is a side view when moving in the opposite direction in the posture of Figures 1-3.

5 to 7 are side views of a main body having a high center of gravity and a rotational center of one axis in which the rotational center of the body and the drive shaft of the wheel coincide.

8 to 10 are side views of a main body having a low center of gravity and a rotational center of one axis in which the rotational center of the body and the drive shaft of the wheel coincide.

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Figure 21 is a side cross-sectional view when implementing a cleaner structure having a rotating shaft and a pair of wheels.

22 is a front view of the cleaner structure shown in FIG. 21.

FIG. 23 is a top view of the cleaner structure shown in FIG. 21.

24 is an external perspective view of the cleaner structure illustrated in FIG. 21.

[Description of reference numerals for the main parts of the drawings]

10: main body 11: center of gravity

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20: wheel 21: wheel rotation shaft

30: suction hose coupling portion 31: suction hose coupling center

40: suction module 41: suction nozzle 42: suction pipe 43: suction pipe handle

50: suction hose 51: suction module coupling center

61: suction motor 62: dust separation unit

63: suction dust box 64: cord reel

70: drive motor 71: gearbox 72: transformer rectifier module

80: detection unit 81: control unit

The present invention relates to an active driving type cleaner for controlling a cleaner body by sensing an operation intention of a user input through a cleaner hose.

A vacuum cleaner (hereinafter referred to as a vacuum cleaner) uses air pressure generated by a fan mounted inside the main body to suck air near the cleaning surface, and then filter out foreign substances in the sucked air using a filter or the like inside the main body. Is a device.

In general, the vacuum cleaner has a canister type in which a suction nozzle serving as a dust suction port is provided separately from the main body and connected by a suction pipe and a hose, and an upright type in which the suction nozzle is integrally formed with the main body. Can be divided.

In recent years, vacuum cleaners, which are gradually being spread based on the convenience of use, are becoming more difficult to clean with simple wiping such as carpets and sofas at homes other than hotels and hotels. .

Among the two types of vacuum cleaners, the structure of the canister vacuum cleaner will be described briefly. A main body and a suction module including a vacuum generating motor, a dust collecting port, and a moving wheel therein (hereinafter, referred to as a suction nozzle, a suction pipe, and a suction pipe handle) And a flexible hose connecting the main body and the suction module, and the basic operation method is a main body connected with a hose when the user operates the suction module along a cleaning surface. It is attracted by the user to provide suction pressure to the mounted motor and to store the dust collected through the hose inside the canister mounted on the main body or the suction module.

The canister cleaner like the above usually draws a long power cord and connects it to an outlet in the home to supply power to the motor, but in this case, it is connected to a hose and drags a main body (heavy motor mounted) that is not easily moved. There is a difficulty in carrying, and additionally, the inconvenience of the user increases due to the cumbersome power cord.

In order to solve the above disadvantages, an upright method in which the suction nozzle is formed integrally with the main body can be considered. However, the Upright method uses a heavy motor to clean the body by passing directly on the suction surface like a lawn mower, so it can be used only in a large space with a simple cleaning operation. I had to connect it to a hose to use Therefore, the inherent advantage of the canister method, which can operate finely with small force due to the small and light suction module, was difficult to follow.

In addition, the rod-type cleaner mounted directly on the suction module by miniaturizing the motor in the upright method has been used in some cases, but in this case, the capacity of the mounted motor is small, and thus satisfactory suction performance cannot be expected.

In addition, a rechargeable vacuum cleaner has been added to remove the power cord, which is the most cumbersome, but it also has a small capacity motor, which is not satisfactory in suction power and has a short usable time and does not replace the battery according to the life cycle of the battery. Otherwise, the life of the cleaner itself would be shortened, and as a result, it could not be a satisfactory solution.

In order to solve the above problems, the present invention minimizes the traction force of moving the cleaner, and achieves a self-driving function that detects a user's suction module manipulation so that the cleaner is easily moved and changed as the user intended. I would like to.

In addition, the cleaner body is highly maneuverable so that it can easily cross various obstacles and cumbersome power cords on the cleaning surface, and in some cases, it provides a self-balancing function that can center itself even when the body is in an unstable state. I would like to.

