KR20170131174A - Robot cleaner - Google Patents

Abstract

The present invention relates to a robot cleaner, comprising: a cleaner main body provided with a wheel unit for autonomous driving; a suction unit arranged to protrude from one side of the cleaner main body and to suck air containing dust; a sensing unit disposed on one side of the cleaner main body; a dust container accommodated in a dust container accommodating portion formed on the other side of the cleaner main body and collecting dust filtered from the sucked air; and a dust container cap hinge-coupled to the cleaner main body to be rotatable and arranged to cover an upper surface of the dust container when being coupled to the dust container, thereby improving obstacle detection performance.

Description

Robot Cleaner {ROBOT CLEANER}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a robot cleaner that performs a function of cleaning a floor while traveling a certain area by itself.

In general, robots have been developed for industrial use and have been part of factory automation. In recent years, the field of applications of robots has been expanded, and home robots that can be used in ordinary households as well as aerospace robots and medical robots have been made.

A typical example of a home robot is a robot cleaner. The robot cleaner carries out a function of cleaning the floor while traveling a certain area by itself. For example, a home robot cleaner is operated to self-drive the inside of the house, to suck dust (including foreign substances) on the floor, or to mop the floor.

Such a robot cleaner generally includes a rechargeable battery and various sensors capable of avoiding obstacles during traveling, so that the robot cleaner runs the inside of the house by itself and performs a cleaning function.

It is important to set the whole path and to detect obstacles in the traveling route for smooth self-running of the robot cleaner. The robot cleaner also performs functions such as photographing and monitoring the inside of the house using autonomous driving characteristics. In order to perform the above-described functions, various sensors are used in the robot cleaner, but the optimized design has not yet been studied.

In addition, a conventional robot cleaner has a structure in which a suction unit is provided at the bottom of the cleaner main body. However, the structure in which the suction part is housed in the cleaner main body has problems such as deterioration of suction force and inability to separate the brush roller. However, the structure of the suction unit is not limited to the case where the possibility of collision between the suction unit and the obstacle is increased, the suction unit is installed in the blind spot of the sensing unit provided in the cleaner body, There are many points that need to be solved in terms of location and so on.

The structure in which the dust container is coupled to the cleaner body and the dust container cover is coupled to the dust container is important for accurate assembly of the respective components and ease of assembly.

In addition, the air introduced into the robot cleaner passes through a HEPA filter, which typically filters fine dust before being discharged through an exhaust port. In order to replace or clean the HEPA filter, a conventional robot cleaner uses a part of the cleaner main body There was an inconvenience to disassemble.

Patent Document 1: U.S. Published Patent Application No. US 2013/0305484 A1 (published on November 21, 2013) Patent Document 2: U.S. Published Patent Application No. 2013/0061420 A1 (published on Mar. 13, 2013) Patent Document 3: U.S. Published Patent Application No. 2013/0061417 A1 (published on March 13, 2013)

SUMMARY OF THE INVENTION It is a first object of the present invention to provide a new sensing unit capable of implementing a forward surveillance / photographing function, a SLAM (Simultaneous Localization and Mapping) function and an obstacle sensing function while minimizing a sensing unit and improving an obstacle sensing performance have.

A second object of the present invention is to provide a suction unit capable of detecting a collision with an obstacle more directly by supplementing the sensing unit and detecting a step or a cliff which is rapidly lowered ahead .

A third object of the present invention is to provide a structure in which the assembling convenience between the cleaner main body, the dust container and the dust container cover can be improved.

A fourth object of the present invention is to provide a structure in which an easy replacement of a filter for filtering fine dust can be achieved.

The robot cleaner of the present invention comprises: a cleaner main body having a wheel unit for autonomous travel; A suction unit arranged to protrude from one side of the cleaner main body and to suck air containing dust; A sensing unit disposed on one side of the cleaner main body; A dust container accommodated in a dust container accommodating portion formed on the other side of the cleaner main body and collecting dust filtered from the sucked air; And a dust container cap which is hingedly coupled to the cleaner main body and is rotatable, the dust container cap being disposed to cover the upper surface of the dust container when the dust container is coupled to the dust container.

In order to accomplish the first object of the present invention, a robot cleaner of the present invention comprises: a cleaner main body having a wheel unit and a control unit for controlling driving of the wheel unit; A suction unit arranged to protrude from one side of the cleaner main body and to suck air containing dust; And a sensing unit disposed at one side of the cleaner main body, wherein the sensing unit comprises: a first sensing unit arranged obliquely with respect to one surface of the cleaner main body so as to photograph the front and the upper side of the sensing unit; And a second sensing unit arranged in a direction intersecting with the first sensing unit and sensing an obstacle located in front of the first sensing unit.

The sensing unit may be arranged to overlap the suction unit in a vertical direction of the cleaner main body.

The first sensing unit may be positioned at an upper corner where the upper surface and the side surface of the cleaner body meet.

The second sensing unit may be disposed on a side surface of the cleaner main body.

The control unit may sense the current position in the travel region using the upward image captured by the first sensing unit.

The control unit compares the forward images photographed by the first sensing unit at predetermined time intervals to generate control signals when the forward images are different from each other.

The second sensing unit may include: a first laser that irradiates a laser toward a front lower side; A second laser for irradiating a laser toward the front upper side; And a camera for photographing the laser irradiated by the first laser and the second laser within a predetermined photographing area.

The first laser, the second laser, and the camera may be arranged in a line along the vertical direction of the cleaner main body.

The first laser may be inclined downward with respect to a side surface of the cleaner main body, and the second laser may be inclined upward with respect to a side surface of the cleaner main body.

The control unit may determine that an obstacle is located ahead of the obstacle when the obstacle is detected in the front of the camera, and control the driving of the wheel unit.

The shooting region may include an area from the bottom to the top of the cleaner body.

Wherein the sensing unit includes: a window disposed to cover the first and second sensing units and formed of a light-transmitting material; And a case mounted on the cleaner main body and accommodating at least a part of the window.

The window may include a first window formed of a light-transmitting material and disposed to cover the first sensing unit; And a second window formed of a translucent material and disposed to cover the second sensing unit.

A through hole may be formed in a portion of the second window corresponding to the first sensing unit, and the first window may be disposed to cover the through hole.

Wherein the second window comprises: a first portion having the through-hole; A second portion extending downwardly from the first portion in an inclined manner and disposed to cover the first and second lasers; An extension extending downwardly from the second portion and covered by the case; And a third portion extending downwardly from the extension portion and projecting from the outside of the case, the third portion being disposed to cover the camera.

In order to attain the second object of the present invention, the robot cleaner of the present invention comprises: a cleaner main body having a wheel unit and a control unit for controlling driving of the wheel unit; And a suction unit arranged to project from one side of the cleaner body and to suck air containing dust, wherein the suction unit comprises: a case; And a bumper switch which is disposed to cover at least one side of the case and which is pressed upon contact with an obstacle and transmits a contact signal to the control unit.

When the contact signal is transmitted through the bumper switch, the controller determines that the vehicle is hit by an obstacle and controls driving of the wheel unit.

The bumper switch includes: a front bumper switch provided on a front side of the case; And a side bumper switch provided on both sides of the case, respectively.

The side bumper switch may be arranged to protrude laterally from both sides of the cleaner main body.

The bumper switch includes a bumper mounted on the case and exposed to the outside, being pressurized when the bumper switch is in contact with an obstacle and movable inward; And a switch disposed inside the bumper and adapted to generate an electrical signal when the bumper is moved inward.

The bumper switch may further include an elastic member interposed between the bumper and the case to press the bumper.

The suction unit may further include a cliff sensor disposed at a front-end portion on the bottom side of the case, for sensing a downward terrain.

The control unit may control driving of the wheel unit when it is detected that the downward terrain is lowered to a certain level or more through the cliff sensor.

The suction unit may further include a charging terminal disposed at a front end portion on the bottom side of the case and configured to be connectable with the charging station.

The clipping sensors may be provided on both sides of the charging terminal.

The case includes: a main case portion having a brush roller rotatable therein; And a cover case part detachably coupled to the main case part to open and close an opening provided at one side of the main case part.

The suction unit may further include an operation unit that is operable to operate the main case unit and releases the locking of the cover case unit with respect to the main case unit during the operation.

The suction unit may further include an elastic member provided inside the other side of the main case part and elastically pressing the brush roller.

In order to achieve the third object of the present invention, the robot cleaner of the present invention comprises a cleaner main body; A suction unit arranged to protrude from one side of the cleaner main body and to suck air containing dust; A dust container accommodated in a dust container accommodating portion formed on the other side of the cleaner main body and collecting dust filtered from the sucked air; And a dust container cap which is hingedly coupled to the cleaner body and is rotatable, and is disposed to completely cover the upper surface of the dust container when the dust container is coupled to the dust container.

The dust container cover may be provided with a touch key.

The dust container cover may be provided with a touch screen for outputting time information and receiving a touch input for the time information.

The dust container cover may be provided with a display unit for outputting time information.

A sub circuit board electrically connected to the main circuit board provided in the cleaner main body is provided in the dust container lid and an infrared ray receiving unit for receiving an infrared signal can be mounted on the sub circuit board.

The dust container cover may protrude from the upper surface of the cleaner body so that the infrared receiver can receive an infrared signal flowing through the side surface of the dust container cover.

The dust container includes: a recess portion formed on an upper surface; A grip portion hinged to the recess portion so as to be rotatable and configured to be received in the recess portion; And an elastic portion elastically pressing the grip portion so that the grip portion is in a state of being projected obliquely with respect to the upper surface.

