ROBOT CLEANER

Abstract

The present disclosure relates to a robot cleaner including a housing formed with a suction port through which air containing foreign substances is sucked, a shutter installed forward of the suction port of the housing and configured to be movable upward or downward to adjust a gap with respect to a cleaning target, and a shutter driving part configured to operate the shutter in accordance with a foreign substance detection part, thereby ensuring cleaning performance while allowing relatively large foreign substances to pass therethrough.

Description

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims priority to Korean Patent Application No. 10-2024-0182876, filed on December 10, 2024, Korean Patent Application No. 10-2025-0051710, filed on April 21, 2025, the entire contents of which are incorporated herein for all purposes by this reference.

BACKGROUND OF THE DISCLOSURE

FIELD OF THE DISCLOSURE

The present disclosure relates to a robot cleaner, and more particularly, to a robot cleaner capable of ensuring cleaning performance while allowing relatively large foreign substances to pass therethrough.

DESCRIPTION OF THE RELATED ART

A cleaner refers to a device that cleans a target cleaning region by sucking dust or foreign substances or wiping the target cleaning region.

The cleaners may be classified into a manual cleaner which is moved directly by a user to perform a cleaning operation, and an automatic cleaner which performs a cleaning operation while autonomously traveling.

In this case, the robot cleaner sucks foreign substances such as dust from the floor while autonomously traveling in a zone to be cleaned. In addition, the robot cleaner may clean a cleaning region while automatically traveling by using an obstacle sensor or other sensors provided in the robot cleaner. Alternatively, the robot cleaner may be operated manually by a remote controller wirelessly connected to the robot cleaner so that the robot cleaner may clean the cleaning region while traveling.

In a robot cleaner in the related art, when a front space of a suction port is narrowed in order to improve cleaning performance, relatively large foreign substances cannot pass through the suction port, which causes a problem in that large foreign substances cannot be sucked. In addition, when the front space of the suction port is widened in order to suck relatively large foreign substances, there is a problem in that cleaning performance cannot be improved.

Meanwhile, German Patent No. DE 10-2019-120933 B discloses a vacuum cleaner provided with a movable sealing means that moves to an open position in order to suck foreign substances while moving so that the movable sealing means is adjacent to or in contact with a floor.

However, the vacuum cleaner needs to be provided with an actuator configured to operate the movable sealing means, and the vacuum cleaner performs a manual operation in which the vacuum cleaner needs to receive a signal to operate the actuator, which requires a user's intervention. As a result, in a state in which the user does not intervene, there is a problem in that large foreign substances cannot be sucked, or cleaning performance deteriorates.

In addition, the user needs to recognize the floor and operate the actuator of the movable sealing means, and the user cannot identify a position of the movable sealing means, which causes a problem of a deterioration in use convenience.

SUMMARY OF THE DISCLOSURE

The present disclosure is proposed to solve these problems with the robot cleaner in the related art and aims to provide a robot cleaner provided with a shutter configured to automatically operate while recognizing foreign substances located at a front side, the robot cleaner being capable of improving cleaning performance while being capable of sucking relatively large foreign substances without a user's intervention.

The present disclosure also aims to provide a robot cleaner in which a shutter is disposed adjacent to a suction port, which may more effectively improve cleaning performance when the shutter is moved downward.

The present disclosure also aims to provide a robot cleaner that may identify a position of a shutter and identify whether a shutter driving part operates normally, which may improve product reliability.

The present disclosure also aims to provide a robot cleaner in which foreign substances easily pass through a shutter even in a state in which the shutter is moved downward and thus disposed adjacent to a cleaning target, which may improve cleaning performance and convenience.

In order to achieve the above-mentioned objects, a robot cleaner according to the present disclosure may include: a housing formed with a suction port through which air containing foreign substances is sucked; a shutter installed forward of the suction port of the housing and configured to be movable upward or downward to adjust a gap with respect to a cleaning target; and a shutter driving part configured to operate the shutter in accordance with a foreign substance detection part.

The foreign substance detection part may detect sizes of foreign substances placed on the cleaning target disposed forward of the housing, and the shutter driving part may operate the shutter in accordance with the sizes of the foreign substances detected by the foreign substance detection part.

The foreign substance detection part may detect types of foreign substances placed on the cleaning target disposed forward of the housing, and the shutter driving part may operate the shutter in accordance with the types of the foreign substances detected by the foreign substance detection part.

The shutter may move in a direction perpendicular to the cleaning target.

The shutter may be disposed to be spaced apart from the cleaning target, and the gap with respect to the cleaning target may be 2 mm or more and 6 mm or less.

