KR20160090711A - Moving robot using magnetic-force and cleaning robot for window having the same - Google Patents

Abstract

A magnetic force-based moving robot moving on a planar member is disclosed. The magnetic force-based moving robot comprises: a first magnetic module; a magnetic force adjusting unit adjusting magnetic force of the first magnetic module; and a driving unit providing power for moving the magnetic force-based moving robot. The first magnetic module includes a first magnetic portion one or more magnets having a first level height, and spaced apart from each other; and a second magnetic portion having a second level height spaced apart from the first magnetic portion at a certain distance, and spaced apart from each other. Stacked states of the first and second magnetic portions can be adjusted depending on operations of the magnetic force adjusting unit, thereby controlling the magnetic force of the first magnetic module.

Description

TECHNICAL FIELD [0001] The present invention relates to a mobile robot and a window-cleaning robot including the same.

The present invention relates to a magnetism-based mobile robot and a windshield cleaning robot including the same.

Generally, a glass window installed on a wall of a building is easily contaminated by external dust or pollution, and it is liable to deteriorate aesthetic appearance or deteriorate light-fitting property. Therefore, it is desirable to frequently clean the glass windows installed on the outer wall of the building. However, it is difficult to clean the outer wall of the window as compared with the inner wall. In particular, since the residential building is becoming more and more stratified, cleaning the outer wall of the window has a high risk.

In addition, in general households, there is a problem that the window is peeled off from the window frame to clean the window, and then the window is attached to the window frame again, or the operation for cleaning the outer surface of the window has inconvenience and inconvenience.

Especially, the windows installed on the apartment veranda are not only inconvenient for the cleaning work, but also the risk of falling. In order to prevent this, the cost of using the equipment and the working personnel was increased when the windows were wiped from the outside of the building.

BACKGROUND ART [0002] In recent years, an automatic cleaner such as a window glass capable of automatically cleaning a cleaning surface, which is disposed obliquely or vertically with respect to the ground, has been proposed.

In this connection, in Korean Patent Laid-Open No. 10-2013-0133999 (entitled "WINDOW CLEANING DEVICE AND MAGNETIC POWER CONTROL METHOD"), a first cleaning unit attached to one side of a windshield; A second cleaning unit attached to the other side of the window; A first magnetic module included in the first cleaning unit; A second magnetic module included in the second cleaning unit; A magnetic force adjusting unit for adjusting a magnetic force between the first and second magnetic modules; And the first cleaning unit and the second cleaning unit. The magnetic force sensing device measures the magnetic force of the first or second magnetic module.

An object of the present invention is to provide a magnetism-based mobile robot capable of improving the efficiency and stability of operation.

Another embodiment of the present invention aims to provide a window cleaning robot capable of improving the efficiency and stability of operation.

According to an aspect of the present invention, there is provided a magnetic force based mobile robot moving on a plane member according to an embodiment of the present invention includes: a first magnetic module; A magnetic force adjusting unit for adjusting a magnetic force of the first magnetic module; And a driving unit for providing power for moving the mobile robot, wherein the first magnetic module includes a first magnet unit including at least one magnet disposed at a first level and spaced apart from the first magnet unit, And a second magnet portion including at least one magnet spaced apart from the first magnet portion and spaced from the upper end of the magnet by a predetermined distance so as to maintain a height of a second level, The magnetic force of the first magnetic module is adjusted by adjusting the lamination state of the magnet portion.

Meanwhile, the window cleaning robot according to another embodiment of the present invention may include a first cleaning unit including a first magnetic module, a second cleaning unit including a second magnetic module, a first cleaning module including a first magnetic module, A first magnetic module or a second magnetic module includes a first magnet portion including at least one magnet disposed at a first level and spaced from the first magnet portion, A second magnet unit including at least one magnet disposed at a distance from the upper end of the magnet included in the magnet unit and spaced from the upper end of the magnet by a predetermined distance, and a first cleaning unit or a second cleaning unit The first magnetic portion and the second magnet portion are stacked in accordance with the operation of the magnetic force adjusting portion, Netik module or the magnetic force of the magnetic module 2 is adjusted.

According to the above-mentioned problem solving means, it is possible to adjust the state of lamination between the magnet portions, to adjust the proper magnetic force, and to provide a suitable magnetic force according to the motion of the robot.