When the hook portion is fastened to the locking portion, the handle portion may be pressed by the dust container cover to be received in the recess portion. The dust container cover may include a hook portion that is fastenable to the locking portion of the dust container.

Wherein the locking portion comprises: a button portion configured to be pressed on a side surface of the dust container; And the hook portion is configured such that the hook portion can be hooked, and the hook portion is released from engagement with the hook portion when the button portion is pressed.

The dust container according to any one of claims 1 to 3, further comprising: an accommodating portion formed to be recessed on an upper surface and having side holes opened laterally; And a fixing hook that is mounted on the receiving portion and is configured to be movable in a lateral direction and inserted into the fixing portion formed on the cleaner main body when protruding through the side hole.

A pressing projection may be formed on the back surface of the dust container cover to press the fixing hook outward when the dust container cover is inserted into the receiving portion when the dust container cover is fastened to the dust container.

A portion of the pressing protrusion which faces the fixing hook when inserted into the receiving portion may be tapered.

A mounting guide protrudes from a bottom surface of the dust container receiving portion, and a mounting groove corresponding to the mounting guide may be formed in a bottom portion of the dust container.

On both sides of the dust container, fixing protrusions arranged to cover the inner wall of the dust container housing part may be formed.

In order to achieve the fourth object of the present invention, the robot cleaner of the present invention comprises: a cleaner main body having an intake port and an exhaust port; And a filter unit accommodated in the cleaner main body and disposed in front of the exhaust port to filter fine dust, wherein the filter unit has a filter accommodating portion, and the filter accommodating portion is hinged to the cleaner main body, A filter case configured to be rotatable to be exposed to the outside; And a filter mounted on the filter accommodating portion.

The cleaner main body is provided with a dust container receiving portion, and the air outlet may be formed on an inner wall of the cleaner main body which defines the dust container receiving portion.

The filter case is configured to be received in the cleaner main body through an opening formed in the inner wall, and the dust container receiving portion can be defined together with the inner wall while being housed in the cleaner main body.

The filter case may be positioned in the dust container receiving portion in a state rotated to open the opening.

The filter case may be provided with a vent which communicates with the filter accommodating portion and is arranged to face the vent.

Effects of the present invention obtained through the above-mentioned solution are as follows.

First, the first sensing unit of the sensing unit is inclined with respect to one surface of the cleaner body so that both the front and the top are taken together, and the control unit separates the captured image into the forward image and the upward image according to different purposes, The sensing unit can be used more efficiently and the sensing unit provided for the existing purpose can be integrated into one.

The second sensing unit of the sensing unit is provided with first and second lasers for respectively irradiating the laser toward the front lower side and the front upper side and the camera for photographing the laser, As a result, the obstacle avoidance ability of the robot cleaner can be improved.

In addition, since the first sensing unit and the second sensing unit are integrated to form a single sensing unit, a robot cleaner having a new form factor can be provided.

Secondly, a bumper switch that is mechanically operated on the suction unit arranged in a protruding form from one side of the cleaner main body is provided, so that a direct detection can be performed when the bumper switch is collided with an obstacle. Further, since the side bumper switches provided on both sides of the suction unit are arranged to protrude laterally from both sides of the cleaner main body, the detection of the lateral obstacles can be effectively performed.

When the above-described bumper switch is combined with the sensing unit, a further improved obstacle detection and direction switching function can be realized.

In addition, when the cliff sensor is attached to the inclined portion of the suction unit, if there is a step or a cliff which abruptly drops in front of the cliff sensor, the cliff sensor can be detected in advance and an appropriate avoidance maneuver can be performed.

Further, the cover case portion of the suction unit is configured to open and close the opening of the main case portion, so that the brush roller incorporated in the main case portion can be configured to be drawn out to the outside. Therefore, cleaning of the brush roller can be made easier.

Thirdly, the dust box and the cleaner main body are fastened together by fastening the dust box and the dust box cover, and the fastening between the dust box and the cleaner body is released by unclamping the dust box and the dust box cover, The assembling convenience of the structures can be improved.

In addition, the middle frame of the dust bin case is provided with a receiving portion which is disposed so as to cover the upper portion of the infrared ray receiving unit and which is open at the front so as to receive infrared rays, whereby the infrared ray receiving unit Can be prevented. Further, the side surface of the dust bin cover is disposed so as to protrude from the upper surface of the cleaner main body, so that the reception performance of the infrared ray receiving unit can be improved.

Fourthly, the filter case is hinged to the cleaner main body and is configured to open and close the opening formed in the inner wall of the dust container receiving portion, so that the filter case is disposed in the dust container receiving portion while being rotated to open the opening, , The filter can be easily replaced.

1 is a perspective view illustrating an example of a robot cleaner according to the present invention.
2 is a plan view of the robot cleaner shown in Fig.
3 is a side view of the robot cleaner shown in Fig.
Fig. 4 is a view showing the sensing unit separated in the robot cleaner shown in Fig. 1. Fig.
5 is an exploded perspective view of the sensing unit shown in Fig.
Fig. 6 conceptually shows a cross section of the sensing unit shown in Fig. 4; Fig.
FIG. 7 is a view for explaining separation of an image photographed by the first sensing unit shown in FIG. 6; FIG.
FIG. 8 is a diagram for explaining a concept of detecting an obstacle by the second sensing unit shown in FIG. 4; FIG.
Fig. 9 is a view showing the suction unit detached from the robot cleaner shown in Fig. 1. Fig.
Fig. 10 is a side view of the suction unit shown in Fig. 9; Fig.
11 is a front view of the suction unit shown in Fig.
Fig. 12 shows the bottom of the suction unit shown in Fig. 9; Fig.
Fig. 13 is a view for explaining the concept that the brush roller protrudes by the operation of the operating portion in the suction unit shown in Fig. 9; Fig.
FIG. 14 is a view showing the dust bin separated from the robot cleaner shown in FIG. 1; FIG.
Fig. 15 is a bottom view of the dust container shown in Fig. 14; Fig.
FIG. 16 is a conceptual view showing a state in which the lower case of the dust bin shown in FIG. 14 is opened.
FIG. 17 is a conceptual view showing a state in which the upper case and the upper cover are separated from the dust container shown in FIG. 14;
Fig. 18 is a view showing the dust bin cover removed in the robot cleaner shown in Fig. 1. Fig.
FIG. 19 is an exploded perspective view of the dust bin cover shown in FIG. 18; FIG.
FIG. 20 is a view showing a cleaner main body in which a dust container is separated in the robot cleaner shown in FIG. 1; FIG.
Fig. 21 is a rear view of the dust bin cover shown in Fig. 18; Fig.
22 is a sectional view showing the structure in which the hook portion shown in FIG. 21 is fastened to the dustbin.
23 and 24 are a conceptual view and a sectional view showing a structure in which the dust container is fastened to the cleaner body by the pressing projection shown in Fig.
Fig. 25 is a conceptual diagram showing a state in which the filter unit shown in Fig. 22 is rotated. Fig.
26 is an exploded perspective view of the filter unit shown in Fig.

Hereinafter, a robot cleaner according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a perspective view showing an example of a robot cleaner 100 according to the present invention, FIG. 2 is a plan view of the robot cleaner 100 shown in FIG. 1, and FIG. 3 is a schematic view of the robot cleaner 100 shown in FIG. Fig.

Referring to FIGS. 1 to 3, the robot cleaner 100 performs a function of cleaning a floor while traveling on a certain area by itself. Cleaning of the floor includes suction of dust on the floor (including foreign matter) or mopping the floor.

The robot cleaner 100 includes a cleaner main body 110, a suction unit 120, a sensing unit 130, and a dust box 140.

The cleaner main body 110 is provided with a control unit (not shown) for controlling the robot cleaner 100 and a wheel unit 111 for traveling the robot cleaner 100. The robot cleaner 100 can be moved forward or backward or to the left or to the right by the wheel unit 111.

The wheel unit 111 includes a main wheel 111a and a sub wheel 111b.

The main wheel 111a is provided on both sides of the cleaner main body 110 and is configured to be rotatable in one direction or another direction according to a control signal of the control unit. Each of the main wheels 111a can be configured to be drivable independently of each other. For example, each main wheel 111a may be driven by a different motor.

The sub wheel 111b supports the cleaner main body 110 together with the main wheel 111a and assists the running of the robot cleaner 100 by the main wheel 111a. The sub wheel 111b may also be provided in the suction unit 120 described later.

As described above, the control unit controls the driving of the wheel unit 111, so that the robot cleaner 100 is made to run on the floor autonomously.

Meanwhile, a battery (not shown) for supplying power to the robot cleaner 100 is mounted on the cleaner main body 110. The battery may be configured to be rechargeable and may be detachably attached to the bottom of the cleaner body 110.

The suction unit 120 is arranged to protrude from one side of the cleaner main body 110 to suck air containing dust. The one side may be the side where the cleaner main body 110 travels in the forward direction F, that is, the front side of the cleaner main body 110.

In this figure, it is shown that the suction unit 120 is protruded from one side of the cleaner main body 110 to both front and left and right sides. Specifically, the front end of the suction unit 120 is disposed at a position spaced forward from the one side of the cleaner main body 110, and the left and right ends of the suction unit 120 are spaced apart from one side of the cleaner main body 110 .

The cleaner main body 110 is formed in a circular shape and both sides of the rear end of the suction unit 120 are protruded from the cleaner main body 110 to the left and right sides, Space, that is, a gap can be formed. The empty space is a space between both left and right ends of the cleaner main body 110 and both left and right ends of the suction unit 120 and has a shape recessed inward of the robot cleaner 100.