The robot cleaner may further include: a shutter guide configured to move the shutter upward or downward while being moved in a longitudinal direction of the suction port by the shutter driving part.

The shutter guide may be provided with a rail at least partially inclined toward one side based on the longitudinal direction of the suction port, the rail being configured such that a guide protrusion provided on the shutter is inserted into the rail and moved along the rail.

The shutter may include: a shutter body; and a scraper provided on a lower portion of the shutter body and disposed to protrude rearward and downward.

The scraper may be provided with at least one slit cut out by a predetermined length from a lower end of the scraper.

The shutter body may be disposed along the suction port in a state in which the shutter body stands.

The robot cleaner may further include: a first detection part configured to detect the shutter guide positioned at a first position; and a second detection part configured to detect the shutter guide positioned at a second position, in which the shutter driving part operates the shutter until the first detection part or the second detection part detects the shutter guide.

The robot cleaner may further include: a first detection part configured to detect the shutter positioned at a first position; and a second detection part configured to detect the shutter positioned at a second position, in which the shutter driving part operates the shutter when a signal is inputted from the foreign substance detection part, and the shutter driving part operates the shutter until the first detection part or the second detection part detects the shutter.

A failure may be determined when the shutter is not detected by the first detection part or the second detection part within a preset time after the shutter driving part operates.

The housing may include: an agitator casing in which an agitator is disposed, the agitator casing being provided with the suction port; and a shutter installation part provided at a front outer side of the agitator casing and formed with a shutter insertion hole into which the shutter is inserted.

The robot cleaner may further include: a pair of wheels disposed at two opposite sides of the suction port of the housing and configured to roll along the cleaning target; and an auxiliary wheel disposed in the housing and configured to roll along the cleaning target, in which the shutter is disposed between the auxiliary wheel and the suction port.

In addition, a robot cleaner according to the present disclosure may include: a housing formed with a suction port through which air containing foreign substances is sucked; and a shutter installed forward of the suction port of the housing and configured to be movable upward and downward to adjust a gap with respect to a cleaning target, in which the shutter is moved in a direction perpendicular to the cleaning target by a shutter driving part.

The robot cleaner according to the present disclosure described above is provided with the shutter configured to automatically operate while recognizing foreign substances located at the front side, such that the robot cleaner may suck relatively large foreign substances without the user's intervention, thereby improving cleaning performance.

In addition, the shutter is disposed adjacent to the suction port, which may more effectively improve cleaning performance when the shutter is moved downward.

In addition, the position of the shutter may be identified, and whether the shutter driving part operates normally may be identified, thereby improving product reliability.

In addition, foreign substances easily pass through the shutter even in the state in which the shutter is moved downward and thus disposed adjacent to a cleaning target, which may improve cleaning performance and convenience.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view illustrating a robot cleaner according to an embodiment of the present disclosure.

FIG. 2 is a side view of FIG. 1.

FIG. 3 is a bottom plan view of FIG. 1.

FIG. 4 is a rear view of FIG. 1.

FIG. 5 is a cross-sectional view of FIG. 3 and explains an internal structure of a housing of the robot cleaner according to the embodiment of the present disclosure.

FIG. 6 is an enlarged cross-sectional view for explaining a shutter and a shutter driving part of the robot cleaner according to the embodiment of the present disclosure.

FIGS. 7 and 8 are enlarged cross-sectional views for explaining an operation of the shutter operated by the shutter driving part of the robot cleaner according to the embodiment of the present disclosure.

FIGS. 9 to 11 are views for explaining operations of a shutter guide and the shutter operated by the shutter driving part of the robot cleaner according to the embodiment of the present disclosure.

FIG. 12 is a block diagram illustrating a control configuration in the robot cleaner according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE DISCLOSURE

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

The present disclosure may be variously modified and may have various embodiments, and particular embodiments illustrated in the drawings will be specifically described below. The description of the embodiments is not intended to limit the present disclosure to the particular embodiments, but it should be interpreted that the present disclosure is to cover all modifications, equivalents and alternatives falling within the spirit and technical scope of the present disclosure.

In the description of the present disclosure, the terms such as "first" and "second" may be used to describe various constituent elements, but the constituent elements may not be limited by the terms. These terms are used only to distinguish one constituent element from another constituent element. For example, a first component may be named a second component, and similarly, the second component may also be named the first component, without departing from the scope of the present disclosure.

The term "and/or" may include any and all combinations of a plurality of the related and listed items.