In order to achieve the object of the invention as described above, the present invention cleaner first has the following main technical features.

First, the present invention is a main body having at least one center of rotation; Wheels for moving the body; A driving unit for driving the wheels; A suction hose coupler coupled to the main body at a distance from the rotation center; A detector configured to detect a slope of the main body due to the movement of the suction hose coupler; And a controller configured to control the driver by the sensing information of the detector. It includes.

In addition, the suction hose, which influences the movement or inclination of the main body, may be designed in consideration of the weight center position, the rotation center position, and the weight of the two design elements of the hose weight and the hose flexibility. The hose's weight-to-weight flexibility can be optimized to make the behavior easier to distinguish.

In addition to the above configuration, the suction hose coupling portion may be positioned at a different height from the rotation center with respect to the cleaning surface, and the position thereof may be changed in consideration of the rotation moment applied to the main body as in the suction hose.

The sensing unit may further include a configuration for sensing the change speed or the change acceleration of the slope as one of the sensing information.

More specifically, the sensing unit may be selected from the arrangement position in order to obtain the best sensing information, for example, in the case of the configuration of detecting the angle as in the present invention, the angle sensor is disposed at the position (or on the axis) as close as possible to the axis of rotation In this case, horizontal, vertical speed, vibration, etc. disturbing the angle information can be minimized.

In addition, the drive unit is not made of three or four wheels so that the main body can be inclined by the suction hose coupling portion, but in the upright state to support and drive the main body with one rotation center, that is, the wheel coaxially It can be designed in a structure similar to the arranged segway.

More specifically, the drive unit is designed to adjust the rotational force or rotational speed finely and quickly while the wheel is rotated or stopped, and in the case of an electric motor, a motor for controlling the speed by changing the voltage or field resistance, In other words, it is equipped with a DC motor to transfer power to the wheels.

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The present invention having the above structure can selectively distinguish between the moving operation and the cleaning operation of the suction module, and when the external force P is applied to the main body 10 according to the moving operation, the driving unit generates a corresponding rotational force T to actively The main body 10 may be maintained in a posture or moved.

In order to represent the technical features of the present invention in more detail with reference to an example of the present invention included in the drawings will be described in more detail below.

However, the embodiments of the present invention or specific examples described below are just one example, and the components and coupling structures constituting the same are inherent in the technical features of the present invention. Note that it is not limiting.

1 shows a side view of a cleaner with one rotary / support shaft and a pair of wheels in a cleaning ready position.

In the drawing, the suction module 40 including the suction nozzle 41, the suction pipe 42 and the suction handle 43 is a portion to which the user's cleaning act is directly transmitted and the cleaning operation is the suction hose 50. It is delivered to the suction hose coupling portion 30 through.

The suction hose coupling unit 30 serves as an intermediate medium for efficiently transferring the movement of the suction hose 50 to the main body 10 instead of the rigid body, and if the suction hose 50 is the main body If the closer to the (10) has a structure that increases the stiffness gradually, even if the protruding length of the suction hose coupling portion 30 is short or does not exist, it will be able to effectively transmit its own overall movement to the body (10).

However, the conventional suction hose 50 is made of a flexible structure, and the suction hose coupling if the overall flexibility of the suction hose 50 is designed to be a constant buffer role so that the user's movement and cleaning behavior can be distinguished. It is desirable for the portion 30 to have a predetermined protrusion length for effective movement transmission.

In the present invention, the flexibility (flexibility) and the weight of the suction hose 50 acts as a variable that affects the movement delivered to the suction hose coupling portion 30, by dividing the two variables below the technical Let's examine the meaning.

First, in terms of flexibility of the suction hose 50, ① If the suction hose 50 is a complete rigid body, since the movement of the cleaning operation or movement movement is transmitted to the suction hose coupling unit 30 without any distinction, substantially upright method Or it is the same as the one-piece cleaner, on the other hand ② If the suction hose (50) is a perfect flexible body, such as a thin line, there will be no slump due to the cleaning action, while on the other hand after the movement is completely (that is, the suction hose (50) is Until it is pulled tight) there will be no movement to be delivered to the suction hose coupling portion 30.