Further, by adjusting the magnetic force by the rotational motion of the magnet portion, the space utilization is very excellent and the mobile robot can be miniaturized.

1 is a cross-sectional view of a magnetic force based mobile robot according to an embodiment of the present invention.
2 is a plan view for explaining the operation of the first magnetic module according to an embodiment of the present invention.
3 is a cross-sectional view illustrating the operation of the first magnetic module according to an embodiment of the present invention.
4 is a perspective view illustrating an operation of the first magnetic module according to an embodiment of the present invention.
5 is a view showing various embodiments of a magnet portion according to an embodiment of the present invention.
6 is a perspective view illustrating a magnetic force adjusting unit according to an embodiment of the present invention.
7 is a perspective view illustrating a magnetic force adjusting unit according to another embodiment of the present invention.
8 is a cross-sectional view illustrating the operation of the first magnetic module according to another embodiment of the present invention.
9 is a perspective view illustrating an operation of the first magnetic module according to another embodiment of the present invention.
10 is a sectional view of a magnetic force based mobile robot according to another embodiment of the present invention.
11 is a sectional view of a window cleaning robot according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. It should be understood, however, that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, the same reference numbers are used throughout the specification to refer to the same or like parts.

Throughout this specification, when a part is referred to as being "connected" to another part, it is not limited to a case where it is "directly connected" but also includes the case where it is "electrically connected" do.

Throughout this specification, when a member is " on " another member, it includes not only when the member is in contact with the other member, but also when there is another member between the two members.

Throughout this specification, when an element is referred to as "including " an element, it is understood that the element may include other elements as well, without departing from the other elements unless specifically stated otherwise. The terms "about "," substantially ", etc. used to the extent that they are used throughout the specification are intended to be taken to mean the approximation of the manufacturing and material tolerances inherent in the stated sense, Accurate or absolute numbers are used to help prevent unauthorized exploitation by unauthorized intruders of the referenced disclosure. The word " step (or step) "or" step "used to the extent that it is used throughout the specification does not mean" step for.

The present invention relates to a magnetically powered mobile robot and a windshield cleaning robot.

FIG. 1 is a cross-sectional view of a magnetic force based mobile robot according to an embodiment of the present invention. FIG. 2 is a plan view for explaining the operation of a first magnetic module according to an embodiment of the present invention. 4 is a perspective view illustrating an operation of a first magnetic module according to an embodiment of the present invention. FIG. 5 is a cross-sectional view illustrating an operation of the first magnetic module according to an embodiment of the present invention 6 is a perspective view illustrating a magnetic force adjusting unit according to an embodiment of the present invention, and FIG. 7 is a perspective view illustrating a magnetic force adjusting unit according to another embodiment of the present invention. FIG. FIG. 8 is a cross-sectional view for explaining the operation of the first magnetic module according to another embodiment of the present invention, and FIG. 9 is a view illustrating an operation of the first magnetic module according to another embodiment of the present invention. Is a perspective view for persons, Figure 10 is a cross-sectional view of a window cleaning robot according to an embodiment of the present invention.

First, a description will be made of a magnetic force based mobile robot 10 (hereinafter referred to as "the present mobile robot 10") according to an embodiment of the present invention.

The present mobile robot 10 can be attached to the side surface of the plane member P using the first magnetic module 100 having a magnetic force therein. At this time, the plane member P may be a magnetic body that allows the mobile robot 10 to be attached by the first magnetic module 100.

The present mobile robot 10 adjusts the magnetic force of the first magnetic module 100 according to the material of the plane member P so that the mobile robot 10 is attached to the side surface of the plane member P, It is possible to provide a proper magnetic force that can be achieved.

The mobile robot 10 includes a camera and can be used as a CCTV. A pad 141 is attached to a side surface of the mobile robot 10 and a cleaning robot 1 ). Further, it may be a window cleaning robot 1 for cleaning a glass window described later.

The mobile robot 10 may further include a remote controller that allows a user to control the operation of the mobile robot 10. The user can manipulate the movement of the mobile robot 10 using a remote controller have. However, the present invention is not limited to this, and the mobile robot 10 may move along a predetermined movement path or may determine a movement path by using a sensor such as a distance sensor or a line tracer. Illustratively, the mobile robot 10 may be a device that is attached to a whiteboard and recognizes and erases text or a picture written on a whiteboard as a line tracer.