When one constituent element is described as being "coupled" or "connected" to another constituent element, it should be understood that one constituent element can be coupled or connected directly to another constituent element, and an intervening constituent element can also be present between the constituent elements. When one constituent element is described as being "coupled directly to" or "connected directly to" another constituent element, it should be understood that no intervening constituent element is present between the constituent elements.

The terminology used herein is used for the purpose of describing particular embodiments only and is not intended to limit the present disclosure. Singular expressions may include plural expressions unless clearly described as different meanings in the context.

The terms "comprises," "comprising," "includes," "including," "containing," "has," "having" or other variations thereof are inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, components, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by those skilled in the art to which the present disclosure pertains. The terms such as those defined in a commonly used dictionary may be interpreted as having meanings consistent with meanings in the context of related technologies and may not be interpreted as ideal or excessively formal meanings unless explicitly defined in the present application.

Further, the following embodiments are provided to more completely explain the present disclosure to those skilled in the art, and shapes and sizes of elements illustrated in the drawings may be exaggerated for a more apparent description.

FIG. 1 is a perspective view illustrating a robot cleaner according to an embodiment of the present disclosure, FIG. 2 is a side view of FIG. 1, FIG. 3 is a bottom plan view of FIG. 1, and FIG. 4 is a rear view of FIG. 1.

A structure of a robot cleaner 200 will be described below with reference to FIGS. 1 to 4.

The robot cleaner 200 may automatically clean a zone to be cleaned by sucking foreign substances such as dust from a floor while autonomously traveling in the zone to be cleaned.

The robot cleaner 200 according to the embodiment of the present disclosure is configured to be placed on a floor and clean the floor while moving on a floor surface. Therefore, hereinafter, an upward/downward direction is defined based on a state in which the robot cleaner 200 is placed on the floor.

Further, based on a pair of wheels 260, a side at which an auxiliary wheel 270 to be described below is defined as a front side, and a side at which the rotary cleaning part 240 to be described below is disposed is defined as a rear side.

Among the portions described in the embodiment of the present disclosure, a 'lowermost portion' may be a portion positioned at a lowest position or a portion closest to the floor when the robot cleaner 200 according to the embodiment of the present disclosure is placed on the floor and used.

The robot cleaner 200 according to the embodiment of the present disclosure includes a housing 210, a dust collection part 220, a water container 230, the rotary cleaning part 240, the wheels 260, the auxiliary wheel 270, and a charging terminal 280.

The housing 210 may define an overall external shape of the robot cleaner 200. Components constituting the robot cleaner 200 may be coupled to the housing 210, and some of the components constituting the robot cleaner 200 may be accommodated in the housing 210.

Specifically, the components of the robot cleaner 200 may be provided in a space in the housing 210. For example, a battery and at least one motor may be accommodated in the space in the housing 210.

In the embodiment of the present disclosure, the housing 210 has a shape in which a width (or diameter) in a horizontal direction is larger than a height in an upward/downward direction. The housing 210 may provide an advantageous structure that assists the robot cleaner 200 in having a stable structure and allows the robot cleaner 200 to avoid an obstacle while moving (traveling).

The housing 210 may have various shapes such as a circular shape, an elliptical shape, or a quadrangular shape when viewed from above or below.

The housing 210 may be divided into a lower body and an upper body, and the lower body and the upper body may be coupled to define the space in the housing 210.

The lower body may be coupled to the upper body to define the space capable of accommodating therein the battery, at least one sensor, and at least one motor.

A suction part 211 into which air is introduced may be formed in the lower body, and a hole configured to accommodate the pair of wheels 260 may be formed in the lower body.

An upper body cover 212 may define an external appearance of an upper side of the robot cleaner 200. Although not illustrated, a display may be provided on the upper body.

The robot cleaner 200 of the present disclosure may include a bumper. The bumper is coupled along a rim of the housing 210 and configured to move relative to the housing 210.

The bumper may be coupled along a part of the rim of the housing 210 or coupled along the entire rim of the housing 210. At least one elastic member (not illustrated) may be provided between the bumper and the housing 210. With this configuration, when the bumper comes into contact with an obstacle or the like and relatively moves toward a center of the housing 210, the bumper may be returned to an original position by a restoring force of the elastic member (not illustrated), and the elastic member (not illustrated) may absorb or disperse impact applied to the bumper to prevent and reduce the transmission of the impact to the housing 210.

FIG. 5 is a cross-sectional view of the robot cleaner according to the embodiment of the present disclosure.

An air flow path in the robot cleaner according to the embodiment of the present disclosure will be described below with reference to FIG. 5.