Next, in terms of the weight of the suction hose 50, on the premise that it has a certain degree of flexibility, if the weight of the suction hose 50 is very heavy, a part of the suction hose 50 is always in contact with the ground. In the cleaning operation, the part touching the ground hardly moves, and only the part connected to the suction module coupling center 51 from the ground (the left part of the point V ₂ = 0 in FIG. 1) will move. In this case, the cleaning operation is not transmitted at all, while the part connected to the suction hose coupling center 31 on the ground (the right part of the point V ₂ = 0) is also always inclined due to the weight of the suction hose 50. do. Therefore, the inclination of the suction hose coupling unit 30 does not change, regardless of whether or not the cleaning operation is input as in ②.

On the other hand, if the weight of the suction hose 50 is very light, in this case as well, the flexibility to weight becomes a substantial rigid level, as in the case of ①, so that the cleaning or moving operation is not distinguished to the suction hose coupling unit 30 at all. It will be delivered as is.

Therefore, as the object of the present invention, if the suction hose coupling unit 30 to transfer the user's suction module operation behavior to the main body 10 so that the cleaner is easy to move and change the direction as the user intended, the cleaning operation is a certain portion In order to transfer the movement related to the movement of movement to the suction hose coupling unit 30, the flexibility and the weight of the suction hose 50 are tested to suit the weight and stability of the main body 10. It needs to be adjusted.

In addition, the weight of the suction hose coupling unit 30 and the main body as well as the weight of the suction hose 50 needs to be adjusted.

Accordingly, the following description will be further provided on the assumption that design factors such as the suction hose 50 are preferably adjusted.

In the case of FIG. 1, since the cleaner does not move or clean, the suction hose 50 does not have any movement and the main body 10 is also in an upright state of θ = 0.

FIG. 2 is a side view of the user when he or she has just started the cleaning operation in the ready position of FIG. 1.

In this figure, the suction module 40 is advancing along the cleaning surface, so that the suction module coupling center 51 also moves to V ₁ > 0, but the movement is performed on the ground in the suction hose 50. At the point of contact, a significant amount of V ₂ ≒ is absorbed and only a small amount of P≥0 is transferred to the suction hose coupling center 31.

At this time, the inclination of the main body 10 is slightly fluctuated to θ ≧ 0, and if a slight rotational force (torque = torque) T≥0 is applied to the wheel 20 to correct the fluctuation signal. However, in this case, since the actual wheel hardly rotates, the main body 10 does not move forward or backward and maintains an upright posture, that is, a posture against the cleaning operation movement of the suction hose 50.

3 is a side view of the user when the user moves in the posture of FIG. 1 or FIG. 2.

In this figure, the suction module 40 is moved away from the cleaning surface, which causes the suction module coupling part 51 to cause a large movement of V ₁ > 0, so that the suction hose 50 falls off the ground.

The minimum speed of the suction hose 50 away from the ground is V ₂ > 0, which is increased from 0, and the suction hose coupling part 30 or the suction hose coupling center is moved due to the movement of the entire suction hose 50. 31 receives a force of P> 0.

Of course, the force of P> 0 causes a change in the inclination of the main body 10, that is, θ> 0, so that the main body 10 balances and follows the suction module 40 in order to follow the suction module 40. At least a certain torque T> 0 should be applied to (20).

Due to the rotational force T, the wheel 20 rotates forward, and the main body 10 follows the suction module 40 or the suction hose 50 by itself without a great collapse of the balance state. There is no need for a large force to tow.

4 is a side view of the user when the user moves in the opposite direction in the postures of FIGS. 1 to 3.

4 is opposite in all respects to the case of FIG. 3, except that in this case, unlike the drawing, sometimes the suction hose 50 may be attached to the ground, but in any case, the lowest point of the suction hose 50 is shown. The speed of V ₂ <0 does not change.

Therefore, the main body 10 operates in the opposite manner to the case of FIG. 3 and is balanced.

In the case of FIG. 4, before the suction module 40 or the suction hose 50 is retracted and overlapped with the main body, the main body 10 will lead backward by itself, and the user will have the main body 10 You don't need to do anything to push back.

