KR102521941B1 - Cleaner and and method for controlling the same - Google Patents

Abstract

A vacuum cleaner and a control method thereof are disclosed. A vacuum cleaner according to an embodiment of the present invention includes a main body having a suction motor generating suction power, a traveling part for moving the main body, a suction part connected to a handle through an extension tube and sucking external dust, and a main body provided on one side. A hose fastening part connected to the handle to which a flexible hose for supplying suction force to the suction part is fastened, and a control unit executing an automatic following function for controlling the driving part so that the main body follows the position of the handle while the suction motor is driven. . In addition, the control unit detects a coupling release signal by the hose coupling unit and outputs a control signal for terminating the automatic follow-up function in response to the coupling release signal.

Description

A cleaner and its control method {CLEANER AND AND METHOD FOR CONTROLLING THE SAME}

The present invention relates to a cleaner capable of automatically following a main body and a control method thereof.

A vacuum cleaner refers to a device that sucks dust or foreign substances from an area to be cleaned together with air by using a suction force generated by a suction motor, separates the dust or foreign substances from the sucked air, and then discharges only the air and collects the dust or foreign substances.

Vacuum cleaners can be classified into manual cleaners and automatic cleaners. The manual cleaner performs cleaning while being moved by a user's manipulation. Manual cleaners may be classified into a canister type, an upright type, a handheld type, a stick type, and the like according to their shapes. Automatic cleaners perform cleaning based on SLAM (Simultaneous Localization and Mapping) technology without user intervention.

Among several types, the canister type is distinguished from other types in that the main body and the handle are connected by a flexible hose. When the handle is moved by the user, the body moves along the handle due to the physical force transmitted through the flexible hose. However, this mechanism causes several problems.

First, in order to move the canister-type cleaner, the user must apply force to drag the body as well as the handle. This gives a physical burden to the user, and there is a problem that the user's fatigue increases after cleaning. Accordingly, a technology has been developed in which the body of the canister-type cleaner moves along the position of the handle connected to the flexible hose while cleaning.

Meanwhile, the flexible hose may be separated from the main body for cleaning, parts replacement, and the like. At this time, when the flexible hose moves away from the main body, a situation may occur in which the main body still follows the handle or moves by itself following the direction in which the signal is received. Accordingly, there is a problem in that a technology applied for user convenience reduces user satisfaction.

Accordingly, one object of the present invention is to provide a cleaner and a control method thereof in which a main body does not move in an unintended direction in a situation where a flexible hose supplying suction force is separated from the main body and moves away from the main body.

In addition, another object of the present invention is that even when the body is connected to the body of the flexible hose, the vacuum cleaner

In addition, another object of the present invention is to provide a vacuum cleaner and a control method thereof in which the running of the main body is controlled differently depending on whether the suction motor of the main body is operating even when the flexible hose is fastened to the main body.

In addition, another object of the present invention is a vacuum cleaner and its control implemented so that the main body continues to follow the handle connected to the flexible hose in consideration of user convenience in an exceptional situation in which the flexible hose is suddenly removed from the main body during cleaning but is soon reconnected is to provide a way

To this end, the cleaner according to the present invention includes a main body having a suction motor generating suction force; A main body having a suction motor generating suction force; a driving unit for moving the main body; a suction unit connected to the handle through an extension tube and sucking in external dust; A hose fastening part provided on the main body and having one side connected to the handle to which a flexible hose for supplying a suction force to the suction part is fastened; and a control unit that detects an engagement signal by the hose coupling unit and executes an automatic following function for controlling the driving unit so that the main body follows the position of the handle based on the coupling signal. In addition, the control unit, upon receiving the coupling signal, stores information related to the coupling signal in a memory, and in response to receiving a command for activating the automatic follow-up function, the flexible hose based on the information stored in the memory. It is characterized in that the connection is checked, and when a signal for disconnection of the connection by the hose connection unit is detected, the automatic follow-up function is switched to an inactive state.

In addition, in one embodiment, the handle is provided with a transmitter for emitting a signal and the main body is provided with a receiver for receiving the emitted signal, and the control unit, when the engagement signal is detected, through the transmitter and receiver It is characterized in that the driving unit is controlled to recognize the position of the handle based on the transmitted/received signal and follow the recognized position.

In addition, in one embodiment, the hose fastening unit, a switching signal of a switch according to whether the flexible hose is connected, a change in current / voltage / resistance value applied to the body, a feedback signal, a movement signal of the body, and a contact sensor It is characterized in that at least one of the signals is sensed to generate the engagement signal or the engagement release signal.

In an embodiment, the control unit may monitor whether the suction motor is driven in response to detection of the fastening signal, and determine whether to execute the automatic follow-up function based on a monitoring result.

Further, in one embodiment, the control unit may terminate the running automatic following function when the coupling release signal is received from the hose fastening unit while the automatic following function is being executed.

Further, in one embodiment, the control unit controls the driving unit so that the main body performs a predetermined movement from the current position when the coupling release signal is received while the automatic following function is being executed, and after a predetermined time has elapsed, It is characterized in that the automatic follow-up function is terminated.

Further, in one embodiment, the control unit is characterized in that, in response to receiving the coupling signal from the hose coupling unit within the predetermined time, the automatic follow-up function is continuously maintained without terminating.

In an embodiment, the control unit may differently determine whether or not to activate the auto-following function depending on whether the handle is moved when the main body is in a power-off state and the fastening signal is detected.

Further, in one embodiment, the control unit executes the auto-following function while maintaining the power-off state in response to the handle moving beyond a reference range when the fastening signal is detected while the main body is in a power-off state. to be characterized

In addition, a cleaner according to another embodiment of the present invention includes a main body having a suction motor generating suction force; a driving unit for moving the main body; a suction unit connected to the handle through an extension tube and sucking in external dust; A hose fastening part provided on the main body and having one side connected to the handle to which a flexible hose for supplying a suction force to the suction part is fastened; and a control unit executing an auto-following function for controlling the traveling unit so that the main body follows the position of the handle while the suction motor is driven, wherein the control unit detects a coupling release signal by the hose coupling unit and , characterized in that a control signal for terminating the automatic follow-up function is output in response to the fastening release signal.

As described above, in the vacuum cleaner and its control method according to the present invention, before executing the automatic following function in which the cleaner body follows the position of the handle and travels by itself, first check whether the flexible hose connected to the handle is fastened to the body. detect In addition, when the flexible hose is not fastened to the main body, the execution of the automatic follow-up function is restricted.

