Robot cleaner and control method thereof

Abstract

A robot cleaner includes a rotation motor; a rotation member that is rotatable by driving of the rotation motor having a first surface, a second surface, and an opening through the rotation member and penetrating the first surface and the second surface; and a floorcloth coupling member disposed on the second surface and having a floorcloth attaching unit insertable into the opening to be detachably coupled to a floorcloth in contact with the first surface. The rotation member and the floorcloth coupling member are configured so that, when the floorcloth attaching unit is inserted into the opening and detachably coupled to the floorcloth, the rotation member rotates in a first state, the floorcloth attaching unit remains coupled to the floorcloth. When the rotation member rotates in a second state, the floorcloth attaching unit exits the opening so that the floorcloth becomes detached from the floorcloth attaching unit.

What is claimed is: 
     
         1 . A robot cleaner, comprising:
 a main body in which a rotation motor is disposed, including a plurality of stoppers partially protruding from a lower portion of the main body;   a rotation member that is rotatable by driving of the rotation motor, and having a first surface, a second surface opposite to the first surface, and an opening through the rotation member and penetrating the first surface and the second surface; and   a floorcloth coupling member disposed on the second surface, and having a floorcloth attaching unit insertable into the opening to be detachably coupled to a floorcloth in contact with the first surface,   wherein the floorcloth coupling member includes:
 an axis hole through which an axis of the rotation member passes, and 
 a stopper coupling including a plurality of stopper holes and a plurality of stopper ribs alternately disposed along a circumference of the axis hole. 
   
     
     
         2 . The robot cleaner according to  claim 1 ,
 wherein the floorcloth coupling member is formed in a disk shape, and   the stopper coupling is located on an inside of the floorcloth coupling member based on a radial direction of the floorcloth coupling member.   
     
     
         3 . The robot cleaner according to  claim 1 ,
 when the floorcloth attaching unit is inserted into the opening and detachably coupled to the floorcloth in contact with the first surface, and the rotation member rotates in a first direction, the floorcloth attaching unit remains coupled to the floorcloth, and   when the floorcloth attaching unit is inserted into the opening and detachably coupled to the floorcloth in contact with the first surface, and the rotation member rotates in a second direction opposite to the first direction, the floorcloth attaching unit exits the opening so that the floorcloth becomes detached from the floorcloth attaching unit.   
     
     
         4 . The robot cleaner according to  claim 1 ,
 the plurality of stoppers are inserted into or removed from the corresponding plurality of stopper holes of the stopper coupling in response to a rotation direction of the rotation member.   
     
     
         5 . The robot cleaner according to  claim 1 ,
 the stopper is released from the stopper coupling in a first state, and the stopper is coupled with the stopper coupling in a second state to limit the rotation of the floorcloth coupling member.   
     
     
         6 . The robot cleaner according to  claim 1 , further comprising:
 a lifting motor configured to move the rotation member in an axial direction,   wherein the rotation member moves toward the stopper by the lifting motor in a second state, and the stopper is coupled to the stopper coupling.   
     
     
         7 . The robot cleaner according to  claim 1 , further comprising:
 a stopper moving unit configured to move the stopper toward the stopper coupling or away from the stopper coupling,   wherein the stopper, in a second state, moves toward the stopper coupling by the stopper moving unit and is coupled to the stopper coupling.   
     
     
         8 . The robot cleaner according to  claim 1 ,
 wherein the stopper includes an insertion portion that can be inserted from an upper side of the floorcloth coupling member into the stopper coupling,   and the insertion portion includes an inclined surface.   
     
     
         9 . The robot cleaner according to  claim 1 ,
 wherein the stopper includes an insertion portion that can be inserted from an upper side of the floorcloth coupling member into the stopper coupling, and an elastic member that is elastically connected to the insertion portion.   
     
     
         10 . The robot cleaner according to  claim 1 ,
 wherein the plurality of stoppers are inserted into the corresponding plurality of stopper holes in a second state, and when the rotation member rotates, they contact the stopper rib adjacent to the stopper hole.