The suction part 211 may be accommodated in the housing 210 and communicate with the dust collection part 220. In addition, the suction part 211 may include a dust outlet port 211a, a suction flow path 211b, an agitator 211c, and a suction port 211d.

The suction port 211d may be formed in a lower portion of the housing 210 and disposed between the rotary cleaning part 240 and the auxiliary wheel 270. In addition, the suction port 211d may be disposed between the pair of wheels 260.

The suction port 211d may be formed such that a width in a leftward/rightward direction is larger than a width in a forward/rearward direction. For example, the suction port 211d may be formed in a rectangular shape when a bottom surface of the housing 210 is viewed.

Therefore, when the robot cleaner 200 travels on a cleaning target surface, dust existing on a cleaning target surface may flow into the housing 210 through the suction port 211d.

The agitator 211c may be rotatably accommodated in the suction part 211. With this configuration, dust existing around the suction part 211 may be guided into the suction part 211 by a rotation of the agitator 211c, thereby improving efficiency in sucking dust.

The agitator 211c may be positioned at an upper side of the suction port 211d. The agitator 211c may be provided with a plurality of brushes configured to be rotatable and guide outside dust and air into the dust collection part 220. In this case, the agitator 211c may be provided with at least one gear and receive rotational power from an agitator motor (not illustrated).

The agitator 211c according to the present embodiment may be equipped with a separate agitator motor (not illustrated) to receive rotational power. According to the embodiment, the agitator 211c may also receive rotational power from a driving motor or receive rotational power from the drive part of the rotary cleaning part 240.

The housing 210 may be provided with an agitator casing 212 in which the agitator 211c is rotatably installed, and the suction port 211d is provided. In one example, the agitator casing 212 may be configured by coupling an upper casing 212a and a lower casing 212b, and the suction port 211d may be provided in a lower portion of the lower casing 212b.

The housing 210 may be provided with first and second ends 211da and 211db disposed with the suction port 211d interposed between in the forward/rearward direction. That is, the suction port 211d is disposed between the first end 211da and the second end 211db of the housing 210, the suction port 211d is disposed rearward of the first end 211da, and the second end 211db is disposed rearward of the suction port 211d.

The first end 211da and the second end 211db may be ends for forming the suction port 211d, and the first end 211da may be disposed above the second end 211db. Foreign substances on a cleaning target 10 may flow into the housing 210 through the suction port 211d disposed between the first end 211da and the cleaning target 10.

In this case, as a gap between the first end 211da and the cleaning target 10 becomes smaller, a suction force of the robot cleaner 200 may be increased, but relatively large foreign substances cannot pass through the gap. Further, as the gap between the first end 211da and the cleaning target 10 becomes larger, large-sized foreign substances may be sucked, but the suction force may be decreased. Therefore, the robot cleaner 200 according to the present disclosure may be provided with a shutter 310 installed forward of the first end 211da and configured to adjust a gap with respect to the cleaning target 10. The shutter 310 may adjust the gap with respect to the cleaning target 10 in accordance with a cleaning zone, sizes and types of foreign substances, traveling modes, and the like. The shutter 310 may be provided with a foreign substance detection part 350 configured to detect these factors. The shutter 310 will be described below specifically.

The second end 211db may be a lower end of a suction guide installed at an end adjacent to the suction port 211d of the lower casing 212b and configured to guide foreign substances on the cleaning target 10 into the suction port 211d.

The suction flow path 211b may guide a flow of dust-containing air from the cleaning target surface to the dust collection part 220. Specifically, dust or air, which is allowed to flow into the housing 210 by the rotational operation of the agitator 211c, may move to the dust collection part 220 through the suction flow path 211b.

The suction flow path 211b may extend toward a rear side of a space in which the agitator 211c is accommodated, and the suction flow path 211b may communicate with the dust collection part 220.

A longitudinal axis of the suction flow path 211b extending rearward may be inclined with respect to a ground surface and inclined in a direction toward a suction motor 290. More specifically, an angle of the longitudinal axis of the suction flow path 211b with respect to the ground surface may be 0 degrees or more and less than 90 degrees. In other words, the suction flow path 211b may be formed to be inclined upward and rearward.

That is, the suction flow path 211b may be formed at a shortest distance that enables the suction flow path 211b to receive a rotational force of the suction motor 290. Therefore, it is possible to increase the suction force of the robot cleaner 200 and improve the efficiency of the suction motor 290.

The dust outlet port 211a may be formed at one end of the suction flow path 211b, and the dust outlet port 211a may communicate with the dust collection part 220 and be positioned in the dust collection part 220.