In addition, even after the auto-following function is once executed, if it is detected that the flexible hose connected to the handle is separated from the body, the execution of the auto-following function is stopped, thereby preventing the main body from driving in a direction not intended by the user. .

Furthermore, taking into account the exceptional situation in which the flexible hose is suddenly disconnected from the main body during cleaning but reconnected soon, the movement of the main body is stopped and the automatic follow-up function is terminated at a constant rate when it is detected that the flexible hose is disconnected from the main body during cleaning. By reserving time, both safety and user satisfaction in use of the automatic follow-up function can be satisfied.

1 is a conceptual diagram showing a canister-type vacuum cleaner related to an embodiment of the present invention.
2A to 2C are conceptual diagrams for explaining the concept of an automatic follow-up function related to the present invention.
3 is a block diagram for explaining the detailed configuration of a canister-type vacuum cleaner related to an embodiment of the present invention.
4A to 4C are diagrams for explaining configurations necessary for selectively executing an auto-following function according to whether or not a hose of the canister cleaner is fastened in an embodiment of the present invention.
5A, 5B, 6, and 7 are flowcharts for explaining various examples of a method of executing an auto-following function depending on whether or not a hose of the canister cleaner is fastened in the canister cleaner according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, but the same reference numerals will be assigned to the same or similar components regardless of reference numerals, and overlapping descriptions thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, the technical idea disclosed in this specification is not limited by the accompanying drawings, and all changes included in the spirit and technical scope of the present invention , it should be understood to include equivalents or substitutes.

1 is a conceptual diagram showing a canister-type cleaner 100 related to an embodiment of the present invention.

In this specification, canister cleaner and vacuum cleaner may be used as the same meaning. In addition, in the present specification, the vacuum cleaner performs a function of cleaning the floor while driving in a certain area under the initiative/manipulation/control of a user (including a robot with artificial intelligence, hereinafter referred to as 'user, etc.').

The cleaner 100 shown in FIG. 1 includes a main body 110, a suction nozzle 120, a handle 130, an extension pipe 140, and a flexible hose 150. Hereinafter, each configuration will be sequentially described.

The main body 110 generates a suction force and is formed to collect dust. Inside the main body 110, a suction motor 104 (FIG. 5) is provided. The suction force generated by the suction motor 104 (FIG. 5) is transmitted to the suction nozzle 120, and air and dust are sucked by the suction force. A dust collection container 111 capable of collecting dust is coupled to the main body 110, and the dust collection container 111 is formed to store dust separated from the air. The air separated from the dust is discharged to the outside of the main body 110 .

The body 110 is moved by rotation of the wheels 112 and 113. Wheels 112 and 113 of the main body 110 may be mounted on both sides of the main body 110, respectively. A first wheel 112 may be mounted on one side of the main body 110, and a second wheel 113 may be mounted on the other side of the main body 110. The body 110 and the handle 130 are connected by a flexible hose 150. Accordingly, when the handle 130 is moved, the main body 110 may also move along the handle 130 due to the physical force transmitted through the flexible hose 150 .

The suction nozzle 120 is configured to suck air by using a suction force generated by a suction motor inside the body 110 . When the suction nozzle 120 approaches an area to be cleaned, such as a floor, air is sucked through a suction port formed on the bottom surface of the suction nozzle 120 . An auxiliary wheel (not shown) may be installed at the bottom of the suction nozzle 120 for smooth movement of the suction nozzle 120 .

The handle 130 is formed to be gripped by hand. The handle 130 is connected to the suction nozzle 120 through an extension pipe 140 so as to be able to control the position of the suction nozzle 120 .

Controlling the position of the handle 130 means changing the traveling direction or traveling path of the suction nozzle 120 according to the user's intention. Therefore, when the user manipulates the handle 130 while holding the handle 130 with his/her hand, the direction or path of the suction nozzle 120 may be changed. This is because the suction nozzle 120 is connected to the handle 130 by the extension tube 140.

A key module 310 including one or more keys capable of turning on/off the power of the cleaner 100 or adjusting the suction force may be formed on the handle 130 . A UWV sensor is mounted on the key module 310 so that a positional change of the handle 130 can be transmitted to the main body 110 in the form of a signal. In addition, the key provided in the key module 310 is formed to detect an input even when the main body 110 is in a power-off state. To this end, power may be applied to the key module 310 separately from the main body 110 .

In general, since cleaning is performed with the suction nozzle 120 close to the floor, it is very inconvenient for a user to directly hold the suction nozzle 120 and perform cleaning. Therefore, when the handle 130 is connected to the suction nozzle 120 by the extension pipe 140, the handle 130 can be positioned close to the hand of a person standing upright. Since the position of the hand may be different depending on the person's height, the extension tube 140 may be extended or shortened along the length direction.

The flexible hose 150 is connected to the main body 110 and the handle 130 so as to transfer the suction force generated by the suction motor to the suction nozzle 120 . The meaning of flexible (flexible) means that it can be stretched or shrunk along the length direction of the hose, it means that it can be bent. As the flexible hose 150 increases or decreases, the distance between the main body 110 and the handle 130 may increase or decrease. Likewise, as the flexible hose 150 is bent, the distance between the body 110 and the handle 130 may be lengthened or shortened.

Air and dust sucked through the suction nozzle 120 are moved to the main body 110 through the extension pipe 140 and the flexible hose 150, and are filtered inside the main body 110.

The vacuum cleaner 100 of the present invention is capable of an automatic following function and an automatic avoiding function. To implement the automatic following function and the automatic avoiding function, a transmitter 160 for transmitting an optical signal, for example, any one of an infrared sensor, an ultrasonic sensor, a UWV sensor, and an RF sensor (Radio Frequency Sensor) is provided on the handle side. It can be. This may be integrally formed with the key module 310 described above.

In addition, transmitters 171 and 172 and receivers 181 and 182 may also be formed on the main body 110 side. The transmitting units 171 and 172 and the receiving units 181 and 182 may each be made of one of an infrared sensor, an ultrasonic sensor, a UWV sensor, an RF sensor (Radio Frequency Sensor), and a geomagnetic sensor.

The handle-side transmitter 160 may be installed on the handle 130 or the key module 310 . A signal transmitted from the handle-side transmission unit 160, for example, an IR signal, an ultrasonic signal, a UWV signal, or an RF signal, is received by the receivers 181 and 182 of the body 110 following the handle 130 Therefore, it is preferable that the handle-side transmission unit 160 is disposed at the rear of the handle 130. Here, the rear portion of the handle 130 refers to a portion facing the body 110, and the front portion of the handle 130 refers to a portion facing the suction nozzle 120.