If an obstacle is caught in the empty space, the robot cleaner 100 may be blocked by an obstacle. In order to prevent this, a cover member 129 may be arranged to cover at least a part of the empty space. The cover member 129 may be provided in the cleaner main body 110 or the suction unit 120. A cover member 129 is formed on both sides of the rear end of the suction unit 120 so as to cover the outer peripheral surface of the cleaner main body 110. [

The cover member 129 is disposed to fill at least part of the empty space, that is, the empty space between the cleaner main body 110 and the suction unit 120. In other words, the cover member 129 is disposed so as to fill at least a part of the inwardly recessed space between the left and right outer peripheral surfaces of the cleaner body 110 formed in a curved surface and the left and right both ends of the suction unit 120 protruded from the left and right outer peripheral surfaces. do. Accordingly, it is possible to prevent the obstacle from being caught in the empty space, or to easily remove the obstacle from the obstacle even if the obstacle is caught in the empty space.

The cover member 129 protruding from the suction unit 120 can be supported on the outer circumferential surface of the cleaner main body 110. The cover member 129 may be supported on the rear portion of the suction unit 120. In this case, According to the structure, when the suction unit 120 is impacted by an impact with an obstacle, a part of the impact is transmitted to the cleaner main body 110 so that the impact can be dispersed.

The suction unit 120 may be detachably coupled to the cleaner main body 110. When the suction unit 120 is separated into the cleaner main body 110, a mop module (not shown) may be detachably coupled to the cleaner main body 110 in place of the separate suction unit 120. Accordingly, when the user desires to remove dust on the floor, the suction unit 120 may be mounted on the cleaner main body 110, and the mop module may be mounted on the cleaner main body 110 when the floor is to be cleaned.

When the suction unit 120 is mounted on the cleaner main body 110, the mounting can be guided by the cover member 129 described above. That is, the cover member 129 is disposed so as to cover the outer peripheral surface of the cleaner main body 110, whereby the relative position of the suction unit 120 with respect to the cleaner main body 110 can be determined.

A sensing unit 130 is disposed in the cleaner main body 110. The sensing unit 130 may be disposed on one side of the cleaner body 110 where the suction unit 120 is located, that is, on the front side of the cleaner body 110. The sensing unit 130 may protrude from the upper surface and the side surface of the cleaner main body 110 and the upper end 134b1 of the sensing unit 130 may protrude upward from the upper surface of the cleaner main body 110. [

The sensing unit 130 may be arranged to overlap the suction unit 120 in the vertical direction of the cleaner main body 110. The sensing unit 130 is disposed at an upper portion of the suction unit 120 so as to detect an obstacle or feature in front of the suction unit 120 so that the suction unit 120 positioned at the forefront of the robot cleaner 100 does not hit the obstacle.

The sensing unit 130 is further configured to perform a sensing function other than the sensing function. This will be described in detail later.

The cleaner main body 110 is provided with a dust receptacle 113. The dust receptacle 140 separates and collects the dust in the sucked air is detachably coupled to the dust receptacle 113. [ As shown in the figure, the dust receptacle 113 may be formed on the other side of the cleaner main body 110, that is, behind the cleaner main body 110. The dust container receiving portion 113 has a shape opened to the rear of the cleaner main body 110 and may be formed to be recessed toward the front side from the rear side of the cleaner main body 110.

A part of the dust container 140 is received in the dust container receiving portion 113 and another portion of the dust container 140 protrudes toward the rear of the cleaner body 110 (i.e., the reverse direction R opposite to the forward direction F) .

The dust box 140 is formed with an inlet 140a (see FIG. 14) through which air containing dust is introduced and an outlet 140b (see FIG. 14) through which dust is separated. The inlet 140a and the outlet 140b at the time of mounting the first and second openings 140a and 140b are connected to the first opening 110a (see FIG. 20) and the second opening 110b (see FIG. 20) formed in the inner side wall of the dust receptacle accommodating portion 113 Respectively.

The suction flow path in the cleaner main body 110 corresponds to the flow path from the inflow port (not shown) communicating with the communicating portion 120b "to the first opening 110a, and the air flow path from the second opening 110b to the air outlet 112).

The air containing the dust introduced through the suction unit 120 flows into the dust container 140 through the intake air passage in the cleaner main body 110 and the filter or cyclone of the dust container 140 Air and dust are separated from each other as they pass through. The dust is collected in the dust container 140 and the air is discharged from the dust container 140 and then discharged to the outside through the discharge port 112 of the cleaner main body 110 and finally through the discharge port 112.

Hereinafter, the sensing unit 130 will be described in more detail.

4 is an exploded perspective view of the sensing unit 130 shown in FIG. 4, and FIG. 6 is an exploded perspective view of the sensing unit 130 shown in FIG. 1 is a conceptual view of a cross section of the sensing unit 130 shown. For reference, in FIG. 6, for the sake of convenience of explanation, some configurations are excluded or briefly shown.

4 to 6, the sensing unit 130 includes a first sensing unit 131 and a second sensing unit 132.

The first sensing unit 131 is disposed obliquely with respect to one surface of the cleaner main body 110 so as to photograph both the front side and the upper side. The first sensing unit 131 may be a camera. One surface of the cleaner main body 110 may be a bottom surface parallel to the bottom surface or an upper surface or a side surface of the cleaner main body 110. The first sensing portion 131 may be disposed at an acute angle It can be arranged obliquely. For example, the first sensing unit 131 may be disposed at an angle of 30 degrees with respect to the upper surface of the cleaner main body 110 parallel to the floor.

The first sensing unit 131 may be positioned at an upper corner of the cleaner body 110 where the upper surface and the side surface meet. In the figure, the first sensing unit 131 is disposed at the upper center corner of the cleaner main body 110, and is inclined relative to the upper surface and the side surface.

As described above, the first sensing unit 131 is inclined within a range of an acute angle with respect to one surface of the cleaner main body 110, so that the first sensing unit 131 is arranged to photograph both the front side and the upper side.

7, the image captured by the first sensing unit 131 is separated into a forward image A and an upward image B. In FIG.

7, the front image A and the upper image B captured by the first sensing unit 131 can be divided based on the vertical angle of view α of the first sensing unit 131 . That is, an image corresponding to a part? 1 of the angle of view? Of the photographed image A + B is recognized as a forward image A, and an image corresponding to another part? 2 of the angle of view? Can be recognized as the upper image B.

The front image A photographed by the first sensing unit 131 is used to monitor forward in real time. For example, when the robot cleaner 100 is used for home use, the forward image A photographed by the first sensing unit 131 may be used to monitor intrusion of an empty house, For example, a mobile terminal possessed by a user).

In the case where the forward image A photographed by the first sensing unit 131 is configured to monitor the trespassing of the empty house, the following control can be performed. The control unit compares the forward images A photographed by the first sensing unit 131 with a predetermined time interval to generate a control signal when the forward images A are different from each other. The control may be performed while the cleaner main body 110 is stopped. The control signal may be a warning sound output signal, or a transmission signal for notifying an electronic device through a remote connection, providing a captured front image A, and the like.

In the case where the forward image A photographed by the first sensing unit 131 is provided to provide an image of the house to the electronic apparatus via the remote connection, the following control can be performed. When the video request signal is received from the remote-connected electronic device, the control unit can separate the forward image A of the images photographed by the first sensing unit 131 and send it to the electronic device. The control unit may be configured to control the driving of the wheel unit 111 to move to a specific position and then transmit the forward image A at the corresponding position to the electronic device.

The upper image B photographed by the first sensing unit 131 is used to generate a map of the running area and to sense the current position in the running area. For example, when the robot cleaner 100 is used for home use, the controller generates a map of the traveling area using the boundary between the ceiling and the side of the upper image B photographed by the first sensing unit 131 And the current position in the travel region can be sensed based on the main feature points of the upper image B.

The second sensing unit 132 is disposed in a direction crossing the first sensing unit 131 to detect obstacles or features located in the front. In this figure, the second sensing unit 132 is arranged long on the side surface of the cleaner main body 110 along the vertical direction.

The second sensing unit 132 includes a first laser 132a, a second laser 132b, and a camera 132c.

The first laser 132a irradiates the laser toward the front lower side of the robot cleaner 100 and the second laser 132b irradiates the laser toward the upper front side of the robot cleaner 100. [ The first laser 132a and the second laser 132b may be arranged in a line along the vertical direction. In this figure, the second laser 132b is arranged below the first laser 132a.

The camera 132c is configured to photograph the laser beam irradiated by the first laser 132a and the second laser 132b within a preset photographing area. The preset photographing area includes an area from the floor to the upper end of the robot cleaner 100. Therefore, the obstacle ahead of the robot cleaner 100 can be detected, and the problem that the robot cleaner 100 hits the upper obstacle can be prevented.

The preset photographing area may be, for example, an angle of view of 105 degrees in a vertical direction, an angle of view 135 degrees in a lateral direction, and an area within 25 meters ahead. The predetermined photographing area can be changed by various factors such as the installation position of the first and second lasers 132a and 132b, the angle of irradiation of the first and second lasers 132a and 132b, and the height of the robot cleaner 100 have.

The first laser 132a, the second laser 132b and the camera 132c may be arranged in a line along the vertical direction of the cleaner main body 110. [ In this figure, the camera 132c is disposed below the second laser 132b.