The dust or air, which moves through the suction flow path 211b, may be discharged into the dust collection part 220 through the dust outlet port 211a.

A cross-section of the dust outlet port 211a, through which dust or air is discharged, may be formed to be inclined in the direction toward the suction motor 290. In addition, at least a part of the dust outlet port 211a may be disposed between imaginary internal spaces made by extending an outer peripheral surface of the suction motor 290.

The dust collection part 220 may be provided to suck outside dust and air and store dust. The suction motor 290 may be positioned at one side of the dust collection part, and the other side of the dust collection part may communicate with the dust outlet port 211a. Therefore, the dust-containing air, which flows into the housing 210 through the suction part 211, may be separated into dust and air in the dust collection part 220.

The dust collection part 220 may be detachably coupled inside the housing 210. Therefore, in case that the dust collection part 220 is fully filled with dust, the user may separate the dust collection part 220 from the housing 210 and remove dust.

The dust collection part 220 may include a dust discharge pipe and a dust discharge port.

The dust discharge pipe may be disposed at a left or right side of the dust collection part 220 and communicate with the dust collection part 220. The dust discharge pipe serves as a passageway through which dust stored in the dust collection part 220 is discharged to the outside of the robot cleaner 200. The dust discharge pipe may be formed in the shape of a quadrangular pipe.

One side of the dust discharge pipe may communicate with the dust discharge port of the dust collection part 220, and a dust discharge pipe door may be disposed at the other side of the dust discharge pipe. The dust discharge pipe door may be opened in case that the robot cleaner 200 is coupled to a robot cleaner station (not illustrated), and the dust discharge pipe door may be closed in case that the robot cleaner 200 is separated from the robot cleaner station (not illustrated).

With this configuration, when a dust collection motor 145 of the robot cleaner station (not illustrated) operates, the dust discharge pipe door is elastically deformed by driving power of the dust collection motor 145, and the dust discharge pipe is opened, such that dust in the dust collection part 220 may be collected into a dust collection part of the robot cleaner station (not illustrated).

Therefore, according to the robot cleaner according to the embodiment of the present disclosure, the user may manually separate the dust collection part 220 and remove dust collected in the dust collection part 220, or dust collected in the dust collection part 220 may be automatically removed when the robot cleaner is coupled to the robot cleaner station (not illustrated).

Because the above-mentioned two methods may be used to remove dust collected in the dust collection part 220, the user does not need to separately remove dust, which may improve the user's convenience, and the user may manually remove dust that has not been automatically removed, which may improve cleanliness.

The dust collection part 220 may further include a filter 223 configured to restrict introduction of foreign substances into the suction motor 290, and a filter casing 224 configured to accommodate the filter 223.

The filter 223 may filter out dust from air having passed through an air inlet port 224a. For example, the filter 223 may be a HEPA filter.

The filter 223 may be disposed in the dust collection part 220 and disposed on a route through which air flows from the suction part 211 to the suction motor 290. In this case, the filter 223 may be formed to be inclined downward in the direction toward the suction motor 290 direction.

In other words, the filter 223 may be formed to be inclined with respect to a horizontal plane of the ground surface, and the filter 223 may be formed such that a rear side thereof is closer in distance to the ground surface than a front side thereof. For example, an angle defined between an upper surface of the filter 223 and the upper body cover 212 may be 5 degrees to 15 degrees.

Therefore, according to the robot cleaner 200 according to the embodiment of the present disclosure, a cross-sectional area of the filter 223 within a limited space may be maximized, and the maximized cross-sectional area may prevent the filter from being clogged.

The filter casing 224 may further include the air inlet port 224a, a casing door 224c, and an air outlet port 224d.

The air inlet port 224a may be formed in the shape of a hole so that air may be introduced into the filter casing 224. The air inlet port 224a may allow air to flow to the filter 223.

The casing door 224c may be provided with a hinge shaft hingedly coupled to an upper surface of the dust collection part 220, and a surface of the casing door 224c opposite to a side at which the hinge shaft is provided may be coupled to a lateral surface of the dust collection part 220.

The casing door 224c may open or close the upper surface of the dust collection part 220 while rotating about the hinge shaft.

Therefore, in case that the filter 223 is clogged or aged due to use of the robot cleaner 200, the user may open the casing door 224c and easily replace only the filter 223.

An air outlet port 224d may be formed in the shape of a hole through which the air having passed through the filter 223 is discharged to the suction motor 290. For example, the air outlet port 224d may be a rectangular or elliptical hole A axis, which passes through a center of the air outlet port 224d in a direction parallel to the ground surface, and a longitudinal axis, along which the filter extends in the upward/downward direction, may intersect each other.