The handle-side transmitting unit 160 is configured to transmit an automatic following signal that causes the main body 110 to automatically follow the handle 130 . In most commercially available cleaners 100, the main body 110 generally follows the handle 130 by a user's physical force pulling the handle 130. Here, since the physical force by which the user pulls the handle 130 does not include the concept of automatic, such following may be referred to as manual following. In contrast, automatic following means that the main body 110 follows the handle 130 even if the user does not apply a separate physical force.

The receivers 181 and 182 installed in the main body 110 are configured to receive the automatic follow-up signal transmitted from the handle-side transmitter 160. Since the signal can be converted into a distance, the distance between the handle 130 and the body 110 can be measured by the handle-side transmitter 160 and the receivers 181 and 182 of the body.

However, it is not limited thereto, and the relative position between the handle 130 and the main body 110 may be measured using Time Difference of Arrival (TDoA) or Angle of Arrival (AoA) positioning technology.

The receivers 181 and 182 of the main body include, for example, a first receiver 181 and a second receiver 182 . The first receiver 181 is installed on one side of the body 110. The second receiver 182 may be installed on the other side of the body 110, respectively. One side of the main body 110 may mean the left side of the main body 110, and the other side of the main body 110 may mean the right side of the main body 110. Or conversely, one side of the main body 110 may mean the right side of the main body 110, and the other side of the main body 110 may mean the left side of the main body 110.

The handle-side transmitter 160 and the first receiver 181 are configured to detect a distance L1 between one side of the body 110 and the handle 130 . In addition, the handle-side transmitting unit 160 and the second receiving unit 182 are configured to measure the distance L2 between the other side of the body 110 and the handle 130 . These two distances L1 and L2 may be divided into a first distance L1 and a second distance L2. These two distances L1 and L2 are the basis for the automatic following direction of the main body 110. This will be described later with reference to FIGS. 2A to 2C .

The body-side transmitting units 171 and 172 are installed on the body 110 . It is preferable that the body-side transmission units 171 and 172 are installed to be exposed to the outside of the body 110.

On the other hand, the body-side transmitting units 171 and 172 are configured to transmit automatic avoidance ultrasonic waves that cause the body 110 to automatically avoid obstacles. In most of the commercially available cleaners 100, the body 110 avoids obstacles by moving the main body by a user pulling the handle 130 or by rotating or changing a direction of a wheel of the main body. Here, since the physical force by which the user pulls the handle 130 does not include the concept of automatic, such avoidance may be referred to as manual avoidance. In contrast, automatic avoidance means that the main body 110 bypasses an obstacle even if the user does not apply a separate physical force.

The receivers 181 and 182 installed in the main body 110 receive an automatic avoidance signal, for example, an IR signal, a pulse signal, or an ultrasonic wave transmitted from the transmitter 171 or 172 and refracted by an obstacle. is formed Since the signal can be converted into a distance, the distance between the obstacle and the main body 110 can be measured by the transmitters 171 and 172 and the receivers 181 and 182 on the body side.

The cleaner 100 may include a control unit 320 (FIG. 3). The controller 320 ( FIG. 3 ) is in charge of overall control of the cleaner 100 . For example, the control unit controls the first wheel 112 and the second wheel based on various distances L1 and L2 sensed by the handle-side transmitter 160, the body-side transmitter 171 and 172, and the receiver. It is formed to control the rotation of the wheel 113.

The first wheel 112 and the second wheel 113 are each formed to be rotatable in the forward direction or backward direction of the main body 110 by a driving unit such as a driving motor. The first wheel 112 and the second wheel 113 can be controlled independently of each other. The control unit may control the rotation direction and rotation speed of the first wheel 112 and the second wheel 113 by controlling the driving unit.

Hereinafter, the concept of the automatic driving function will be described.

2A to 2C are conceptual diagrams for explaining the concept of an automatic follow-up function.

In order for the user to move the position of the suction nozzle 120 while holding the handle 130, the handle 130 may be rotated left and right or the handle 130 may be moved forward or backward. Since the handle 130 and the suction nozzle 120 are connected by the extension pipe 140, the position of the suction nozzle 120 is moved under the control of the handle 130.

When the position of the suction nozzle 120 is changed by the control of the handle 130, the distance between the handle 130 and the main body 110 is changed. Accordingly, the first distance L1 between one side of the main body 110 and the handle 130 measured by the handle-side ultrasonic transmitter 160 and the first ultrasonic receiver 181, and the handle-side ultrasonic transmitter 160 The second distance L2 between the handle 130 and the other side of the main body 110 measured by the second ultrasonic receiver 182 is different.

Referring to FIG. 2A, before the position of the suction nozzle 120 is moved by the handle 130, the first distance L1 and the second distance L2 are substantially the same, and even if there is a difference, there is a slight difference. is only

After the direction of the suction nozzle 120 is moved by the handle 130, the first distance L1 naturally becomes shorter than the second distance L2. When it is detected that the first distance L1 is shorter than the second distance L2 by the handle-side ultrasonic transmitter 160 and the ultrasonic receivers 181 and 182, the first wheel 112 is controlled by the control unit. The main body 110 is rotated in the backward direction, and the second wheel 113 is rotated in the main body 110 forward direction.

Referring to FIG. 2B , after the suction nozzle 120 is moved forward by the handle 130, the distance between the handle 130 and the main body 110 increases. In this case, the difference between the first distance and the second distance remains substantially the same, and even if there is a difference, a slight difference is maintained.

As shown in FIG. 2B, when the suction nozzle 120 is located between two imaginary extension lines parallel to the first wheel 112 and the second wheel 113, it can be understood that the suction nozzle 120 is not biased to one side. there is. When the reference value at which the suction nozzle 120 is not biased to one side is S1, when the difference between the first distance L1 and the second distance L2 is smaller than the reference value S1, the suction nozzle 120 moves to one side. It can be understood that it is not biased towards .

If the suction nozzle 120 and the handle 130 move forward along a straight line and the body 110 moves forward along the handle 130, the difference between the first distance L1 and the second distance L2 is It will be maintained at a value smaller than the reference value (S1). Therefore, when the main body 110 tries to automatically follow the handle 130, if the difference between the first distance L1 and the second distance L2 is smaller than the preset reference value S1, the main body 110 moves the handle 130 ) to go forward or backward.