Hereinafter, the mobile robot 10 will be described in detail.

The present mobile robot 10 includes a first magnetic module 100, a magnetic force adjusting unit 200 for adjusting the magnetic force of the first magnetic module 100, and a driving unit for providing power for moving the mobile robot 10 (Not shown).

The first magnetic module 100 includes a first magnet portion 110 and a second magnet portion 120.

The first magnet portion 110 includes one or more magnets 111 spaced apart from each other while maintaining a first level of height. In other words, the magnets 111 of the first magnet portion 110 are disposed at a certain distance in the vertical direction on the side of the plane member P, and the magnets 111 of the first magnet portion 110 May be spaced apart from each other.

The second magnet unit 120 may include one or more magnets 121 spaced apart from each other by a predetermined distance from the upper end of the magnet 111 included in the first magnet unit 110, .

The magnetic force of the first magnetic module 100 can be adjusted by adjusting the stacking state of the first magnet part 110 and the second magnet part 120 according to the operation of the magnetic force adjusting part 200. [

2 to 4, the magnetic force adjusting unit 200 moves the first magnet unit 110 or the second magnet unit 120 to rotate the magnet 111 and the magnet unit 110 included in the first magnet unit 110, The widths of the magnets 121 included in the second magnet unit 120 can be adjusted.

The magnetic force adjusting unit 200 rotates the first magnet unit 110 or the second magnet unit 120 to rotate the magnet 111 and the second magnet unit 120 included in the first magnet unit 110, The magnetic force can be adjusted by adjusting the magnitude of overlapping of the magnets 121 included in the magnet 121.

Illustratively, as shown in Figs. 3A and 4A, the magnets 111 of the first magnet portion 110 and the magnets 121 of the second magnet portion 120 are mutually opposed to each other The magnetic force of the first magnetic module 100 is minimized and the magnet 111 of the first magnet section 110 is magnetized as shown in FIG. 3 (b) and FIG. 4 (b) And the magnets 121 of the second magnet unit 120 are completely overlapped with each other, the magnetic force of the first magnetic module 100 can be maximized. When the magnets 111 of the first magnet part 110 and the magnets 121 of the second magnet part 120 are partially overlapped with each other, the magnetic force is increased as the overlap area is widened, The magnetic force can be lowered. At this time, when the magnets 111 of the first magnet part 110 and the magnets 121 of the second magnet part 120 are arranged so as to overlap with each other, the polarities of the adjacent surfaces are different from each other so that the magnetic force is increased .

5, the first magnet part 110 includes a plurality of magnets 111 spaced by the same distance from each other and arranged along a line segment constituting a polygon or a circle, and the second magnet part 120 includes And may include a plurality of magnets 121 arranged to correspond to the magnets 111 included in the first magnet unit 110.

Illustratively, the magnets 111 of the first magnet portion 110 may be arranged at equal distances from each other along the line segments constituting the circle, as shown in Fig. 5 (a). 5 (b), the magnets 111 of the first magnet portion 110 may be disposed at the respective corners of the line segments constituting the triangle. 5 (c), the magnets 111 of the first magnet section 110 can be arranged at the respective corners of the line segments constituting the quadrangle. 5 (d), the magnet 111 of the first magnet portion 110 may be disposed at each corner of the line segment constituting the pentagon. At this time, the polygons in which the magnets 111 are arranged so that they are spaced apart from each other by the same distance may be regular polygons.

4, the first magnet unit 110 includes a first housing 112 having a plurality of magnets 111 coupled thereto, and the second magnet unit 120 includes a plurality of magnets 121 coupled thereto And may include a second housing 122. The first housing 112 or the second housing 122 rotates around a central axis located at the center of the polygon or circle so that the stacking state of the first magnet part 110 and the second magnet part 120 is adjusted .