Considering the case of FIGS. 1 to 4, the 'cleaning movement' movement of the suction module 40 and the suction hose 50 has a certain weight and is ignored or canceled as having a flexible hose hanging down on the ground. The external input information applied to the main body 10 may be approximated by the 'vector amount P of the force acting on the hose coupling portion'.

Therefore, an important factor in the overall control process is θ, which is the central axis inclination of the main body 10, where θ may be measured and analyzed in various ways.

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5 to 7 illustrate a mechanical relationship between the main shaft 10 having a high center of gravity 11 and a rotational center of one axis where the driving shaft of the wheel coincides with the center of rotation of the main body, as shown in FIG. If the center of gravity 11 is the shape of the inverted pendulum of the unstable equilibrium higher than that of the wheel rotation shaft 21, P = 0, so that the rotational force T does not always remain 0, but the amount of change in the sensing unit mounted inside the main body 10 is changed. It detects and applies a small amount of rotation force T to the left and right so that it does not fall even in an unstable equilibrium state.

Of course, at this time, θ is set as a default value for the relative angle between the suction hose coupling center 31 and the wheel connecting shaft 21 and the gravity action line (vertical line), which is the center of action for the force P, for convenience. It is not necessary to select a line connecting the suction hose coupling center 31 and the wheel rotation shaft 21 to measure the θ, and based on the absolute angle detected by the mounted sensing unit against gravity as necessary. Naturally, it can be a value.

5 and 7 in which the unstable equilibrium state of FIG. 6 is displaced from side to side. In this case, since the center of gravity 11 moves toward falling, the speed at which the center collapses is faster, and therefore the rotational force T is greater. It needs to be applied quickly and accurately with variation.

5 and 7 when the high center of instability control is adopted, the mobility of the main body 10 is greatly increased, and the user's satisfaction is increased by creating an elegant movement by shaking from side to side over the use time. The driving energy required to maintain the posture increases, and it is difficult to effectively distinguish between the cleaning operation and the moving operation because it must cope with the small external force P.

8 to 10 show the mechanical relationship between the main shaft 10 having a low center of gravity and a rotational center of one axis in which the drive shaft of the wheel coincides with the center of rotation of the main body.

First, as shown in FIG. 9, when the center of gravity 11 is in a stable equilibrium state lower than the wheel rotating shaft 21, unlike FIG. 6, the torque T may be maintained at 0 when P = 0. ) Maintains a stable state similar to Ottogi.

Of course, at this time, the θ is set as a default value for the relative angle between the line connecting the suction hose coupling center 31 and the wheel rotation shaft 21, which is the center of action for which the force P acts, and the gravity action line (vertical line). It is not necessary to select a line connecting between the suction hose coupling center 31 and the wheel rotation shaft 21, and if the (angle) sensing unit is a sensor that should be mounted in the horizontal direction as a way of sensing gravity, Of course, it is also possible to set the above?

The stable equilibrium state of FIG. 9 is left and right in FIG. 8 and FIG. 10. In this case, since the center of gravity 11 moves to the opposite side of the falling side, restoring force is generated so that the center does not collapse well. In the case of a small fluctuation, a separate rotational force T does not need to be applied.

The above facts have a significant meaning: the lower the center of gravity (11) is designed, the smaller and intermittent fluctuations in θ, the perception of cleaning behavior, and the continuous fluctuations of θ starting from the small fluctuations and extending beyond the middle. The awareness of the movement is lowered.

Accordingly, when the contents of FIGS. 1 to 4 are combined with the technical meanings derived from FIGS. 5 to 10, the weight of the suction hose 50 is heavy and the flexibility is small, as shown in FIGS. 8 to 10. (11) can be designed as a stable stable main body 10, if the weight of the suction hose 50 is light and flexible, the main body of unstable equilibrium with a high center of gravity (11) as shown in Figs. It could be designed as (10).

The above design factors can be variously adjusted in consideration of the capacity rating of the built-in suction motor, the size and weight of the suction dust canister, and the operating force according to the age group of the target consumer. Can be adjusted more fully.