When the suction nozzle 120 and the handle 130 move forward, the first distance L1 and the second distance L2 will increase. Conversely, when the suction nozzle 120 and the handle 130 move forward, the first distance L1 and the second distance L2 will be shortened. When the reference value for determining whether forward and backward movement of the main body 110 is required according to the forward and backward movement of the handle 130 is S2, the first distance L1 and the second distance L2 are the reference values ( If it is longer than S2), it is necessary to advance the main body 110. Conversely, when the first distance L1 and the second distance L2 are shorter than the reference value S2, the main body 110 needs to move backward. In this way, the body 110 can automatically follow the handle 130 while maintaining an appropriate distance between the handle 130 and the body 110 .

In FIG. 2B , since the handle 130 and the main body 110 are positioned on a substantially straight line, the difference between the first distance L1 and the second distance L2 is smaller than the predetermined reference value S1. In this state, when the first distance L1 and the second distance L2 become longer than the preset reference value S2 according to the forward movement of the handle 130, the first wheel 112 and the second wheel 113 It is rotated in the forward direction of the main body 110. Accordingly, the main body 110 automatically follows the handle 130 .

Unlike FIG. 2B, while maintaining a value smaller than the next predetermined reference value S1 between the first distance L1 and the second distance L2, the first distance L1 and the second distance L1 and the second distance L1 according to the backward movement of the handle 130 are maintained. When the distance L2 is shorter than the predetermined reference value S2, the first wheel 112 and the second wheel 113 are rotated in the backward direction of the main body 110. Accordingly, the main body 110 automatically follows the handle 130 .

Referring to FIG. 2C , before the position of the suction nozzle 120 is moved by the handle 130, the first distance L1 and the second distance L2 are substantially the same, and even if there is a difference, there is a slight difference. is only

After the direction of the suction nozzle 120 is moved by the handle 130, the second distance L2 naturally becomes shorter than the first distance L1. When it is detected that the second distance L2 is shorter than the first distance L1 by the handle-side transmission unit 160 and the reception units 181 and 182, the first wheel 112 is controlled by the control unit and the main body ( 110 is rotated in the forward direction, and the second wheel 113 is rotated in the backward direction of the main body 110.

Therefore, even if the user does not physically drag the main body 110, the main body 110 rotates along the rotational direction of the handle 130 or moves forward or backward according to the control described in FIGS. 2A to 2C. Since it can move forward or backward, the main body 110 can automatically follow the handle 130 naturally.

Hereinafter, the 'auto-following function' disclosed in this specification means that the main body 110 rotates along the rotational direction of the handle 130 or moves forward or backward according to the forward or backward movement of the handle 130 .

In order to perform the 'auto-following function' disclosed in this specification, the transmitter provided on the handle 130 and the transmitter and receiver provided on the main body 110 exchange signals with each other to determine the relative positions of each other. . Accordingly, it is possible to determine whether the handle 130 is moving away from or approaching the main body 110 . Hereinafter, an appropriate distance between the handle 130 and the main body 110 may be referred to as a 'critical follow-up distance'.

The 'critical follow-up distance' is the 'maximum distance' at which the handle 130 and the main body 110 can be maximally distanced based on signals exchanged between the transmitter of the handle 130 and the transmitter and receiver of the main body 110. It may include 'following distance'. In addition, the 'critical follow-up distance' is the distance at which the handle 130 and the main body 110 can be maximally close based on signals exchanged between the transmitter of the handle 130 and the transmitter and receiver of the main body 110. A 'minimum follow distance' may be included.

When the separation distance between the handle 130 and the main body 110 approaches the minimum tracking distance, the control unit moves the separation distance between the handle 130 and the main body 110 as if a repulsive force (force to push each other) is applied. It is possible to reduce the running speed of the main body so as to lose weight.

On the other hand, when the distance between the handle 130 and the main body 110 approaches the maximum follow-up distance, the control unit adjusts the distance between the handle 130 and the main body 110 as if force (pulling each other) is applied. , it is possible to increase the running speed of the main body so that the

Hereinafter, FIG. 3 is a block diagram for explaining the configuration of a vacuum cleaner related to an embodiment of the present invention.

The vacuum cleaner according to an embodiment of the present invention includes a communication unit 301, an input unit 302, a sensing unit 303, an output unit 304, a memory 305, a driving unit 306, a suction unit 307, a power supply unit ( 308), and a control unit 320.

On the other hand, the components shown in FIG. 3 are not essential, so it goes without saying that a cleaner having more components or fewer components may be implemented. Hereinafter, each component will be reviewed.

The power supply unit 308 includes a battery that can be charged by external commercial power to supply power to the cleaner. That is, in the vacuum cleaner according to the present invention, a cord for receiving commercial power is removed, and power can be supplied through the battery of the power supply unit 308. The power supply unit 308 may supply operating power required to drive the cleaner or perform a specific function by supplying driving power to each component included in the cleaner. The battery may be located in the lower part of the center of the cleaner, or may be located on either side of the left or right side.

The output unit 304 may output various beeps or predetermined voices.

The controller 320 serves to process information based on artificial intelligence technology, and may include one or more modules that perform at least one of information learning, information reasoning, information perception, and natural language processing. can

While the auto-following function is executed, the driving unit 306 independently rotates the left and right main wheels using the provided motor, so that the main body can move forward, backward, left and right, drive in a curved line, or rotate in place. In addition, the driving unit 306 may rotate the left and right main wheels by a user's force or an external force without driving a motor while the automatic following function is in an inactive state.

Meanwhile, the input unit 302 receives various control commands for the cleaner from the user. The input unit 302 may include one or more buttons. In addition, the input unit 302 may be installed above the handle 130 as a hard key, a soft key, or a touch pad. Also, the input unit 302 may have the form of a touch screen together with the output unit 304 .

On the other hand, the output unit 304 may display the battery status or driving method on the screen or output it in the form of sound.

In addition, the output unit 304 may output state information of the inside of the cleaner detected by the sensing unit 303, for example, each component included in the cleaner, for example, the state of remaining charge of the battery. In addition, the output unit 304 may display external state information, obstacle information, location information, map information, etc. detected by the sensing unit 303 on the screen.

The output unit 304 may output a warning sound to the outside according to the warning signal generated by the controller 320 . At this time, the sound output unit (not shown) may be a unit for outputting sound such as a beeper or a speaker, and the output unit 304 may include audio data or message data having a predetermined pattern stored in the memory 305. It can be output to the outside through the sound output means by using.