6, the magnet 111 of the first magnet part 110 may be fixed to the first housing 112, and the magnet 121 of the second magnet part 120 may be fixed to the first housing 112. [ The stacking state of the first magnet part 110 and the second magnet part 120 can be adjusted by being rotated about the center axis of the second housing 122 by being coupled to the second housing 122. However, the present invention is not limited to this, but the second magnet portion 120 may be fixed, and the first magnet portion 110 may be coupled to the housing so that the first magnet portion 110 and the second magnet portion 120 may be coupled to the housing for rotation.

The magnetic force adjusting unit 200 may adjust the magnetic force of the first magnetic module 100 by rotating the first magnet unit 110 or the second magnet unit 120.

Referring to FIG. 6, a magnetic force adjusting unit 200 according to an embodiment of the present invention will be described.

The magnetic force adjusting unit 200 includes a motor 210 and the first magnet unit 110 or the second magnet unit 120 can be rotated by the motor 210. [

Illustratively, the gear of the motor 210 is engaged with the gear of the second housing 122 so that the magnet of the second magnet portion 120 coupled to the second housing 122 as the motor 210 rotates The extent of overlap of the first magnet portion 110 and the second magnet portion 120 can be adjusted.

However, the present invention is not limited to this, but the first magnetic module 100 may include a plurality of magnet portions, each magnet portion may be disposed at a predetermined distance in the height direction, The magnetic force of the first magnetic module 100 can be adjusted by adjusting the lamination state between the magnet portions.

Referring to FIG. 7, a magnetic force adjusting unit 200 according to another embodiment of the present invention will be described.

The magnetic force adjusting unit 200 includes a manual adjusting unit 220 and the first magnet unit 110 or the second magnet unit 120 may be rotated as the user rotates the manual adjusting unit 220.

The manual adjustment unit 220 is coupled to the second housing so that the magnet of the second magnet unit 120 coupled to the second housing 122 rotates as the user rotates the manual adjustment unit 220, The width of the first magnet part 110 and the second magnet part 120 overlapping each other can be adjusted.

The driving unit may include a wheel member 310 that is in close contact with the plane member P to move the mobile robot 10 and a power unit that provides power to the wheel member 310. [

More specifically, the wheel member 310 is mounted on the left and right sides of the mobile robot 10 so that a portion thereof is exposed downward of the mobile robot 10, as shown in FIG. 6 to FIG. 7 One in each of the left and right sides, or a total of four in each of the corner portions.

In addition, the wheel member 310 can be rotated by a power unit (not shown) such as a motor provided in the mobile robot 10. The mobile robot 10 can be moved in a predetermined direction as the wheel member 310 rotates while being attached to the plane member P. [

The mobile robot 10 can move not only in the linear direction but also in the curved direction, that is, in the moving direction. For example, the rotation axis of the wheel member 310 may be changed, or the two first wheel members provided at the right and left sides may be rotated at different speeds, thereby changing the moving direction of the mobile robot 10 .

The surface of the wheel member 310 may be made of a material such as rubber or silicone so as to generate a predetermined frictional force in addition to the flat member P during rotation, The mobile robot 10 can easily move along the side surface of the flat member P. [ In addition, the surface of the wheel member 310 may be made of a material that prevents the planar member P from being scratched during rotation.

8 to 9, the first magnetic module 100 may further include a shielding module 130 disposed between the first magnet portion 110 and the second magnet portion 120.

More specifically, the first magnet portions 110 are spaced by the same distance from each other, and each magnet 111 includes a plurality of magnets 111 arranged along a line segment constituting a polygon or a circle, The magnet unit 120 includes a plurality of magnets 121 arranged to correspond to the magnets 111 included in the first magnet unit 110 and the shielding module 130 includes the magnets 121 of the first magnet unit 110, A plurality of shielding portions 131 disposed between the first magnet 111 and the magnets 121 of the second magnet portion 120 and a third housing 132 coupled with the plurality of shielding portions 131. The magnetic force can be adjusted by moving the shielding module 130 and adjusting the overlapping area of the shielding part 131 and the magnets 121 included in the second magnet part 120.

The shield 131 may be made of a material that shields the magnetic field between the magnet 111 of the first magnet unit 110 and the magnet 121 of the second magnet unit 120. Illustratively, the shielding portion 131 may be formed in the form of a synthetic magnetic shield plate in which a ferromagnetic body, a thin plate permanent magnet, a semi-magnetic body and the like are mutually combined.