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In order to drive or control the cleaner body 10 having the movement mechanism shown in FIGS. 5 to 10 according to the movement of the suction hose coupling unit 30, a sensing unit for sensing the θ, and sensing information of the sensing unit. It is necessary to configure the control unit for processing the output as a drive signal and the drive unit for driving the wheel 20 at a desired rotational force or rotational speed by the drive signal from the control unit.

Looking at the configuration of the first detection unit, a conventional angle sensor (inclinometer) or a tilt sensor (tilt sensor), etc. may be used, preferably a sensor that can detect the current angular velocity and angular acceleration as well as the current angle. .

However, since the angular velocity or angular acceleration may be obtained by the internal operation in the controller, the angular velocity or the angular acceleration is not necessarily required as the configuration of the sensing unit. However, the control unit has its own clock therein, and additionally, an internal differential circuit, or an integral part suitable for sensing information of the sensing unit. By holding the circuit, the angular velocity can be obtained from the angle information according to the time change, and the angular acceleration can be obtained by differentiating the angular velocity.

Similarly, if the sensing unit is a kind of measuring the sensing information (force-based) according to the equation of motion of F = ma, it can also detect the acceleration information, so it is possible to calculate the current angle by integrating the detected angular acceleration and angular velocity again. By using the microcomputer embedded in the control unit, a desired rotation direction and a desired rotation force may be applied to the driving unit.

Next, unlike the intake motor, the driving unit may be equipped with a motor capable of freely adjusting the rotational speed, for example, a DC motor, and a single motor may be mounted on one shaft or on wheels on both sides of the main body, respectively. Can be configured to control separately.

In order to conveniently use the DC motor at home according to the present invention, it is necessary to additionally install a transformer rectifier module in the main body that converts AC into DC and adjusts voltage, and receives DC power from the transformer rectifier module. DC motors can change speed relatively easily by changing the field winding resistance of the stator or by changing the voltage applied to the armature.

In addition, the DC motor has a characteristic that the larger the rotational speed T is smaller as the rotational speed is smaller and the change of rotational speed is continuous and free, which is very suitable for posture control and drive control of the main body 10 of the present invention which may be unstable in some cases. Suitable.

FIG. 21 is a side view illustrating an internal arrangement in the case of implementing a cleaner structure having one rotating shaft and a pair of wheels as an embodiment of the present invention. 64) is arranged to pull the power cord to rotate 360 ° downwards, the wheel 20 with its own driving force can freely ride over the cord. (In general, the vacuum cleaner has to be dragged by the user, so It is difficult for the wheels to cross the power cord together.)

In FIG. 21, the heaviest suction motor 61 and the other heavy parts of the drive motor 70, the gearbox 71, the transformer rectifying module 72 for the drive motor, the cord reel 64, etc. are used as the main body. In consideration of the position of the center of gravity (not shown in FIG. 21) of FIG.
In detail, as described above, the center of gravity of the main body may be higher than the wheel rotation shaft as shown in FIGS. 5 to 7 or lower than the wheel rotation shaft as shown in FIGS. 8 to 10.
First, in order to make the center of gravity of the main body higher than the wheel rotation shaft as shown in FIGS. 5 to 7, the heaviest suction motor 61 and other heavy parts of the driving motor 70, the gear box 71, The transformer rectifying module 72, the cord reel 64, and the like for the driving motor may be disposed away from the bottom of the main body. In particular, the heaviest suction motor 61 is arranged in a higher position such as the drive motor 70, the gearbox 71, the transformer rectifying module 72, the cord reel 64 for the drive motor, The center of gravity of can be made higher than the wheel axis of rotation.
On the other hand, as shown in Figures 8 to 10, in order to ensure that the center of gravity of the main body is lower than the wheel axis of rotation, the heaviest suction motor 61 and other heavy components of the drive motor 70, the gear box 71 The transformer rectifier module 72 and the cord reel 64 for the driving motor may be disposed adjacent to the bottom of the main body. In particular, the heaviest suction motor 61 may be disposed on the lowermost side of the inside of the main body so that the center of gravity of the main body is lower than the wheel rotation axis.
The position of the center of gravity is an arrangement position of the suction motor 61, the driving motor 70, the gear box 71, the transformer rectifying module 72 for the driving motor, the cord reel 64, etc. provided in the main body. By varying, it can be easily changed.
In FIG. 21, since the heaviest suction motor 61 is disposed at a higher position such as the driving motor 70, the gearbox 71, the transformer rectifying module 72 for the driving motor, the cord reel 64, etc., are disclosed. In this case, the center of gravity of the main body will be located higher than the wheel rotation axis.