The first laser 132a is disposed downwardly inclined with respect to the side surface of the cleaner main body 110 and the second laser 132b is disposed upwardly inclined with respect to the side surface of the cleaner main body 110. [

In FIG. 8, the concept that an obstacle is detected by the second sensing unit 132 shown in FIG. 4 is shown.

First, referring to FIG. 8A, the laser beams emitted from the first and second lasers 132a and 132b are configured to irradiate a laser beam extending in at least one direction. In this figure, the first laser 132a irradiates a linear laser beam crossing each other, and the second laser 132b irradiates a single linear laser beam. According to this, the lowermost laser is used to detect obstacles in the bottom part, the uppermost laser is used to detect obstacles in the upper part, and the intermediate laser between the lowermost laser and the uppermost laser is used to detect obstacles in the middle part .

For example, as shown in FIG. 8 (b), when the obstacle o is located in front, the lowermost laser and a part of the intermediate laser are blocked or distorted by the obstacle o. The camera 132c transmits an obstacle detection signal to the control unit when the blocking or distortion is detected.

When the obstacle detection signal is received, the controller determines that the obstacle (o) is located ahead and controls the driving of the wheel unit (111). For example, the control unit may apply a driving force in the opposite direction to the main wheel 111a so that the robot cleaner 100 moves backward. Alternatively, the control unit may apply a driving force to only one of the main wheels 111a or apply driving force to the main wheels 111a in opposite directions so that the robot cleaner 100 rotates.

Hereinafter, the detailed configuration of the sensing unit 130 will be described.

5, the sensing unit 130 further includes a window unit 133 and a case 134 in addition to the first sensing unit 131 and the second sensing unit 132. [

The window portion 133 is disposed so as to cover the first and second sensing portions 131 and 132 and has a light transmitting property. Here, the term " translucency " means a property of transmitting at least a part of incident light, and is a concept including a translucency.

The window portion 133 may be formed of a synthetic resin material or a glass material. When the window portion 133 is semi-transmissive, the material itself may be formed to have a translucency, the material itself may be transmissive, and the film attached to the material may be formed to have a translucency .

The case 134 is mounted on the cleaner main body 110 and is configured to fix the first and second sensing parts 131 and 132 and the window part 133. [ As shown, the case 134 is configured to receive at least a portion of the window portion 133. The case 134 may be formed of a synthetic resin material or a metal material, and is opaque.

As shown, the case 134 may include a mounting frame 134a and a cover frame 134b.

The mounting frame 134a provides a space in which the first and second sensing units 131 and 132 are mounted and supported. The mounting frame 134a may be provided with a first mounting portion 134a1 for mounting the first sensing portion 131 and a second mounting portion 134a2 for mounting the second sensing portion 132, have. The substrate 132 'on which the first and second lasers 132a and 132b and the camera 132c are mounted may be mounted on the second mounting portion 134a2. The second mounting portion 134a2 may be disposed obliquely with respect to the first mounting portion 134a1.

The mounting frame 134a is provided with first and second fastening hooks 134a 'and 134a "for fastening with the cover frame 134b and the window portion 133. The first fastening hook 134a' Is fastened to the fastening hole 134b 'of the frame 134b and the second fastening hook 134a "is fastened to the fastening hole 133b" of the window part 133. The mounting frame 134a is fastened to the cleaner main body 110 As shown in FIG.

The cover frame 134b is coupled to the mounting frame 134a and is mounted on the cleaner body 110 while accommodating at least a part of the window portion 133. [ The cover frame 134b may be formed in an L shape so as to cover the upper surface and the side surface of the cleaner body 110 at an edge thereof.

The upper end 134b1 of the cover frame 134b is positioned on the upper side of the first sensing unit 131 and may be formed to be inclined back and forth to have a pointed shape. According to the above configuration, even if the robot cleaner 100 is caught in furniture or other gaps during traveling, the robot cleaner 100 can be easily detached and the first and second sensing parts 131 and 132 can be separated from each other by the upper end 134b1 positioned above the first and second sensing parts 131 and 132. [ 2 sensing units 131 and 132 can be protected. In the figure, the upper end 134b1 is formed at the end of a hole 134 "described later.

At least a part of the first sensing unit 131 and the second sensing unit 132 may be accommodated in the hole 134b 'formed in the cover frame 134b. In this figure, the first sensing unit 131 ) And the first and second lasers 132a and 132b of the second sensing unit 132 are accommodated in the hole 134b ".

The window portion 133 may include a first window 133a and a second window 133b.

The first window 133a is formed of a light-transmitting material and is disposed to cover the first sensing unit 131. [ The second window 133b has a semi-transmissive property and is arranged to cover the second sensing portion 132. [ As shown in the figure, a through hole 133b 'may be formed in a portion corresponding to the first sensing portion 131 in the second window 133b, and the first window 133a may have a through hole 133b' As shown in Fig.

Since the first sensing unit 131 is formed of a light-transmitting material, images in front and in the upper side can be clearly photographed. The first laser 132a, the second laser 132b, and the camera 132c on the rear surface of the second window 133b are well visible when viewed from the outside, as the second window 133b has translucency A neat appearance can be realized.

The second window 133b may be partitioned into a first portion 133b1, a second portion 133b2, an extending portion 133b4, and a third portion 133b3.

The first portion 133b1 is a portion having the through-hole 133b 'and is disposed obliquely with respect to the upper surface of the cleaner main body 110. [ The first window 133a mounted on the through hole 133b 'is disposed to cover the first sensing unit 131. [

The second portion 133b2 extends downwardly in an inclined form in the first portion 133b1 and is arranged to cover the first and second lasers 132a and 132b. In this embodiment, the second portion 133b2 is shown extending downward in parallel with the side surface of the cleaner main body 110. [

The extension portion 133b4 extends downward in the second portion 133b2 and is covered by the cover frame 134b. As shown, the extension portion 133b4 may extend downward inward from the second portion 133b2. In other words, the extended portion 133b4 can be arranged to be inclined upward with respect to the third portion 133b3 so as not to interfere with the view angle in the vertical direction of the camera 132c. Likewise, the portion of the cover frame 134b that covers the extending portion 133b4 is inclined so as not to interfere with the vertical angle of view of the camera 132c.

The third portion 133b3 extends downward from the extension portion 133b4 and protrudes from the outer side of the cover frame 134b and is arranged to cover the camera 132c. The third portion 133b3 may extend downward along the side of the cleaner body 110 parallel to the second portion 133b2.

Hereinafter, the suction unit 120 will be described in more detail.

9 is a view showing the suction unit 120 separated from the robot cleaner 100 shown in FIG. 1, FIG. 10 is a side view of the suction unit 120 shown in FIG. 9, Fig. 12 is a bottom view of the suction unit 120 shown in Fig. 9. Fig.

In the case where the suction unit 120 protrudes from the cleaner main body 110 as in the present embodiment, the suction unit 120 is not provided with a separate sensing unit 130, . Of course, if the sensing unit 130 provided in the cleaner main body 110 detects an obstacle in front of the suction unit 120, but the obstacle exists in the blind spot where the sensing unit 130 can not sense, the robot cleaner 100) and obstacles may occur. When such a physical collision occurs, avoidance of obstacles through retreat or redirection must be made, and detection of a physical collision with an obstacle is first required.

The suction unit 120 includes a case 121 and a bumper switch 122 for sensing the physical impact.

The case 121 includes an intake port 120b 'for sucking dust-containing air and a communication port 120b' for communicating with an intake flow path inside the cleaner main body 110, which form an outer shape of the suction unit 120 . At least a part of the case 121 may be formed to be transmissive so that the inside thereof can be seen.

A bumper switch 122 is disposed on at least one surface of the case 121. The bumper switch 122 is pressed upon contact with an obstacle to transmit a contact signal to the control unit.

The bumper switch 122 may be arranged to enclose the case 121. [ This figure illustrates that the front bumper switch 122a is provided on the front side of the case 121 and the side bumper switches 122b and 122c are provided on the left and right sides of the case 121, respectively.

According to the above configuration, a physical collision with an obstacle located on the side of the suction unit 120 as well as a physical collision with an obstacle located in front of the suction unit 120 can be detected. Thus, the detection range of the physical collision with the obstacle can be extended.

Referring to FIG. 2, it can be seen that the side bumper switches 122b and 122c protrude from a virtual extension line contacting both sides of the cleaner main body 110. That is, the side bumper switches 122b and 122c may be arranged to protrude laterally from both sides of the cleaner main body 110.

In this case, when the obstacle is positioned on the side surface of the robot cleaner 100, the side bumper switches 122b and 122c may hit the obstacle first rather than the cleaner main body 110, and the obstacle can be effectively detected.

The bumper switch 122 is comprised of a bumper 122 'and a switch 122 ".

The bumper 122 'is mounted on the case 121 and is exposed to the outside. The bumper 122' is configured to be pressurized when in contact with the obstacle and move inward.

An elastic member (not shown) may be disposed on the inside of the bumper 122 'to press the bumper 122' outward so that the bumper 122 'is restored when the bumper 122' is removed from the obstacle . The elastic member may be supported by the bumper 122 'and the case 121, respectively.

The switch 122 "is disposed inside the bumper 122 ' and is configured to generate an electrical signal when the bumper 122 ' is moved inward. As the switch 122" have.

When the contact signal with the obstacle is transmitted through the bumper switch 122, the control unit determines that the obstacle is struck and controls the driving of the wheel unit 111. For example, the control unit may apply a driving force in the opposite direction to the main wheel 111a so that the robot cleaner 100 moves backward. Alternatively, the control unit may apply a driving force to only one of the main wheels 111a or apply driving force to the main wheels 111a in opposite directions so that the robot cleaner 100 rotates.