The memory 305 stores a control program for controlling or driving the vacuum cleaner and corresponding data. The memory 305 may store audio information, image information, obstacle information, location information, map information, and the like. Also, the memory 305 may store information related to driving patterns.

The memory 305 mainly uses a non-volatile memory. Here, the non-volatile memory (NVM, NVRAM) is a storage device capable of continuously maintaining stored information even when power is not supplied, for example, a ROM, a flash memory, a magnetic computer It may be a storage device (eg, hard disk, diskette drive, magnetic tape), optical disk drive, magnetic RAM, PRAM, and the like.

Meanwhile, the sensing unit 303 may include at least one of an external signal detection sensor, a front detection sensor, a cliff detection sensor, a 2D camera sensor, and a 3D camera sensor.

In addition, the sensing unit 303 transmits an external signal detected through the sensor to the control unit 320 while the auto-following function is executed, so that the main body automatically moves according to the auto-following function, while obstacles, people, animals, cliffs, You can avoid designated virtual areas, etc.

The external signal detection sensor may detect an external signal. The external signal detection sensor may be, for example, an infrared ray sensor, an ultra sonic sensor, or a radio frequency sensor (RF sensor).

The suction unit 307 scatters surrounding dust through a brush (not shown) that scatters dust in a designated cleaning area, and then sucks in the dust according to the driving of the suction motor provided in the main body 110 . The inlet 307 is connected to the main body 110 through a connecting member. Here, the connecting member may include a handle 130, an extension pipe 140 connected to the handle 130, and a flexible hose 150.

The communication unit 301 may transmit/receive signals and data by being connected to a terminal device and/or other devices located within a specific area through one of wired, wireless, and satellite communication methods. In addition, the communication unit 301 referred to in this specification may mean a sensor such as a transmitter provided on the handle 130 side and a sensor such as a transmitter and receiver provided on the main body 110 .

In addition, in the present invention, an auto-following function module 330 related to the execution of an auto-following function selectively activated through a user input is provided. As shown in FIG. 3 , the automatic follow function module 330 may be provided within the control unit 320 or may be provided separately from the control unit 320 .

In addition, in the present specification, power from the power supply unit 308 may be independently supplied to the control unit 320 and the auto-following function module 330 respectively.

The 'auto-following function' operates to relieve the user's physical burden while cleaning. Specifically, when the suction motor provided in the main body 110 is driven as the cleaner 100 starts or maintains cleaning, and the position of the handle 130 is changed according to the cleaning operation, the main body 110 moves the handle 130 ) and moves by itself. Here, although not shown, the suction motor is mounted on the main body 110 and supplies suction force to the suction unit 120 through the flexible hose 150 according to the driving of the motor. When the cleaning is completed, the driving of the suction motor is stopped and the automatic following function in which the main body 110 follows the position of the handle 130 also ends.

Meanwhile, the flexible hose 150 (hereinafter, may be referred to as 'hose') is connected to the main body through a fastening means such as a connector formed on the main body, and may be separated as necessary. For example, when cleaning is required because the inner wall of the flexible hose 150 is clogged with dust, the user can separate the flexible hose 150 from the fastening means by an external force. Alternatively, for example, the flexible hose 150 may be separated from the main body in order to replace the battery of the handle 130 connected to the flexible hose 150.

In this way, when the flexible hose 150 moves away from the body 110 after being separated from the body, the body 110 determines the position of the handle 130 based on the signal emitted from the transmitter 160 on the handle 130 side. You can keep moving along. At this time, if the main body 110 misses the position of the handle 130, a case may occur where the main body 110 continues to move toward the direction in which the signal is received.

In this way, when the automatic follow-up function is maintained even when the flexible hose 150 is separated from the main body, a problem in which the main body 110 moves in a direction not intended by the user may occur.

Therefore, in the present invention, when the separation distance between the handle 130 and the main body 110 increases due to separation of the flexible hose 150, a method for preventing unintentional movement of the main body by the user has been implemented.

First, with reference to FIGS. 4A and 4B , a configuration necessary for selectively executing an auto-following function according to whether or not a hose is fastened in the canister cleaner according to an embodiment of the present invention will be described in detail.

The vacuum cleaner according to the present invention may include a hose fastening unit 340, a control unit 320, and an automatic follow-up function control module 330 as essential components.

The hose fastening unit 340 is formed on the body 110 and includes a fastening means connected to the flexible hose 150 and a fastening detection means for generating a signal when the flexible hose 150 is fastened/unfastened. Here, the engagement/disconnection may be used in the same meaning as connection/disconnection or connection/disconnection.

The fastening means may be formed as a mechanical lever. In addition, the fastening means may be a clamp means or a connector for fixing and supporting the flexible hose 150 to the connector of the body 110. That is, the fastening means may include all of various types of devices for fixing the flexible hose 150 having flexibility to a designated position.

Referring to Figure 4b, one end of the flexible hose 150 is connected to the connector (C3) of the main body. Then, the other end of the flexible hose 150 is connected to the handle 130 side. The handle 130 is connected to the suction part 120 through the extension tube 140. For example, when the flexible hose 150 connected to the handle 130 is pushed into the connector C3 of the body in the insertion direction, one end of the flexible hose 150 is inserted into the connector C3 of the body with a 'click' sound. connected Then, the suction unit 120 receives suction force from the suction motor built in the main body through the connected flexible hose 150 and sucks in dust.

Meanwhile, the flexible hose 150 may be separated from the connector C3 of the main body as shown in FIG. 4C. Specifically, when a pulling force acts on the connected flexible hose 150 in a direction opposite to the fitting direction, the flexible hose 150 is separated from the connector C3. Alternatively, the flexible hose 150 may be separated from the connector C3 by applying an input to the hose connection button or rotating it in one direction together with the input and then pulling it in the opposite direction to the fitting direction.

In this way, when the flexible hose 150 is separated from the connector C3, the end 410 of the flexible hose 150 and the end 420 of the connector C3 are exposed to the outside.

On the other hand, the fastening detecting means detects that the flexible hose 150 is connected to or disconnected from the connector C3 of the main body 110 in the form of a signal. The connection detection unit may include, for example, a switch or connection detection sensor.

When the fastening detecting means is a switch, when the flexible hose 150 is connected to the connector C3 of the main body, a first signal for turning on the switching element of the switch is output. Then, when the connected flexible hose 150 is separated from the connector C3 of the main body, a second signal for turning off the switching element of the switch is output. The control unit 320 may receive the output first signal/second signal and recognize whether the flexible hose 150 is fastened.