In FIG. 21, the suction motor 61 is in communication with the dust separation unit 62, and the dust separation unit 62 is connected to an internal suction tube extending from the suction hose coupling unit 30.

In addition, the suction dust container 63 is extended to the circumference of the dust separation unit 62, the dust is stored may be further disposed.

In the figure, the sensing unit 80 for detecting an angle is disposed on the wheel rotation shaft 21 is the least movement in the main body 10, thereby minimizing the instability of the angle signal due to external disturbance movement.

The control unit 81 equipped with the sensing unit 80 is a circuit board equipped with a controller incorporating a microcomputer, and a driving motor through an internal calculation process based on sensing information of the sensor 80 sensor. A drive signal is applied to 71.
In addition, the suction hose coupling portion 30 is disposed at a position higher than the wheel rotation shaft 21.

FIG. 22 is a front view of the cleaner illustrated in FIG. 21, in which the suction hose coupling part 30 is not necessarily disposed only at the center of the main body 10, and may be designed to be biased to one wheel in some cases.

23 and 24 show a top view and an external perspective view of the cleaner structure shown in FIG. 21, respectively, and the internal structure shown in FIGS. 21 to 24 can be changed as many as needed for maneuverability and stability of the cleaner. Of course.

While the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the technical idea of the present invention is not limited to the above embodiments, and those skilled in the art may include the present invention. Various modifications and extension embodiments which are not included in the specification and drawings of the present invention may be further implemented as necessary by utilizing the technical idea that is present, but it is also clearly included in the scope of the technical idea uniquely possessed by the present invention. .

The cleaner of the present invention as described above exhibits the following excellent effects.

First, the detection unit mounted inside the main body properly distinguishes the user's cleaning and moving behavior, so that when the user's intention to move the vacuum cleaner is input through the suction hose, the cleaner does not need any more traction force and the cleaner is mounted inside the drive motor. By driving, it saves the user's effort to move the cleaner separately.

In addition, when hitting an obstacle such as a thick carpet, a soft blanket, a cushion, or a cushioned power cord or a wheel buried in the process of moving the cleaner, a general traction method should be carried by lifting the cleaner, but the wheel having self-driving ability in the present invention. Rotates by itself and can easily move over obstacles on conventional cleaning surfaces.

In addition, since the sensing unit and the controller detect the inclination of the main body itself in addition to the intention of the user and control the posture of the cleaner by itself, the design of the main body can be designed in a highly unstable state. Therefore, the mobility of the cleaner greatly increases, and accordingly, the self-balancing movement and the agile active following movement are gracefully produced, thereby greatly increasing the psychological satisfaction of the user during the cleaning operation.

Claims (19)

A body having at least one center of rotation; Wheels for moving the body; A driving unit for driving the wheels; A suction hose coupler coupled to the main body at a distance from the rotation center; A detector configured to detect a slope of the main body due to the movement of the suction hose coupler; And A control unit controlling the driving unit based on the detection information of the detection unit; Cleaner that is configured to include. According to claim 1, The suction hose coupling portion, A cleaner located at different heights from the center of rotation based on a cleaning surface. The method of claim 2, The suction hose coupling unit is disposed at a position higher than the rotation center. The method of claim 3, The rotation center of the main body is a cleaner axis of the wheel. The method of claim 1, The detector is disposed on the coaxial with the rotating shaft of the wheel. The method of claim 1, wherein the driving unit, Cleaner comprising a motor that controls the speed by changing the voltage of the rotor or the winding resistance of the stator so that the rotational force can be adjusted in the case of both the wheel is rotated or stopped. The method of claim 1, wherein the detection unit, And a configuration for sensing the change speed or the change acceleration of the slope as one of the detection informations. delete delete delete delete delete delete delete delete delete delete delete delete

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