After the flow of air flowing to the suction motor 290 passes through the filter, a flow velocity of the air may be decreased. In this case, the above-mentioned arrangement of the air outlet port 224d and the filter may allow the air having passed through the filter 223 to move in a gravitational direction and move a shortest distance to the air outlet port 224d, thereby relatively compensating for the decrease in flow velocity of air.

Meanwhile, the air outlet port 224d may further be provided with a film-shaped filter in order to prevent fine dust, which has not been filtered out by the filter, from being introduced into the suction motor 290.

The dust collection part 220 may further include a sensor (not illustrated) capable of detecting whether the filter 223 is coupled inside the filter casing 224.

For example, the sensor (not illustrated) may include at least one of a light detection and ranging (LiDAR) sensor, an infrared sensor, an ultrasonic sensor, a camera, a pressure sensor, or a wheel encoder (wheel encoder).

Therefore, when the casing door 224c is opened or when the filter 223 is separated from a filter cover, the sensor (not illustrated) may sense this situation and provide the user with information, which indicates that the filter casing 224 is opened, by means of a signal sound or the like.

The water container 230 may be provided in the form of a container having an internal space to store therein a liquid such as water. The water container 230 may be disposed in the housing 210 and fixedly coupled to the housing 210 or detachably coupled to the housing 210.

The water container 230 include a supply part 231 and a nozzle (not illustrated). The supply part 231 may be configured to supply a liquid such as water from the outside. For example, the supply part 231 may have an injection port formed at the other side of the rear side of the outer surface (or outer peripheral surface) of the housing 210, and the supply part 231 may be connected to a storage space in the water container 230 through a water supply hose.

In this case, with a relationship with a dust discharge pipe door 222, the supply part 231 may be disposed at a side opposite to the robot cleaner 200 in the leftward/rightward direction. For example, in case that the dust discharge pipe door 222 is disposed at a rear left side of the housing 210, the supply part 231 may be disposed at a rear right side of the housing 210.

With the above-mentioned configuration, in the state in which the robot cleaner 200 is coupled to a robot cleaner station 100, the robot cleaner station 100 may perform both the dust collection and the water injection.

Meanwhile, the nozzle (not illustrated) is provided in the form of a tube or pipe and connected to the water container 230 so that the liquid in the water container 230 may flow through the interior of the nozzle. The nozzle (not illustrated) may be disposed such that one side thereof is connected to the water container 230, and the other end thereof is positioned above a pair of rotary plates 241 or positioned on each of the pair of rotary plates 241. Therefore, the liquid in the water container 230 may be supplied to a pair of rags 242.

That is, the nozzle (not illustrated) may be provided in a shape in which two tube portions are diverged from a single tube portion. In this case, an end of one diverged tube portion may be positioned above a left rag, and an end of the other diverged tube portion may be positioned above a right rag.

Meanwhile, although not illustrated, the water container 230 is equipped with a pump, and the pump may allow the water in the water container 230 to flow to the nozzle (not illustrated). Therefore, when the pump of the water container 230 operates, the liquid stored in the water container 230 may be discharged to the rotary cleaning part 240 through the nozzle (not illustrated).

The rotary cleaning part 240 includes the rotary plates 241 and the rags 242.

The rotary plates 241 may be provided as the pair of rotary plates 241 including a left rotary plate and a right rotary plate, and the rags 242 may be provided as the pair of rags 242 including the left rag and the right rag.

The rotary plate 241 may be rotatably disposed on a bottom surface of the housing 210, and the rag 242 may be coupled to a lower side of the rotary plate 241.

The rotary plate 241 has a predetermined area and is provided in the form of a flat plate, a flat frame, or the like. The rotary plate 241 is laid approximately horizontally. Therefore, the rotary plate 241 has a shape in which a width (or diameter) thereof in the horizontal direction is sufficiently larger than a height thereof in the upward/downward direction. The rotary plate 241 coupled to the housing 210 may be parallel to the floor surface or inclined with respect to the floor surface. The rotary plate 241 may have a circular plate-like shape, the bottom surface of the rotary plate 241 may have an approximately circular shape, and the rotary plate 241 may have a rotationally symmetrical shape as a whole.

The pair of rotary plates 241 may be vertically symmetric.

The rag 242 may be coupled to the lower side of the rotary plate 241 so as to face the bottom surface.