In the above description, the bumper switch 122 is configured to be divided into the front bumper switch 122a and the side bumper switches 122b and 122c, but the present invention is not limited thereto. The bumper switch 122 may be formed in a 'C' shape so as to cover the front and left and right sides of the case 121.

In this case, the bumper switch 122 is disposed on the rear side (when the portion disposed on the front surface of the case 121 contacts the obstacle), on the right side (when the portion disposed on the left side surface of the case 121 contacts the obstacle) (When the portion disposed on the right side of the case 121 is in contact with the obstacle).

Thus, when the suction unit 120 is provided with the mechanical bumper switch 122, it is possible to prevent the collision with the obstacle more directly (for example, in the case of an acceleration sensor, a PSD sensor, etc.) It is possible to reduce the manufacturing cost, and it is possible to simplify the circuit configuration.

Further, by combining the bumper switch 122 and the sensing unit 130 provided in the cleaner main body 110 described above, it is possible to realize an improved obstacle detection and a corresponding direction switching function.

On the other hand, when the robot cleaner 100 travels in the forward direction F and is located near a step or a cliff falling sharply, a proper avoidance start is required. If such a situation is not detected and corresponding control is not performed, the robot cleaner 100 may fall down the step and may result in failure or step-up.

To this end, a cliff sensor 124 for sensing a downward terrain is disposed at a front end portion on the bottom side of the suction unit 120. The cliff sensor 124 includes a light emitting portion and a light receiving portion and is configured to measure a time when the light emitted to the bottom G from the light emitting portion is received by the light receiving portion and measure the distance between the cliff sensor 124 and the floor G . Therefore, in the case where there is a sudden lowering step in the forward direction, the received time rapidly increases. When there is a cliff in front, light is not received by the light receiving unit.

In this figure, an inclined portion 120a inclined upward with respect to the floor G is formed at the front end portion on the bottom side of the suction unit 120, and a cliff sensor 124 is provided on the inclined portion 120a, As shown in FIG. With this structure, the cliff sensor 124 is inclined toward the bottom G of the front lower side. Therefore, the topography of the front lower side of the suction unit 120 can be detected by the cliff sensor 124. [

Unlike the above arrangement, the cliff sensor 124 may be arranged perpendicular to the floor G and configured to sense the terrain just below the cliff sensor 124. [

The control unit is configured to control the driving of the wheel unit 111 when it is detected through the cliff sensor 124 that the downward terrain is lowered to a certain level or more. For example, the control unit may apply a driving force to the main wheel 111a in a direction opposite to that of the main wheel 111a so that the robot cleaner 100 moves backward in the reverse direction (R). Alternatively, the control unit may apply a driving force to only one of the main wheels 111a or apply driving force to the main wheels 111a in opposite directions so that the robot cleaner 100 rotates.

The above-described cliff sensor 124 may also be disposed on the bottom surface of the cleaner main body 110. In consideration of the function of the cliff sensor 124, it is preferable that the cliff sensor included in the cleaner main body 110 is disposed adjacent to the rear side of the cleaner main body 110.

For reference, the inclined portion 120a is formed at the front end portion on the bottom side of the suction unit 120, so that a low threshold or an obstacle can be easily climbed. Also, as shown in the figure, when the auxiliary wheel 123 is provided on the inclined portion 120a, the climbing can be performed more easily. In FIG. 10, the auxiliary wheel 123 is omitted in order to explain the cliff sensor 124.

Meanwhile, since the robot cleaner 100 is driven by radio, it is required to charge the battery provided in the cleaner main body 110 during use. A charging station (not shown) as a power supply unit is provided for charging the battery, and a charging terminal 125 is provided in the suction unit 120 so as to be connectable with the charging station.

In this figure, the charging terminal 125 is disposed in the inclined portion 120a of the case 121 described above and exposed frontward. The charging terminals 125 may be disposed between the cliff sensors 124 disposed on both sides of the suction unit 120, respectively.

Meanwhile, the suction unit 120 may be provided with a brush roller 126 for effective suction of dust. The brush roller 126 is configured to be rotatable on the suction port 120b 'so as to sweep the dust on the floor and to introduce the dust into the suction unit 120.

As the brush roller 126 functions, the brush roller 126 becomes dusty over time. Although there is a need for cleaning of the brush roller 126, the suction unit 120 is usually formed in a structure difficult to be broken, so that it is difficult to substantially clean the brush roller 126.

The present invention discloses a structure in which only the brush roller 126 can be separated and cleaned without disassembling the suction unit 120 as a whole.

13 is a view for explaining the concept that the brush roller 126 is projected by the operation of the operation unit 127 in the suction unit 120 shown in Fig.

Referring to FIG. 13, the case 121 includes a main case part 121a and a cover case part 121b.

The main case part 121a includes a brush roller 126 rotatable therein, and an opening 121a 'is formed at one side thereof. A front bumper switch 122a is mounted on the front side of the main case portion 121a and side bumper switches 122b and 122c are mounted on the other side of the main case portion 121a.

The cover case 121b is detachably coupled to the main case 121a to open and close the opening 121a 'provided on one side of the main case 121a. The other side bumper switch 122b, 122c is mounted on the cover case 121b.

When the cover case 121b is separated from the main case part 121a by the above structure, the opening 121a 'provided on one side of the main case part 121a is exposed to the outside. Therefore, the brush roller 126 disposed in the main case part 121a can be drawn out to the outside through the opening 121a '.

The suction unit 120 may be provided with an operation unit 127 that releases the locking of the cover case 121b with respect to the main case unit 121a during operation. The operating portion 127 may be disposed in the main case portion 121a or the cover case portion 121b. The operation method of the operation unit 127 can be implemented in various ways such as a slide method and a pushing method. In this figure, it is seen that the slide-type operation portion 127 is provided in the main case portion 121a.

And an elastic member 128 for elastically pressing the brush roller 126 may be provided on the other side of the main case part 121a. As the elastic member 128, a leaf spring, a coil spring, or the like can be used.

The elastic member 128 is in a state in which the cover case portion 121b is pressed by the brush roller 126 when the main case portion 121a is fastened and when the fastening is released by the operation of the operation portion 127, Thereby pressing the brush roller 126. Accordingly, at least a part of the brush roller 126 can be exposed to the outside through the opening 121a '. At this time, as shown in the figure, the cover case 121b may be in a state of being coupled to the brush roller 126. [

Hereinafter, the dust container 140, the dust container case 150, and the dust container receiving portion 113 will be described in more detail.

Fig. 14 is a view showing the dust container 140 separated from the robot cleaner 100 shown in Fig. 1, Fig. 15 is a bottom view of the dust container 140 shown in Fig. 14, And the lower case 141c of the dust container 140 shown in FIG.

The dust container 140 is accommodated in a dust container receiving portion 113 formed on the other side of the cleaner main body 110 and is configured to collect dust that has been filtered from the sucked air. As shown in the figure, the dust container 140 is formed in a cylindrical shape and may include a body case 141a, an upper case 141b, and a lower case 141c.

At least one filter or cyclone may be disposed inside the body case 141a. For example, in the body case 141a, a first cyclone for filtering dust and a second cyclone disposed inside the first cyclone to filter fine dust may be disposed. The upper case 141b is disposed to cover the upper portion of the main body case 141a and the lower case 141c is disposed to cover the lower portion of the main body case 141a.

The dust box 140 is provided with an inlet 140a through which air containing dust is introduced into the dust box 140 and an outlet 140b through which the dust-filtered air is discharged. In this drawing, an inlet 140a and an outlet 140b are formed on the side surface of the main body case 141a, respectively. The inlet 140a and the outlet 140b may be disposed on the same height. In this figure, an inlet 140a and an outlet 140b are formed along the outer circumference at the upper end of the body case 141a.

The dust container 140 is configured to be detachable from the dust container receiving portion 113, so that the dust container 140 can be provided with a handle 143 for easy attachment and detachment. In detail, the handle 143 is hinged to the upper case 141b so as to be rotatable. The upper case 141b is formed with a recess 142 in which the handle 143 can be received.

The handle portion 143 is pressed by the dust container lid 150 and received in the recess portion 142 in a state where the dust container lid 150 is engaged with the dust container 140 so as to cover the dust container 140, (150) protrudes from the recess portion (142) in a state where the dust container (140) is separated from the dust container (140). To this end, the upper case 141b may be provided with an elastic portion (not shown) for elastically pressing the knob 143.

The lower case 141c can be rotatably coupled to the main body case 141a by a hinge portion 141c '. The locking member 141c "provided on the lower case 141c is detachably coupled to the main body case 141a so that the lower case 141c is fixed to the main body case 141a when engaged, The lower case 141c rotates with respect to the main body case 141a so that the dust collected in the dust container 140 is discharged through the lower opening.

FIG. 17 is a conceptual diagram showing a state in which the upper case 141b and the upper cover 141d are separated from the dust container 140 shown in FIG. In the figure, a filter or a cyclone provided inside the dust container 140 is omitted for convenience of explanation.

Referring to FIG. 17 with reference to FIG. 14, the upper cover 141d is configured to open and close the upper opening 141b 'of the dust container 140. FIG. In this embodiment, an upper opening 141b 'is formed in the upper case 141b, and a structure in which the upper cover 141d is detachably coupled to the upper case 141b so as to open and close the upper opening 141b' have. The upper opening 141b 'is disposed so as to overlap on the accommodating portion 141a "of the main body case 141a in which the filter or the cyclone is disposed.