Meanwhile, in FIG. 4B , in addition to the connector C3 of the main body 110, the second connector C1 through which the suction part 120 and the extension pipe 140 can be connected/separated, the handle 130, and the extension pipe 140 are provided. A third connector C2 that can be connected/disconnected is further shown.

In the present invention, the flexible hose 150 has been described as being connected/disconnected from the connector C3 of the main body as an example. However, if the transmission unit 160 related to the automatic following function is provided in the extension tube 140, the operation of the automatic following function described later depends on whether the extension tube 140 and the handle 130/suction unit 120 are connected. this can be controlled.

The control unit 320 may receive a coupling signal or a coupling release signal of the flexible hose 150 from the hose coupling unit 340 . The control unit 320 may control the vehicle to travel according to the above-described automatic following function when a coupling signal is detected from the hose coupling unit 340 .

Specifically, when a connection signal is received from the hose coupling unit 340, the control unit 320 transmits a control signal to the power supply unit 308 to apply power to the board of the automatic follow function control module 330. Then, a command for activating the auto-following function is transmitted to the auto-following function control module 330 . Then, according to the control of the automatic follow function control module 330, the main body 110-side transmitter and receiver 181, 182 and the handle 130-side transmitter 160 send and receive signals to each other to receive relative positions of each other. is recognized, and the traveling unit 306 is controlled so that the separation distance between the main body 110 and the handle 130 does not deviate from the critical follow-up distance.

In addition, the control unit 320 cuts off power applied to the board of the automatic follow function control module 330 when a coupling release signal is received from the hose coupling unit 340 . Then, a command for terminating the automatic following function is transmitted to the automatic following function control module 330 .

As such, if the auto-following function is not terminated when the signal for releasing the coupling of the flexible hose 150 is detected from the hose coupling unit 340, the handle 130 is removed from the main body 110 as shown in FIG. 4C. When moving away (M1), the main body 110 unnecessarily moves (M2) along the position of the handle 130. This reduces user satisfaction and causes battery waste.

Therefore, in the vacuum cleaner according to the present invention, an automatic following function in which the main body 110 tracks the position of the handle 130 and travels by itself operates differently depending on the fastening signal/unfastening signal transmitted from the hose fastening unit 340. It became.

Hereinafter, with reference to FIGS. 5A and 5B , a method for controlling an automatic follow-up function according to the present invention will be described in more detail.

Referring to FIG. 5A , the method for controlling the automatic follow-up function according to the present invention initially starts with a process 501 of confirming a signal for fastening a flexible hose.

Here, the connection signal of the flexible hose may refer to a signal received at the time of determining whether or not the hose is connected. Alternatively, the connection signal of the flexible hose refers to the most recently received signal based on the time point at which it is determined whether or not the hose is connected. In the latter case, information related to the connection signal may be stored in the memory 305 of the cleaner and then detected and confirmed in the process of checking the hose connection signal (501).

Meanwhile, information related to the coupling signal stored in the memory 305 may be updated to information related to the signal when a hose coupling signal or a hose coupling release signal is received from the hose coupling unit 340 . Accordingly, in the process of checking the fastening signal (501), it is possible to always check the latest hose connection state.

As a result of determining whether the hose is fastened based on the fastening signal (502), if the hose is fastened to the connector of the main body, the automatic following function is selectively activated according to whether or not the cleaner performs cleaning (503).

Specifically, when cleaning is being performed, an automatic following function is executed in which the main body 110 travels by itself so that the handle 130 and the main body 110 maintain an appropriate distance based on a signal emitted from the handle 130 side. To this end, the control unit 320 applies power to the control module 330 of the automatic following function and transmits a command for activating the automatic following function.

The control module 330 of the automatic follow function executes and controls the automatic follow function based on the command transmitted from the control unit 320 . Then, the receivers 181 and 182 of the body 110 receive the signal emitted from the transmitter 160 on the handle 130 side.

Subsequently, the transmission unit 160 transmits a response signal to the response signal of the main body 110 again to recognize mutual distance information. The main body 110 performs automatic driving such as forward, backward, and direction change so that the separation distance from the handle 130 does not deviate from the aforementioned critical follow-up distance.

Meanwhile, if cleaning is not being performed in step 503, the automatic follow-up function may also be turned off so as to reduce battery consumption. Here, whether cleaning is being performed may be determined by whether or not the suction motor provided in the main body 110 is driven.

As a result of determining whether the hose is fastened based on the fastening signal (502), if the hose is disconnected from the connector of the main body, the automatic following function is deactivated (504).

Here, setting the automatic follow-up function in an inactive state means that the automatic follow-up function is controlled not to be performed. Specifically, if the auto-following function is running, the corresponding function is terminated, and before the auto-following function is executed, it means that the unexecuted state is maintained until an additional command is applied.

As described above, in the present invention, the control operation of the automatic follow-up function is performed differently depending on whether the flexible hose is fastened or not. According to this, when the user separates the flexible hose from the main body and moves it, the main body is prevented from following unnecessarily. Accordingly, the user's satisfaction is improved and battery consumption is reduced.

Figure 5b is a flow chart more clearly showing that the automatic following function according to the present invention is controlled based on the signal transmitted from the hose fastening unit 340.

The control unit 320 may receive the hose coupling signal 511 from the hose coupling unit 340 . Thereafter, the controller 320 may receive an input signal to turn on the power of the main body, perform a cleaning operation, or activate an automatic follow-up function. The operation of the controller 320 may be performed regardless of the reception of the hose fastening signal 511 .

Once the hose fastening signal 511 is received from the hose fastening unit 340, the control unit 320 recognizes the fastening of the hose and activates the automatic following function according to the request for an operation related to the activation of the automatic following function. 512) is transmitted to the automatic follow-up function control module 330.

The control unit 320 may receive a hose coupling release signal 513 from the hose coupling unit 340 . Thereafter, the controller 320 transmits a signal 514 for deactivating the auto-following function to the auto-following function control module 330 even if there is a request for an operation related to activation of the auto-following function.

On the other hand, the hose fastening unit 340 may generate a fastening signal / fastening release signal of the flexible hose 150 through the aforementioned fastening detection means and transmit it to the control unit 320 .

The hose fastening part 340 includes, for example, a switching signal of a switch (switching on state), a change in current/voltage/resistance value applied to the main body, a feedback signal corresponding to the fastening, a motion signal of the main body, and a contact sensor. An engagement signal may be generated by detecting at least one of the detection signals.