9, the magnets 111 of the first magnet part 110 and the magnets 121 of the second magnet part 120 correspond to each other, and the first magnet part 110 The shielding part 131 is positioned between the magnet 111 of the second magnet part 120 and the magnet 121 of the second magnet part 120 and the shielding part 130 is rotated by the shielding part 131, The magnetic force can be controlled by adjusting the width of the magnetic field between the magnet of the first magnet unit 110 and the magnet of the second magnet unit 120.

Referring to FIG. 10, the mobile robot 10 may further include a cleaning module 140 positioned on a surface of the flat member P.

The cleaning module 140 may include a pad 141 and the pad 141 may be rotatable by a driving unit such as a motor. The cleaning module 140 is protruded from the lower surface of the mobile robot 10 at a predetermined interval and is used by using the friction force generated by the rotation of the cleaning module 140 in a state where the mobile robot 10 is attached to the flat member P. [ The cleaning operation for the outer surface of the flat member P can be performed.

Illustratively, the mobile robot 10 can move on the whiteboard while moving, erasing the text or pictures written on the whiteboard.

A window cleaning robot 1 (hereinafter referred to as 'the present window cleaning robot 1') according to an embodiment of the present invention will be described.

11 is a sectional view of a window cleaning robot according to an embodiment of the present invention.

The window cleaning robot 1 includes a first cleaning unit 10 and a second cleaning unit 20 which are respectively disposed on both side surfaces of a window W. In this case, the first cleaning unit 10 may be the above-described mobile robot 10, and the same configuration as the configuration of the mobile robot 10 among the configurations of the first cleaning unit 10 may be the name of the mobile robot 10, The same reference numerals are used for the explanation.

11, the first cleaning unit 10 may be disposed on one side of the window W and the second cleaning unit 20 may be disposed on the other side of the window W, The second cleaning unit 20 is moved in accordance with the movement of the window glass 10 to clean the window glass W. [

The first cleaning unit 10 and the second cleaning unit 20 may be attached to opposite sides of the windshield W by using magnetic modules 100 and 21 having magnetic forces therein.

The window cleaning robot 1 includes a first cleaning unit 10 including a first magnetic module 100, a second cleaning unit 20 including a second magnetic module 21, and a second cleaning unit 20 including a first magnetic module 100 Or a magnetic force adjusting unit 200 for adjusting the magnetic force of the second magnetic module 21. At this time, the magnetic force adjusting unit 200 may adjust the magnetic force according to the thickness of the window W so that the respective cleaning units can be firmly attached to both sides of the window W. For example, the magnetic force adjusting unit 200 can adjust the magnetic force when the thickness of the window glass W is large, and can adjust the magnetic force to weaken the magnetic force when the thickness of the window glass W is thin.

Accordingly, when the first cleaning unit 10 moves in a state in which the first cleaning unit 10 is attached to the inner surface of the window W by the external or self-powered power source, the second cleaning unit 20 is moved in the first and second cleaning units 10, The first cleaning unit 10 can be moved together with the magnetic force between the magnetic modules 100 and 21 provided in the first cleaning unit 10 and the second cleaning unit 10, respectively.

The first cleaning unit 10 includes a first magnetic module 100, a magnetic force adjusting unit 200 for adjusting the magnetic force of the first magnetic module 100, and a power for moving the first cleaning unit 10 .

The first magnetic module 100 includes a first magnet portion 110 and a second magnet portion 120.

The first magnet portion 110 includes one or more magnets 111 spaced apart from each other while maintaining a first level of height. In other words, the magnets 111 of the first magnet part 110 are spaced apart from each other by a predetermined distance in the vertical direction on the side of the window W, and the magnets 111 of the first magnet part 110, May be spaced apart from each other.

The second magnet unit 120 may include one or more magnets 121 spaced apart from each other by a predetermined distance from the upper end of the magnet 111 included in the first magnet unit 110, .