The upper cover 141d is provided with an operating portion 141d 'for engaging and disengaging the upper case 141b. The operating portions 141d 'are respectively formed on both left and right sides of the upper cover 141d so that they can be configured to face each other, that is, to be able to press the inside of the upper cover 141d by a pressing operation and an elastic force.

The upper cover 141d is provided with a fixing protrusion 141d "which is pulled out or drawn out from the outer periphery of the upper cover 141d in conjunction with the operation of the operating portion 141d 'The fixing protrusion 141d" And is in a state of being protruded from the outer periphery of the upper cover 141d when it is unfolded by the elastic force.

A fixing groove 141b "is formed in the inner surface of the upper case 141b forming the upper opening 141b 'by inserting and fixing the fixing protrusion 141d ". The fixing grooves 141b "may be formed at positions corresponding to the fixing projections 141d" and may be arranged to face each other. Alternatively, the fixing groove 141b "may extend in the form of a loop along the inner surface of the upper case 141b. In this case, there is an advantage in that the degree of freedom of mounting the fixing protrusion 141d " increases.

The body case 141a is provided with a guide part 141a 'for separating the flow of air flowing into the inlet 140a and the flow of air discharged toward the outlet 140a from each other and guiding the flow. The guide portion 141a 'may be formed integrally with the body case 141a during injection molding.

The inlet portion 140a and the outlet portion 140b are formed on opposite surfaces of the guide portion 141a '. As shown in the drawing, the inlet portion 140a' The air guide 140a is provided on the lower surface of the guide portion 141a 'so that the air flowing into the inlet 140a flows in the lower portion of the guide portion 141a', and the outlet 140b flows through the guide portion 141a ' The air that is provided on the surface and is discharged toward the outlet 140b flows at the upper portion of the guide portion 141a '.

In the structure in which the inlet 140a and the outlet 140b are formed in parallel to the upper end of the main body case 141a, the guide portion 141a 'extends from the inlet 140a side to the outlet 140b side, And may have a helical shape inclined downward along the inner circumferential surface.

The filter or cyclone in the dust container 140 is received in the receiving portion 141a "and filters foreign matter or dust in the air introduced into the inside through the inlet 140a. The dust box 140 of the present invention flows again from the upper portion of the dust receptacle 141a 'toward the outlet 140b of the dust receptacle 140. The dust receptacle 140 of the present invention once again filters foreign matter or dust before the air thus flowing is finally discharged to the outlet portion 140b Structure.

A filter 141f for filtering foreign matter and dust in the air discharged toward the outlet 140b after passing through the filter or the cyclone is provided on the back surface of the upper cover 141d. The filter 141f is disposed so as to cover the receiving portion 141a "in a state where the upper cover 141d is mounted on the upper case 141b. Or may be in close contact with the inner circumferential surface of the receiving portion 141a ".

The filter 141f may be mounted on the mounting rib 141e protruding from the back surface of the upper cover 141d. In this figure, the mounting rib 141e includes a plurality of protruding portions 141e 'and a mounting portion 141e ". The mounting rib 141e is integrally formed in the injection molding of the upper cover 141d .

The protrusion 141e 'protrudes from the back surface of the upper cover 141d and is provided at a plurality of locations. The mounting portion 141e "is spaced apart from the back surface of the upper cover 141d by a predetermined distance and is supported at a plurality of locations by a plurality of protruding portions 141e '. The mounting portion 141e" It can be formed in a larger loop shape.

The filter 141f includes a filter portion 141f 'and a sealing portion 141f ".

The filter portion 141f 'is disposed to cover the accommodating portion 141a "and is configured to filter foreign matter and dust in the air discharged to the outlet 140b. The filter portion 141f' may have a mesh shape.

The sealing portion 141f "is disposed to surround the filter portion 141f 'and mounted on the mounting portion 141e" so that the filter 141f can be fixed to the mounting rib 141e. For the fixing, the sealing portion 141f "may be formed with a groove into which the mounting portion 141e" is fitted. The sealing portion 141f "may be disposed in close contact with the upper surface of the guide portion 141a 'so as to surround the receiving portion 141a ". Alternatively, the sealing portion 141f "may be in close contact with the inner peripheral surface of the receiving portion 141a ".

According to the structure, the air filtered by the filter or the cyclone can be discharged to the outlet 141f through the empty space between the protruding portions 141e 'through the filter portion 141f'. Here, the empty space is formed on the outer periphery of the filter 141f and communicates with the upper portion of the guide portion 141a '. The sealing portion 141f "is configured to seal a gap between the filter 141f and the upper surface of the guide portion 141a 'closely contacting the filter 141f and the inner peripheral surface of the receiving portion 141a" Dust can be prevented from being discharged to the outlet 141f.

Other detailed configurations of the dust container 140 are structurally related to the dust container case 150 and the dust container receiving portion 113. The dust container case 150 and the dust container receiving portion 113 will be described together.

FIG. 18 is a view showing the dust container cover 150 separated from the robot cleaner 100 shown in FIG. 1. FIG. 19 is an exploded perspective view of the dust container cover 150 shown in FIG.

Referring to FIGS. 18 and 19, the dust box cap 150 is rotatably coupled to the cleaner body 110 by a hinge part 150a. When the dust box cap 150 is coupled to the dust box 140, (140). A portion of the dust container case 150 is received in the dust container receiving portion 113 while another portion of the dust container case 150 is disposed in the backward direction of the cleaner body 110 (R)). The hinge portion 150a is configured to elastically press the dust container cover 150 upward so that when the dust container cover 150 is not engaged with the dust container 140, the hinge portion 150a can be tilted upwardly inclined relative to the upper surface of the dust container 140 have.

The dust container cover 150 may be formed to have a long oval shape in the front-rear direction of the cleaner body 110 and may be disposed so as to completely cover the circular dust container 140 when engaged with the dust container 140. The front and rear lengths of the dust container cover 150 corresponding to the front and rear directions of the cleaner main body 110 may be longer than the left and right lengths of the dust container cover 150 corresponding to the left and right direction of the cleaner main body 110, Is formed to be equal to or longer than the radius of the dustbin case 150.

At least one of the touch key 150 ', the touch screen 150' 'and the display unit (not shown) may be provided on the dust container case 150. The touch screen 150' outputs time information, The display device can be distinguished from a display device that outputs time information but does not have a touch function.

The dust bin cover 150 may include a top cover 151, a bottom cover 152 and a middle frame 153 between the top cover 151 and the bottom cover 152. The structures may be formed of a synthetic resin material.

The top cover 151 may be configured to have a light transmitting property. For example, the top cover 151 itself may be formed to have translucency, or the top cover 151 itself may be formed to have translucency and the film attached to the back surface of the top cover 151 may have a translucency have. As the top cover 151 is transparent, the pictogram of the touch key 150 ', or the time information output from the touch screen 150' or the display can be transmitted to the user through the top cover 151.

A touch sensor for sensing a touch input to the top cover 151 may be attached to the back surface of the top cover 151. The touch sensor may constitute a touch key module 154a and / or a touch screen module 154b, which will be described later.

The bottom cover 152 is engaged with the top cover 151 to form an appearance of the dust box cover 150 together with the top cover 151. [ The bottom cover 152 may be formed of an opaque material and forms a mounting surface on which the electronic device or the sub circuit board 157 can be placed in the dust box lid 150.

The hinge unit 150a may be coupled to the top cover 151 or the bottom cover 152 so as to be rotatably coupled to the cleaner body 110. The hinge portion 150a may be provided on the top cover 151 or the bottom cover 152 itself.

An electronic element or sub circuit board 157 is mounted on the bottom cover 152. For example, a sub circuit board 157 electrically connected to a main circuit board (not shown) of the cleaner main body 110 may be mounted on the bottom cover 152. Here, the main circuit board may be configured as an example of a controller for operating various functions of the robot cleaner 100.

Various electronic elements are mounted on the sub circuit board 157. In this figure, a touch key module 154a, a touch screen module 154b, and an infrared receiving unit 156 (for example, an IR sensor) are electrically connected to the sub circuit board 157. [ The electrical connection includes not only that the electronic component is mounted on the sub circuit board 157 but also that the electronic component is connected to the sub circuit board 157 through the flexible printed circuit board (FPCB).

A pictogram is printed on the top cover 151 on the touch key module 154a and the touch key module 154a detects touch input to the pictogram portion of the top cover 151. [ The touch key module 154a includes a touch sensor, which may be attached to or disposed adjacent to the back surface of the top cover 151. [ The touch key module 154a may further include a backlight unit for illuminating the pictogram.

The touch screen module 154b is configured to provide an output interface between the robot cleaner 100 and the user through the output of time information and to detect the touch input to the top cover 151, Lt; / RTI > The touch screen module 154b includes a display for outputting time information through the top cover 151 and a touch sensor for sensing a touch input to the top cover 151. The touch screen module 154b has a mutual layer structure or is integrally formed Implement a touch screen.

The touch screen module 154b may be received in the through hole 153b of the middle frame 153 and may be coupled to the middle frame 153 by bonding, hook coupling, or the like. In this case, the touch screen module 154b may be electrically connected to the sub circuit board 157 through the flexible printed circuit board. The touch screen module 154b may be attached to or disposed adjacent to the back surface of the top cover 151. [

The dust container cover 150 may be provided with an acceleration sensor 155. The acceleration sensor 155 may be mounted on the sub circuit board 157 or may be electrically connected to the sub circuit board 157 through the flexible printed circuit board. The acceleration sensor 155 senses the gravitational acceleration acting on the acceleration sensor 155 by dividing it into X, Y, and Z vectors that are perpendicular to each other.