In addition, the hose coupling part 340 may include, for example, a switching signal of a switch (switching off state), a change in current/voltage/resistance value applied to the body, a feedback signal corresponding to release of the coupling, and a movement signal of the body. , A coupling release signal may be generated by detecting at least one of the detection signals of the contact sensor.

Here, the switching signal may be applied when a switch is connected to the connector C3 of the body 110. When the flexible hose 150 is connected to the connector C3 of the main body, a switching on signal may be output. On the other hand, when the flexible hose 150 is disconnected from the connector C3, a switching off signal may be output.

Changes in the values of current/voltage/resistance applied to the main body may be obtained through a current/voltage sensor, and a detailed description thereof will be omitted herein.

The feedback signal corresponding to the coupling/disconnection of the hose refers to a signal generated at the time when a predetermined signal tone is output to the output unit 304 .

The movement signal of the main body refers to a signal generated when a general movement pattern of the main body (eg, slightly pushing back and forth) is detected when the flexible hose 150 is inserted or separated from the connector C3 by physical force. .

The detection signal of the contact sensor refers to a detection signal generated according to inevitable human body contact when the flexible hose 150 is inserted into or separated from the connector C3.

In this way, the hose fastening unit 340 may detect that the flexible hose 150 is connected to or disconnected from the connector C3 of the main body through various fastening detection means. The control unit 320 controls the automatic following function based on the hose connection/disconnection signal received from the hose fastening unit 340 .

Hereinafter, with reference to FIG. 6 , a method of controlling the operation of the automatic follow-up function by weighing whether or not the hose is fastened and whether or not the suction motor is driven will be described in detail. Specifically, FIG. 6 shows a method of controlling the operation of the automatic follow-up function when the hose connection is released while the suction motor is driven or during the cleaning operation.

Referring to FIG. 6 , a process of confirming a hose coupling signal is first performed through the hose coupling unit 340 (601). If it is determined that the hose is not fastened, step 504 of FIG. 5A is performed. Therefore, hereinafter, the following process will be described on the premise that the hose is fastened.

After checking the hose fastening signal, a process 602 of checking the operation signal of the suction motor is performed. For example, when the suction motor operates, current consumption increases according to the driving of the motor, and thus whether the suction motor operates may be confirmed. Whether or not the suction motor operates may be checked through other methods, but a detailed description thereof will be omitted here.

After that, whether or not to execute the automatic follow-up function is determined according to whether the suction motor is driven.

Specifically, when it is determined that the suction motor is in operation (603), the aforementioned automatic following function is executed (604). Accordingly, the main body 110 travels by itself along with the movement of the handle 130, thereby reducing the user's physical burden. On the other hand, if the suction motor is not in operation, the process returns to step 601 for checking the hose fastening signal. At this time, the case in which the suction motor is not in operation includes not only a case in which the suction motor is not driven at all, but also a case in which the suction motor is briefly driven and then turned off.

Meanwhile, the control unit 320 may receive a connection signal from the hose connection unit 340 even while the automatic following function is executed according to the operation of the suction motor. For example, there may be cases in which the flexible hose 150 is disconnected from the connector C3 due to improper connection from the beginning or for other reasons.

In this way, when the hose coupling release signal is detected through the hose coupling unit 340 (605), the running automatic follow-up function ends (606).

When the automatic follow-up function ends, a predetermined notification sound or voice command may be output. Through this, the user will be able to audibly recognize the disconnection of the hose and/or the end of the automatic follow-up function.

On the other hand, even if the hose fastening release signal is not detected, once the automatic follow-up function is executed, it returns to step 603 of determining whether the suction motor is operating or not, and the operation of the suction motor is continuously monitored.

As such, in the embodiment of FIG. 6 , control of the automatic follow-up function is determined by weighting the coupling of the hose and the driving of the suction motor. Accordingly, after the connection of the hose is confirmed and the suction motor is driven to safely execute the auto-following function, the auto-following function can be terminated without missing an exceptional situation in which the hose is suddenly disconnected.

Meanwhile, in one embodiment, when the hose connection is suddenly disconnected during cleaning, the following operation may be additionally performed without immediately ending the automatic follow-up function.

Specifically, the control unit 320 of the vacuum cleaner according to the present invention, when a coupling release signal is received through the hose coupling unit 340 while the suction motor is driven and the auto-following function is executed, moves the main body from the current position. It is possible to control the traveling unit 306 to perform. Thereafter, when a predetermined time elapses, the control unit 320 can end the automatic follow-up function.

Here, the predetermined movement may mean that the main body 110 moves in place in a predetermined pattern from the current position. The predetermined pattern may refer to a pattern in which the main body 110 moves left/right/backward/backward once from the current position. The movement in place means that the starting point and ending point of the movement of the main body are the same. Alternatively, the movement in place means that the direction indicated by the head of the main body at the start and end of the movement is the same.

In this way, when the main body 110 performs a predetermined movement, the user can visually recognize the end of the automatic follow-up function. In addition, by setting a depth of one level before the end of the auto-following function, the board of the auto-following function control module 330 can be prevented from being damaged when the sudden end of the auto-following function is repeated. there is.

In addition, the predetermined time refers to a margin time considering a case in which the flexible hose 150 is immediately connected after receiving the hose coupling release signal. In this way, a predetermined amount of time is given before the final end of the automatic follow-up function, so that the automatic follow-up function can continue without additional manipulation when the hose is immediately connected.

To this end, the control unit 320 may control the automatic follow-up function to be continuously maintained without terminating in response to receiving a coupling signal from the hose coupling unit 340 within the predetermined time.

As another embodiment of the present invention, FIG. 7 shows a control method of an automatic follow-up function when a hose connection signal or a hose connection signal is received in a power-off state of the main body.

Referring to FIG. 7 , first, a hose coupling release signal may be received through the hose coupling unit 340 (701). When the hose coupling release signal is received, the main body 110 may be switched to a power-off state.

The power-off state refers to a state in which general functions of the vacuum cleaner are limited and only certain predetermined functions/operations can be performed. Here, the predetermined specific function/operation includes detecting a signal corresponding to whether or not the hose is fastened by the cleaner through the hose fastening unit 340 .

In addition, the power-off state includes a state in which the controller 320 of the cleaner, that is, a main processor of the cleaner is turned off or in a sleep mode (standby state). Therefore, in the power-off state, current consumption equal to the standby current is generated. In the sleep mode, the suction motor built into the body 110 does not operate.