The magnetic force of the first magnetic module 100 can be adjusted by adjusting the stacking state of the first magnet part 110 and the second magnet part 120 according to the operation of the magnetic force adjusting part 200. [

The second magnetic module 21 may include a third magnet portion 21-1 disposed at a position corresponding to the magnet portion of the first magnetic module 100. [

The first cleaning unit 10 may include the second magnetic module 21 and the second cleaning unit 20 may include the first magnetic module 100. [

If the thickness of the glass window W is large, the magnetic forces between the first and second magnetic modules 100 and 21 are insufficient and the cleaning units 10 and 20 may fall off the glass window W, When the thickness of the glass window W is small, the magnetic force between the first and second magnetic modules 100 and 21 may be strong and the glass window W may be broken. Therefore, the magnetic force may be adjusted according to the thickness of the window W There is a need.

Accordingly, the present window cleaning robot 1 further includes a thickness measuring unit 400 for measuring the thickness of the windshield W, and according to the thickness of the windshield W, 1 magnetic force of the magnetic module 100 or the second magnetic module 21 can be adjusted.

The window cleaning robot 1 further includes a sensor (not shown) for measuring the magnetic force between the first magnetic module 100 and the second magnetic module 200 and a magnetic force display unit Not shown).

The thickness of the window glass W is measured through the thickness measuring unit 400 and the predetermined proper magnetic force according to the thickness of the window glass W is compared with the magnetic force measured through the sensor to display the magnetic force information through the magnetic force display unit . Illustratively, the magnetic force display unit may be an LED lamp, and is displayed in yellow when the measured magnetic force is smaller than the predetermined optimum magnetic force, and is displayed in red when the measured magnetic force is greater than the predetermined optimum magnetic force, And the measured magnetic force are the same.

It will be understood by those of ordinary skill in the art that the foregoing description of the embodiments is for illustrative purposes and that those skilled in the art can easily modify the invention without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

1: Window cleaning robot
10: a magnetically-powered mobile robot, a first cleaning unit 20: a second cleaning unit
21: Second magnetic module
100: first magnetic module
110: first magnet part 111: magnet
112: first housing
120: second magnet section 121: magnet
122: second housing
130: shielding module 131: shielding part
132: third housing
140: Cleaning module 141: Pad
200: magnetic force adjusting unit 210: motor
220: manual control unit
310: wheel member
400: thickness measuring unit
P: flat member W: windshield

Claims (22)