The control unit can detect whether the dust bin cover 150 is opened or closed by using the X, Y, Z vector values sensed by the acceleration sensor 155. Specifically, when the dust container case 150 is in the closed state, at least two vector values are changed when the dust container case 150 is opened (tilted state). That is, the vector values sensed through the acceleration sensor 155 vary according to the degree of inclination of the dust bin cover 150.

If the difference between the vector values in the above two states is equal to or greater than the predetermined reference value, the control unit may determine that the dust bin cover 150 is not fastened to the dust bin 140 and generate a corresponding control signal. For example, if the dust bin cover 150 is opened and tilted, the control unit senses this through the acceleration sensor 155, stops the driving of the wheel unit 111, and can generate an alarm.

In addition, when vibration is applied to the dust bin cover 150, the vector values sensed through the acceleration sensor 155 are changed. The control unit may be configured to switch the touch screen module 154b from the OFF state to the ON state when a change in the vector values equal to or greater than a preset reference value is detected within a predetermined time. For example, if the user touches the dust container cover 150 a plurality of times while the touch screen module 154b is inactivated, the controller senses the detected acceleration through the acceleration sensor 155 and activates the touch screen module 154b You can call.

A gyro sensor may be used instead of the acceleration sensor 155 described above. Alternatively, the acceleration sensor 155 and the gyro sensor may be used together to provide enhanced sensing performance by complementing each other.

The infrared receiving unit 156 may be disposed at each corner of the sub circuit board 157 and may be configured to receive infrared signals transmitted in different directions. Here, the infrared signal may be a signal output from the remote controller during operation of a remote controller (not shown) for controlling the robot cleaner 100.

The middle frame 153 is disposed to cover the sub circuit board 157 and has through holes 153a corresponding to the touch key module 154a and the touch screen module 154b mounted on the sub circuit board 157, And 153b. The inner surface defining the through holes 153a and 153b is formed to surround the touch key module 154a and the touch screen module 154b, respectively.

Each corner of the middle frame 153 may be provided with a receiving portion 153c which is disposed to cover the upper portion of each of the infrared receiving units 156 and has a front opening so as to receive infrared rays. According to this arrangement, the infrared ray receiving unit 156 is disposed to face the side surface of the dust bin cover 150 (specifically, the side surface of the transparent cover 151 having transparency). Since the upper portion of the infrared ray receiving unit 156 is covered by the receiving portion 153c, malfunction of the infrared ray receiving unit 156 by the three-wavelength lamp or sunlight disposed on the ceiling can be prevented.

At least a part of the dust bin cover 150 may be disposed so as to protrude from the upper surface of the cleaner body 110. As shown in the figure, the top cover 151 may have a tapered portion 151a extending downward from the top surface. The tapered portion 151a extends along the outer circumference of the top cover 151 and is connected to the upper surface of the cleaner main body 110 in a state where the dust container case 150 is coupled to the dust container 140, It can be positioned to protrude.

If a vertically downwardly extending side surface is formed on the top surface of the top cover 151, the infrared signal received by the top cover 151 from the corner of the top cover 151 is refracted or reflected to form an infrared receiving unit 156 May be deteriorated. Further, if the side surface of the top cover 151 is completely covered by the upper surface of the cleaner main body 110, the deterioration of the receiving performance of the infrared ray receiving unit 156 is intensified.

However, according to the above structure, the infrared signal introduced into the top cover 151 is transmitted to the infrared receiving unit 156, which is disposed adjacent to the inside of the tapered portion 151a, without being refracted or reflected by the tapered portion 151a . Since the tapered portion 151a is positioned so as to protrude from the upper surface of the cleaner main body 110 and a plurality of infrared ray receiving units 156 are provided and are spaced apart from each other at a predetermined interval on the inside of the tapered portion 151a, An infrared signal can be received. Therefore, the reception performance of the infrared ray receiving unit 156 can be improved.

Hereinafter, the fixing structure of the dust container 140 will be described.

20 is a view showing the cleaner main body 110 in which the dust container 140 is separated from the robot cleaner 100 shown in FIG.

Referring to FIG. 20 with reference to FIG. 15, a first opening 110a and a second opening 110b are provided on the inner wall of the dust container receiving portion 113. The first opening 110a and the second opening 110b may be disposed on the same height. In this figure, the first opening 110a and the second opening 110b are formed along the inner periphery at the upper end of the inner wall of the dust container receiving portion 113, respectively.

The first and second openings 110a and 110b are connected to the inlet 140a and the outlet 140b of the dust container 140 and the outlet 140b of the dust container 140 in order to connect the dust container 140 to the intake / Respectively. Here, the correct mounting and fixing of the dust container 140 is an important problem.

A mounting guide 113a is formed on the bottom surface of the dust container receiving portion 113 and a mounting groove 148 corresponding to the mounting guide 113a is formed on the bottom portion of the dust container 140. [ The dust container 140 is disposed in the dust container receiving portion 113 by being disposed so that the mounting groove 148 covers the mounting guide 113a (that is, the mounting guide 113a is accommodated in the mounting groove 148) Can be fixed primarily.

The reason why the fixing is called primary fixing is that the dust box 140 may be rotated. In order to prevent rotation of the dust container 140, fixing protrusions 149 protrude from both sides of the dust container 140 and are disposed to cover at least a part of the inner wall of the dust container receiving portion 113.

In this figure, fixing protrusions 149 are protruded from both sides of the lower case 141c. It goes without saying that the fixing protrusion 149 may be formed in the main body case 141a or the upper case 141b.

According to the above structure, the fixing protrusion 149 is disposed to fill a gap between the dust container receiving portion 113 and the dust container 140. [ Therefore, even if the dust container 140 receives the rotational force, the fixing protrusion 149 is caught by the dust container receiving portion 113 and rotation can be restricted.

The robot cleaner 100 of the present invention has a structure in which the dust container 140 and the cleaner main body 110 are fastened to each other by fastening the dust container 140 and the dust container case 150 to each other. Hereinafter, the structure will be described.

First, a coupling structure of the dust container 140 and the dust container case 150 will be described.

FIG. 21 is a rear view of the dust container cover 150 shown in FIG. 18, and FIG. 22 is a sectional view showing a structure in which the hook portion 158 shown in FIG. 21 is fastened to the dust container 140.

Referring to FIGS. 21 and 22 together with FIG. 15, the dust container cover 150 has a hook portion 158 that is fastenable to the locking portion 144 of the dust container 140. In this figure, a hook portion 158 is protruded on one side of the bottom surface of the bottom cover 152.

When the hook portion 158 is fastened to the locking portion 144, the handle portion 143 provided at the upper portion of the dust container 140 is pressed by the dust container case 150 and accommodated in the recess portion 142. The grip portion 143 is pressed by the elastic portion 128 and protruded from the recess portion 142. As a result, As shown in the figure, the handle 143 may be inclined with respect to the upper case 141b.

The locking portion 144 provided in the dust container 140 includes a button portion 144a and a locking portion 144b.

The button portion 144a is configured to be pressed on the side surface of the dust container 140. The hook portion 144b is configured to engage with the hook portion 158 of the dust container case cover 150, So that the engagement with the hook portion 158 is released during the pressing operation. The latching portion 144b may be formed on the upper portion of the dust container 140. [

The hook portion 158 is formed in the dust container cover 150 and the blocking portion 144 is provided in the dust container 140. The hook portion and the locking portion may be formed in different positions. In other words, the dust container case 150 may be provided with a locking portion, and the dust container 140 may be provided with a hook portion.

23 and 24, a structure in which the dust container 140 and the cleaner main body 110 are fastened to each other will be described.

23 and 24 are a conceptual view and a cross-sectional view showing a structure in which the dust container 140 is fastened to the cleaner body 110 by the pressing protrusion shown in FIG. In FIG. 23, for convenience of explanation, the dust bin cover 150 is omitted.

Referring to these figures, the inner wall defining the dust container receiving portion 113 is provided with a fixing portion 114 into which a part of a fixing hook 147 described later is inserted. The fixing portion 114 has a shape of a groove or a hole and may be provided on both left and right sides of the dust container receiving portion 113, respectively.

The dust container 140 has a receiving portion 146 and a fixing hook 147.

The receiving portion 146 is formed to be recessed from the upper surface of the dust container 140 and has side holes 146a opened laterally. In this figure, the receiving portions 146 are formed on the left and right sides of the upper case 141b.

The side hole 146a is disposed to face the fixing portion 114 in a state in which the dust box 140 is mounted in the correct position of the dust box receiving portion 113. [ The mounting guide 113a-mounting groove 148 and the fixing protrusion 149 may be used for the above-described fixation.

The fixing hook 147 is mounted to the receiving portion 146 and configured to be movable laterally. When the locking hook 147 is pressed outward, it is moved outward and then moved inwardly by an elastic portion (not shown) to be placed in the home position. At this time, the fixing hook 147 is configured to protrude to the outside of the dust container 140 through the side hole 146a.

A press protrusion 159 inserted into the receiving portion 146 is protruded from the back surface of the dust container cover 150 when the dust container cover 150 is fastened to the dust container 140. The above-described hook portion 158-locking portion 144 structure may be used for the fastening.

The pressing projection 159 is configured to press the fixing hook 147 outward when the receiving projection 146 is inserted into the receiving portion 146. For this, a portion of the pressing protrusion 159, which faces the fixing hook 147 when inserted into the receiving portion 146, may form a tapered inclined portion 159a.