In addition, the power-off state includes a case in which the control unit 320 of the cleaner, that is, the main processor of the cleaner receives a signal corresponding to whether or not a hose is connected in a sleep mode (standby state) and switches to a wake-up state. do. Here, the wake-up state is a state in which a corresponding specific operation can be performed according to reception of a specific signal, and is different from a power-on state in which all general operations can be performed. In the wake-up state, the suction motor built into the main body 110 does not operate.

Accordingly, in the power-off state, the control unit 320 may receive a hose coupling signal (702). As such, when the main body detects the fastening signal while the power is turned off, the controller 320 differently determines whether to activate the auto-following function according to whether the handle 130 is moved.

For example, in FIG. 7 , if a power-on signal is not received, whether or not the handle 130 is moved may be detected based on a hose connection signal detected in the power-off state (705). When the handle 130 moves, the auto-following function may be activated in the power-off state (704). Accordingly, the user can use the automatic follow-up function when only the hose connection is confirmed without turning on the main body in order to reduce the physical burden.

Here, the movement of the handle 130 for activating the auto-following function may be limited beyond a standard range, and the standard range is the length of the flexible hose 150 at the critical tracking distance between the handle 130 and the main body 110. It can mean the separation distance determined by considering

On the other hand, if the movement of the handle 130 is not sensed, the auto-following function is maintained in an inactive state until an additional command is given (706). In addition, when it is detected that a power-on signal is received in step 703, the main body is switched from a power-off state to a power-on state and an auto-following function is activated (704).

As described above, in the present invention, the vacuum cleaner body 110 can detect whether the flexible hose 150 is connected to or disconnected from the body connector C3 when the power is turned off, and based on the detected signal Thus, the auto-following function can be performed while maintaining the power-off state.

In addition, in the vacuum cleaner according to the present invention, while the suction motor built in the main body 110 is driven, the main body exchanges signals with the transmission unit 160 on the handle 130 side to follow the position of the handle 130 while driving. You can run the auto-follow function.

In addition, the control unit 320 may detect a coupling release signal transmitted from the hose coupling unit 340 while the automatic following function is being executed, and output a control signal for terminating the automatic following function in response to the detected coupling release signal. there is.

As described above, in the cleaner and its control method according to the present invention, before executing the automatic following function in which the cleaner body follows the position of the handle and travels by itself, first check whether the flexible hose connected to the handle is fastened to the body. detect In addition, when the flexible hose is not fastened to the main body, execution of the automatic follow-up function is restricted. In addition, even after the auto-following function is once executed, if it is detected that the flexible hose connected to the handle is separated from the body, the execution of the auto-following function is stopped, thereby preventing the main body from driving in a direction not intended by the user. . Furthermore, taking into account the exceptional situation in which the flexible hose is suddenly disconnected from the main body during cleaning but is soon reconnected, the movement of the main body is stopped and the automatic follow-up function is terminated at a constant level when it is detected that the flexible hose is disconnected from the main body during cleaning. By reserving time, both safety and user satisfaction in use of the automatic follow-up function can be satisfied.

The above-described present invention can be implemented as computer readable code on a medium on which a program is recorded. The computer-readable medium includes all types of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. , and also includes those implemented in the form of a carrier wave (eg, transmission over the Internet). Also, the computer may include the controller 320 of the cleaner. Accordingly, the above detailed description should not be construed as limiting in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

Claims (10)

A main body having a suction motor generating suction force;
a driving unit for moving the main body;
a suction unit connected to the handle through an extension tube and sucking in external dust;
A hose fastening part provided on the main body and having one side connected to the handle to which a flexible hose for supplying a suction force to the suction part is fastened; and
A control unit detecting a coupling signal by the hose coupling unit and executing an automatic following function for controlling the driving unit so that the main body follows the position of the handle based on the coupling signal;
The control unit,
When the coupling signal is received, information related to the coupling signal is stored in a memory, and in response to receiving a command for activating the automatic follow-up function, based on the information stored in the memory, whether or not the flexible hose is coupled is confirmed;
The cleaner, characterized in that for switching the auto-following function to an inactive state when a coupling release signal by the hose coupling unit is detected.
According to claim 1,
The handle is provided with a transmitter for emitting a signal and the main body is provided with a receiver for receiving the emitted signal,
The control unit,
When the fastening signal is detected, the cleaner characterized in that for recognizing the position of the handle based on the signal transmitted and received through the transmission unit and the reception unit, and controlling the driving unit to follow the recognized position.
According to claim 1,
The hose fastening part,
By detecting at least one of a switching signal of a switch according to whether the flexible hose is connected, a change in current/voltage/resistance value applied to the main body, a feedback signal, a motion signal of the main body, and a signal of a contact sensor, the fastening signal or the A cleaner characterized in that for generating a coupling release signal.
According to claim 1,
The control unit,
The vacuum cleaner according to claim 1 , wherein whether or not the suction motor is driven is monitored in response to the detection of the fastening signal, and whether or not the automatic following function is executed is determined based on a result of the monitoring.
According to claim 4,
The control unit,
The vacuum cleaner according to claim 1 , wherein the auto-following function is terminated when the coupling release signal is received from the hose fastening part while the auto-following function is being executed.
According to claim 5,
The control unit,
When the fastening release signal is received while the automatic following function is being executed, controlling the traveling unit so that the main body performs a predetermined movement from the current position;
The vacuum cleaner characterized in that the auto-following function ends after a predetermined time has elapsed.
According to claim 6,
The control unit,
The cleaner characterized in that the auto-following function continues to be maintained without ending in response to receiving a connection signal from the hose connection unit within the predetermined time.
According to claim 1,
The control unit,
When the main body detects the fastening signal in a power-off state, whether or not to activate the auto-following function is differently determined according to whether the handle is moved.
According to claim 8,
The control unit,
The cleaner characterized in that the main body executes the auto-following function while maintaining the power-off state in response to the fastening signal being sensed and the handle moving beyond a reference range while the main body is in a power-off state.
A main body having a suction motor generating suction force;
a driving unit for moving the main body;
a suction unit connected to the handle through an extension tube and sucking in external dust;
A hose fastening part provided on the main body, one side of which is connected to the handle and fastened with a flexible hose for supplying a suction force to the suction part; and
A control unit executing an automatic following function for controlling the driving unit so that the main body follows the position of the handle while the suction motor is driven;
The control unit,
Detects a coupling release signal by the hose coupling unit, and outputs a control signal for terminating the automatic follow-up function when a predetermined time elapses after the coupling release signal is detected, and outputs a control signal by the hose coupling unit within the predetermined time. A cleaner characterized in that maintaining the automatic following function when a fastening signal is detected.

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