1. A magnetic force based mobile robot moving on a plane member,
The mobile robot includes a first magnetic module; A magnetic force adjusting unit for adjusting a magnetic force of the first magnetic module; And a driving unit for providing power for moving the mobile robot,
The first magnetic module
A first magnet portion including one or more magnets spaced apart from each other while maintaining a first level of height;
And a second magnet portion including at least one magnet spaced apart from the upper end of the magnet included in the first magnet portion by a predetermined distance and maintaining a second level of height,
And the magnetic force of the first magnetic module is adjusted by adjusting the stacking state of the first magnet part and the second magnet part according to the operation of the magnetic force adjusting part. The method according to claim 1,
The magnetic force adjusting unit
Wherein the first magnet portion or the second magnet portion is moved to adjust a width of a magnet included in the first magnet portion and a magnet included in the second magnet portion to overlap with each other. The method according to claim 1,
Wherein the first magnet portions are spaced apart from each other by the same distance, and each magnet includes a plurality of magnets arranged along a line segment constituting a polygon or a circle,
And the second magnet portion includes a plurality of magnets arranged to correspond to the magnets included in the first magnet portion. The method of claim 3,
Wherein the first magnet portion includes a first housing to which the plurality of magnets are coupled,
The second magnet portion includes a second housing to which the plurality of magnets are coupled,
Wherein the first housing or the second housing rotates around a central axis located at the center of the polygon or circle so that the stacking state of the first magnet and the second magnet is adjusted. The method according to claim 1,
Wherein the magnetic force adjusting unit adjusts the magnetic force of the first magnetic module by rotating the first magnet unit or the second magnet unit. 6. The method of claim 5,
Wherein the magnetic force adjusting portion includes a motor,
And the first magnet portion or the second magnet portion is rotated by the motor. 6. The method of claim 5,
Wherein the rotation drive portion includes a manual adjustment portion,
Wherein the first magnet part or the second magnet part rotates as the user rotates the manual adjuster. The method according to claim 1,
Wherein the first magnetic module includes a plurality of magnet portions, each of the magnet portions is disposed at a predetermined distance in the height direction,
And the magnetic force of the first magnetic module is adjusted by adjusting the stacking state between the magnet portions according to the operation of the magnetic force adjusting portion. The method according to claim 1,
Wherein the first magnetic module further comprises a shielding module disposed between the first magnet and the second magnet,
Wherein the first magnet portions are spaced apart from each other by the same distance, and each magnet includes a plurality of magnets arranged along a line segment constituting a polygon or a circle,
Wherein the second magnet portion includes a plurality of magnets arranged to correspond to the magnets included in the first magnet portion,
Wherein the magnetic force is adjusted by moving the shielding module to adjust the width of overlap of the magnets included in the shielding module and the second magnet. The method according to claim 1,
Wherein the mobile robot further comprises a cleaning module located on the surface of the flat member. In a window cleaning robot of a magnetic force-based windscreen attachment system,
A first cleaning unit including a first magnetic module;
A second cleaning unit including a second magnetic module; And
And a magnetic force adjusting unit for adjusting a magnetic force of the first magnetic module or the second magnetic module,
Wherein the first magnetic module or the second magnetic module includes a first magnet portion including at least one magnet disposed at a first level and spaced apart from the first magnet portion;
A second magnet portion including at least one magnet spaced apart from the upper end of the magnet included in the first magnet portion by a predetermined distance and maintaining a second level of height; And
And a driving unit for providing power for moving the first cleaning unit or the second cleaning unit,
And the magnetic force of the first magnetic module or the second magnetic module is adjusted by adjusting the stacking state of the first magnet part and the second magnet part according to the operation of the magnetic force adjusting part. 12. The method of claim 11,
The magnetic force adjusting unit
Wherein the first magnet portion or the second magnet portion is moved to adjust the width of the magnets included in the first magnet portion and the magnets included in the second magnet portion to overlap with each other. 12. The method of claim 11,
Wherein the first magnet portions are spaced apart from each other by the same distance, and each magnet includes a plurality of magnets arranged along a line segment constituting a polygon or a circle,
And the second magnet portion includes a plurality of magnets arranged to correspond to the magnets included in the first magnet portion. 14. The method of claim 13,
Wherein the first magnet portion includes a first housing to which the plurality of magnets are coupled,
The second magnet portion includes a second housing to which the plurality of magnets are coupled,
Wherein the first housing or the second housing rotates about a central axis located at the center of the polygon or circle so that the stacking state of the first magnet and the second magnet is adjusted. 12. The method of claim 11,
Wherein the magnetic force adjusting unit adjusts the magnetic force of the first magnetic module by rotating the first magnet unit or the second magnet unit. 16. The method of claim 15,
Wherein the magnetic force adjusting portion includes a motor,
And the first magnet portion or the second magnet portion is rotated by the motor. 16. The method of claim 15,
Wherein the rotation drive portion includes a manual adjustment portion,
Wherein the first magnet portion or the second magnet portion rotates as the user rotates the manual control portion. 12. The method of claim 11,
Wherein the first magnetic module or the second magnetic module includes a plurality of magnet portions, each of the magnet portions is disposed at a predetermined distance in the height direction,
And the magnetic force of the first magnetic module or the second magnetic module is adjusted by adjusting the stacking state between the magnet portions according to the operation of the magnetic force adjusting portion. 12. The method of claim 11,
Wherein the first magnetic module or the second magnetic module further comprises a shielding module disposed between the first magnet portion and the second magnet portion,
Wherein the first magnet portions are spaced apart from each other by the same distance, and each magnet includes a plurality of magnets arranged along a line segment constituting a polygon or a circle,
Wherein the second magnet portion includes a plurality of magnets arranged to correspond to the magnets included in the first magnet portion,
Wherein the magnetic force is adjusted by moving the shielding module to adjust the width of overlap of the magnets included in the shielding module and the second magnet. 12. The method of claim 11,
And a cleaning module located on a side of the window to be attached to the windshield. 12. The method of claim 11,
Further comprising a thickness measuring section for measuring a thickness of the window,
Wherein the magnetic force adjusting unit adjusts the magnetic force of the first magnetic module or the second magnetic module according to the thickness. 12. The method of claim 11,
A sensor for measuring a magnetic force between the first magnetic module and the second magnetic module; and a magnetic force display unit for receiving and displaying the magnetic force information detected by the sensor.

Images