With this structure, when the press protrusion 159 of the dust box cover 150 is inserted into the receiving portion 146, the fixing hook 147 protrudes outward from the dust box 140 through the side hole 146a, And is inserted into the opening 114. [ Accordingly, the dust container 140 can be fastened to the cleaner body 110.

The structure described above is specific in that the dust container 140 and the cleaner main body 110 are fastened together by fastening the dust container 140 and the dust container case 150 together. Conversely, the disengagement of the dust box 140 and the cleaner main body 110 is also performed by unclamping the dust box 140 and the dust box lid 150 so that the dust box 140 can be separated from the cleaner main body 110 It can be said that the assembly convenience can be improved.

The dust container cover 150 is rotatably coupled to the cleaner body 110 through the hinge portion 150a and is detachably attached to the dust container 140 by the structure of the hook portion 158 and the locking portion 144 Lt; / RTI > When the dust container case 150 is fastened to the dust container 140, the dust container 140 and the cleaner body 110 are fastened together.

That is, there is no direct coupling between the dust container case 150 and the cleaner body 110, and the dust container 140 is fastened to the dust container case 150 and the cleaner body 110, respectively. Therefore, when the dust container 140 is not attached, the dust container case 150 is freely rotatable about the hinge 150a, that is, not fixed, to the cleaner main body 110. As described above, in this unfixed state, the dust bin cover 150 can be arranged to be tilted by the hinge portion 150a which provides an elastic pressing force upward.

In addition, a switch 147a may be provided on the inner side of the fixing hook 147 to detect whether the dust container case 150 and the dust container 140 are fastened together. When the fixing hook 147 is moved outward, the switch 147a is pressed to generate a signal. The control unit can detect whether or not the dust container case 150 and the dust container 140 are fastened to each other based on a signal transmitted by the switch 147a. As the switch 147a, a known micro switch can be used.

Of course, because of the structure in which the dust container case 150 is not closed without the dust container 140 due to the engagement of the dust container case 150, the dust container 140 and the cleaner main body 110, The user can intuitively confirm whether or not the dust container case 150 and the dust container 140 are fastened by checking the state of the dust container case 150 with the naked eye.

On the other hand, the air filtered in the dust container 140 is discharged from the dust container 140 and finally discharged to the outside through the air outlet 112. Here, a filter unit 160 for filtering fine dust contained in the filtered air is disposed in front of the exhaust port 112. Hereinafter, the filter unit 160 will be described.

Fig. 25 is a conceptual diagram showing the state in which the filter unit 160 shown in Fig. 22 is rotated, and Fig. 26 is an exploded perspective view of the filter unit 160 shown in Fig.

Referring to FIGS. 25 and 26 together with FIG. 20, the filter unit 160 is accommodated in the interior of the cleaner body 110 and disposed in front of the exhaust port 112. The filter unit 160 is exposed to the outside when the dust container 140 is separated from the dust container receiving portion 113. Here, the exhaust port 112 may be formed on the inner wall of the cleaner main body 110 defining the dust container receiving portion 113. The air outlet 112 may be formed at one side of the dust container receiving portion 113. 24, the exhaust port 112 is formed on the left side of the dust container receiving portion 113 along the height direction of the cleaner main body 110 in the drawing.

The filter unit 160 includes a filter case 161 and a filter 162.

The filter case 161 has a hinge portion 161c hinged to the inner wall of the cleaner main body 110 defining the dust container receiving portion 113. [ Therefore, the filter case 161 is configured to be rotatable with respect to the cleaner main body 110.

The filter case 161 has a filter accommodating portion 161a and a vent 161b communicating with the filter accommodating portion 161a and disposed to face the exhaust port 112. [ The air flowing into the filter case 161 is discharged to the air vent 161b through the filter 162 mounted in the filter accommodating portion 161a.

The filter 162 is mounted on the filter accommodating portion 161a. As the filter 162, a HEPA filter for filtering fine dust may be used. The filter 162 may be provided with a handle 162a.

This figure illustrates that a filter accommodating portion 161a is formed on the front surface of the filter case 161 and a vent 161b is formed on the side surface of the filter case 161. [ More specifically, a through-hole 161e is formed in a side surface of the filter case 161, and a filter 162 (not shown) is formed on the bottom surface of the filter case 161 to guide insertion of the filter 162 through the through- A guide rail 161f is formed to protrude along the insertion direction of the guide rail 161f.

The mounting structure of the filter 162 to the filter case 161 is not limited thereto. As another example, unlike the structure shown in this figure, the filter 162 may be mounted at the front surface of the filter case 161 and be accommodated in the filter accommodating portion 161a. In this case, the filter 162 can be fixed to the filter accommodating portion 161a through the hook coupling.

The filter case 161 is configured to be housed in the cleaner body 110 through an opening 115 formed in an inner wall of the cleaner body 110. The filter case 161 is housed in the cleaner body 110, 110) with the inner wall of the dust receptacle (113). For this, the outer surface of the filter case 161 may have a rounded shape, and preferably a curved surface having substantially the same curvature as the inner wall of the dust container receiving portion 113.

A handle 161d may be formed on one side of the filter case 161 that defines the dust receptacle 113 together with the inner wall of the cleaner main body 110. [ 2 and 20, when the dust container 140 is received in the dust container receiving portion 113, the handle 161d is covered by the dust container 140 and is not exposed to the outside.

The filter case 161 can be disposed in the dust container receiving portion 113 in a state rotated to open the opening 115. [ According to this structure, the filter accommodating portion 161a is exposed to the outside, and the filter 162 can be easily replaced.

Claims (20)

A cleaner main body having a wheel unit and a control unit for controlling driving of the wheel unit;
A suction unit protruding from a front part and a left part of the cleaner main body, the other part being disposed to overlap with the cleaner main body, and having an inlet port for sucking dust on the floor; And
A cover disposed in the cleaner main body or the suction unit and arranged to fill at least a part of a space recessed inward between left and right outer peripheral surfaces of the cleaner body formed as a curved surface and left and right ends of the suction unit protruded from the left and right outer peripheral surfaces, A robot cleaner comprising a member. The method according to claim 1,
Wherein the cover member is formed to protrude from both sides of the suction unit and to cover a part of the left and right outer circumferential surfaces. 3. The method of claim 2,
And the cover member is supported on the left and right outer circumferential surfaces, respectively. 3. The method of claim 2,
Wherein the suction unit is detachably coupled to the cleaner body,
Wherein the cover member is disposed so as to cover the left and right outer peripheral surfaces when the suction unit is mounted on the cleaner main body, thereby guiding the mounting. The method according to claim 1,
The suction unit includes:
A case communicating with the intake port and the intake passage in the cleaner main body; And
And a bumper switch disposed to cover at least one side of the case and adapted to be pressed upon contact with an obstacle to transmit a contact signal to the control unit. 6. The method of claim 5,
Wherein when the control unit receives the contact signal from the bumper switch, the control unit determines that an obstacle is hit and controls driving of the wheel unit. 6. The method of claim 5,
Wherein the bumper switch is integrally formed so as to cover at least a part of the front side and left and right sides of the case, and is movable to the rear side, the left side, or the right side of the case when the bumper switch comes in contact with an obstacle. 6. The method of claim 5,
The bumper switch includes:
A front bumper switch provided on a front side of the case; And
And a side bumper switch provided on both sides of the case. 9. The method according to claim 7 or 8,
Wherein some of the bumper switches are disposed so as to protrude laterally from left and right ends of the cleaner main body. 6. The method of claim 5,
The bumper switch,
A bumper mounted on the case and protruding outwardly, the bumper being pressurized when being in contact with an obstacle so as to be movable inward; And
And a switch disposed inside the bumper so as to generate an electric signal when the bumper is moved inward. 11. The method of claim 10,
The bumper switch includes:
And an elastic member interposed between the bumper and the case to press the bumper. The method according to claim 1,
The suction unit includes:
And an inclined portion formed at a front portion of the bottom portion located in front of the inlet port and inclined upward with respect to the floor. 13. The method of claim 12,
The suction unit includes:
And a cliff sensor disposed at the inclined portion to detect a downward terrain. 14. The method of claim 13,
Wherein the control unit controls driving of the wheel unit when it is detected that the downward terrain is lowered to a predetermined level or higher through the cliff sensor. 14. The method of claim 13,
Wherein the cliff sensor is disposed obliquely toward the bottom of the front lower side to detect the topography of the front lower side. 13. The method of claim 12,
The suction unit includes:
And a charging terminal disposed at the inclined portion and configured to be connectable with the charging station. 17. The method of claim 16,
And the charging terminal is exposed in front of the suction unit. 13. The method of claim 12,
The suction unit includes:
Further comprising an auxiliary wheel provided on the inclined portion. A cleaner main body having a wheel unit and a control unit for controlling driving of the wheel unit;
A suction unit arranged to protrude from one side of the cleaner main body and to suck air containing dust;
A dust container accommodated in a dust container accommodating portion formed on the other side of the cleaner main body and collecting dust filtered from the sucked air; And
And a dust container cap which is detachably coupled to the dust container so as to cover the upper surface of the dust container,
The suction unit includes:
A case having an inclined portion inclined upwards with respect to the floor at a front end portion on the bottom side;
An auxiliary wheel provided on the inclined portion;
A cliff sensor disposed in the inclined portion and sensing a downward terrain; And
And a charging terminal disposed at the inclined portion and configured to be connectable with the charging station. 20. The method of claim 19,
The suction unit includes:
Further comprising a bumper switch which is disposed to cover at least one side of the case and which is pressed upon contact with an obstacle to transmit a contact signal to the control unit.

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