The rag 242 is configured such that a bottom surface of the rag 242 facing the floor has a predetermined area. The rag 242 has a flat shape. The rag 242 is configured such that a width (or diameter) thereof in the horizontal direction is sufficiently larger than a height of thereof in the upward/downward direction. When the rag 242 is coupled to the housing 210, the bottom surface of the rag 242 may be parallel to the floor or inclined with respect to the floor.

The bottom surface of the rag 242 may have an approximately circular shape, and the rag 242 may have a rotationally symmetrical shape as a whole. In addition, the rag 242 may be attached to or detached from the bottom surface of the rotary plate 241. The rag 242 may be coupled to the rotary plate 241 and rotate together with the rotary plate 241.

Meanwhile, although not illustrated, the rotary cleaning part 240 may be equipped with a drive part configured to apply a rotational force to the rotary plate 241. For example, the drive part may be provided with a motor and at least one gear. Therefore, when the drive part operates, the rotary plates 241 and the rags 242 may rotate to wipe and clean the floor surface.

The wheels 260 may be provided on the bottom surface of the housing 210 and connected to the drive part (not illustrated). In this case, the drive part (not illustrated) may be coupled to the housing 210.

The wheels 260 may be provided in the housing 210 and roll on the floor.

The wheels 260 may include a first driving wheel and a second driving wheel. In this case, the first driving wheel may be identical to the second driving wheel, or the first driving wheel and the second driving wheel may be symmetric. For example, in case that the first driving wheel is positioned at the left side of the robot cleaner 200, the second driving wheel may be positioned at the right side of the robot cleaner 200. In this case, the first driving wheel and the second driving wheel may be symmetric vertically.

The drive part (not illustrated) may include driving motors and gears. In this case, the driving motors may be accommodated in the housing 210 and provide power to the wheels 260. The driving motors may include a first driving motor and a second driving motor.

The driving motor may be configured as an electric motor. The plurality of gears engage with one another and rotate. The plurality of gears connect the driving motors and the wheels 260 and transmit rotational power of the driving motors to the wheels 260. Therefore, the wheels 260 may rotate when rotary shafts of the driving motors rotate.

With this configuration, when the driving motors operate, the wheels 260 may rotate, and the housing 210 may travel on the floor surface at a predetermined traveling speed.

The auxiliary wheel 270 may be provided on a lower surface of the housing 210 and roll on the floor surface (cleaning target surface). The auxiliary wheel 270, together with the pair of wheels 260, may support the housing 210 on the floor surface. With this configuration, the auxiliary wheel 270 may guide a motion of the robot cleaner 200 while minimizing friction between the robot cleaner 200 and the floor surface.

The suction motor 290 may generate a suction force capable of sucking outside dust and air through the suction part 211. For example, the suction motor 290 may be an electric motor. By the suction force generated by the suction motor 290, outside dust and air may be introduced into the suction port 211d and reach the dust collection part 220 after passing through the suction flow path 211b.

The suction motor 290 may be mounted in the housing 210 disposed rearward of the dust collection part 220. Therefore, air, from which dust is separated by the dust collection part 220, may be introduced into the suction motor.

A rotation axis of the suction motor 290 may intersect the ground surface. More specifically, an angle defined between the rotation axis of the suction motor 290 and the ground may be 0 degrees or more and 45 degrees or less. For example, the rotation axis of the suction motor 290 may be parallel to the ground surface.

Therefore, a major axis of the suction motor 290 may be parallel to the ground surface, such that an overall height of the robot cleaner 200 may be reduced. That is, an entire space occupied by the robot cleaner 200 may be reduced, and a sufficient space, in which the suction motor 290 may be mounted in the robot cleaner 200, may be ensured even though a high-output fan motor, which is provided in the form in which a length of a major axis of a motor is relatively long, is used as the suction motor 290.

The rotation axis of the suction motor 290 may intersect the longitudinal axis of the suction flow path 211b. In this case, a point, at which the rotation axis of the suction motor 290 and the longitudinal axis of the suction flow path 211b intersect each other, may be formed in the dust collection part 220.

Therefore, the air discharged from the dust outlet port 211a may flow in a direction parallel to the ground surface, such that a route through which the air moves to the suction motor 290 may be shortened. That is, energy efficiency of the suction motor 290 may be improved, and dust may be efficiently collected within a limited space.

The suction motor 290 may further be provided with an air discharge pipe through which air flowing to the suction motor 290 is discharged to the outside of the housing 210. The air discharge pipe may be provided at one side of the suction motor 290.

Although not illustrated, the battery is coupled to the housing 210 and configured to supply electric power to other components constituting the robot cleaner 200. The battery may supply electric power to at least one motor provided in the robot cleaner 200. For example, the battery may supply electric power to the motors provided in the rotary cleaning part 240, the agitator 211c, the wheel 260, the suction motor 290, and a shutter driving part 320.

