Robot

Abstract

The present embodiment comprises a driving wheel; casters disposed around the drive wheel; and sensors for sensing foreign substances on the surface of the casters; brushes for removing the foreign substances from the surface of the casters; and brush movers that move the brushes to contact positions contacting the casters or separation positions spaced apart from the casters, according to values sensed by the sensors.

What is claimed is: 
     
         1 . A robot comprising;
 a driving wheel;   a caster disposed around the driving wheel; and   a brush configured to come into contact with the caster and remove foreign substances from a surface of the caster.   
     
     
         2 . The robot according to  claim 1 , further comprising;
 a sensor configured to sense foreign substances on the surface of the caster; and   a brush mover configured to move the brush to a contact position in contact with the caster or move the brush to a separation position away from the caster according to a sensing value of the sensor.   
     
     
         3 . The robot according to  claim 2 , wherein the sensor comprises a Tof sensor or an infrared sensor disposed apart from the surface of the caster. 
     
     
         4 . The robot according to  claim 2 , wherein the brush mover comprises;
 a solenoid configured to operate when the sensing value of the sensor exceeds a reference value; and   a spring connecting the solenoid and the brush,   
     
     
         5 . The robot according to  claim 2 , further comprising;
 a processor configured to operate the brush mover in a forward mode or a backward mode.   
     
     
         6 . The robot of according to  claim 2 , wherein if the sensing value of the sensor exceeds a reference value, the brush is moved forward to the caster, and
 if the sensing value of the sensor is within the reference value, the brush is moved back from the caster.   
     
     
         7 . The robot according to  claim 2 , wherein when a forward movement of the brush is completed, the brush is maintained for a set time. 
     
     
         8 . The robot according to  claim 2 , wherein the sensor operates in a set cycle. 
     
     
         9 . The robot according to  claim 8 , further comprising;
 an input interface configured to vary the setting cycle,   
     
     
         10 . The robot according to  claim 2 , further comprising;
 a fan installed in a main body and configured to blow air to the caster.   
     
     
         11 . The robot according to  claim 10 , wherein when the brush moves forward, the fan operates. 
     
     
         12 . The robot according to  claim 2 , wherein if the drive wheel is driving and the sensing value of the sensor exceeds a reference value, the brush is moved forward to the caster. 
     
     
         13 . The robot according to  claim 2 , wherein if the drive wheel is driving, the robot is moving in a straight line, and the sensing value of the sensor exceeds a reference value, the brush moves forward with the caster.