In addition, the battery may supply electric power to a sensor part (not illustrated) and a controller (not illustrated).

The battery may be charged with external electric power. To this end, the charging terminal 280 for charging the battery may be provided at one side of the housing 210. For example, the charging terminal 280 may be disposed at a rear side of the outer surface of the housing 210. The charging terminal 280 may be supplied with electric power by coming into contact with an electric power supply terminal of the robot cleaner station 100 when the robot cleaner 200 is coupled to the robot cleaner station 100.

Meanwhile, with reference to FIGS. 6 to 8, the robot cleaner 200 according to the present disclosure may include the shutter 310, the shutter driving part 320, and the foreign substance detection part 350, such that the robot cleaner 200 may suck relatively large foreign substances while increasing cleaning performance by increasing surface pressure applied to the suction port 211d.

The shutter 310 may be installed forward of the suction port 211d of the housing 210 and configured to be movable upward and downward to adjust an opening degree of a front space of the suction port 211d. In one example, the shutter 310 may be provided in the form of a board perpendicular to the cleaning target 10 and formed such that a length thereof in the leftward/rightward direction is longer than a length of the suction port 211d in the leftward/rightward direction. The shutter 310 is disposed along the suction port 211d in a state in which the shutter 310 stands. The shutter 310 may adjust the gap with respect to the cleaning target 10 while moving in the direction perpendicular to the cleaning target 10.

When the shutter 310 moves toward a side opposite to the cleaning target 10, the gap with respect to the cleaning target 10 may be increased, and relatively large foreign substances may pass through the gap.

When the shutter 310 moves toward the cleaning target 10, the gap with respect to the cleaning target 10 may be decreased, and front surface pressure may be increased, thereby improving the cleaning performance.

The shutter 310 may move in the upward/downward direction along the shutter driving part 320, and the gap with respect to the cleaning target 10 may be adjusted in accordance with foreign substances placed on the cleaning target 10. In this case, the shutter 310 may be disposed to be spaced apart from the cleaning target 10 and operate so that the gap with respect to the cleaning target 10 is 2 mm or more and 6 mm or less.

For example, the shutter 310 may move to a first or second position and thus be disposed to have a first gap a or a second gap b with respect to the cleaning target 10.

In case that the shutter 310 is positioned at the first position, the first gap a between the shutter 310 and the cleaning target 10 may be 6 mm and equal to or larger than a gap between the first end 211da of the suction part 211 and the cleaning target 10. Therefore, the front space of the suction port 211d may be completely opened, and even relatively large foreign substances may be sucked.

In addition, in case that the shutter 310 is positioned at the second position, the second gap b between the shutter 310 and the cleaning target 10 may be 2 mm. In this case, the second gap b may be larger than the gap between the second end 211db of the suction part 211 and the cleaning target 10 and smaller than a gap between the first end 211da of the suction part 211 and the cleaning target 10. That is, in case that the shutter 310 is positioned at the second position, a lower end of the shutter 310 may be disposed to be higher than the first end 211da of the suction part 211 and lower than the second end 211db.

Therefore, the front space of the suction port 211d may become narrow while being partially closed, and the front surface pressure may increase, thereby ensuring the cleaning performance.

In addition, the shutter 310 may further be provided with first and second detection parts 330 and 340 configured to detect a position of the shutter 310 when the shutter 310 is positioned at the first or second position. Therefore, it is possible to stably control the shutter 310 while recognizing the position of the shutter 310 and the opening degree of the shutter 310.

Meanwhile, the housing 210 may be provided with a shutter installation part 213 on which the shutter 310 is installed to be movable upward or downward. The shutter installation part 213 may be provided forward of the agitator casing 212 so that the shutter 310 is disposed between the auxiliary wheel 270 and the suction port 211d and disposed to be closest to the front side of the suction port 211d.

For example, the shutter installation part 213 may be provided as a part of a front side of the agitator casing 212 protrudes, and the shutter installation part 213 may be provided with a shutter insertion hole 213a into which the shutter 310 is movably inserted. Further, the shutter installation part 213 may be provided with a guide support portion 213b extending upward from an end of the shutter installation part 213 and configured to support a shutter guide 323 to be described below.

The shutter 310 may include a shutter body 311 and a scraper 313.

The shutter body 311 may be disposed in a standing state and inserted into the shutter insertion hole 213a, and the shutter body 311 may move in the upward/downward direction along the shutter driving part 320.

The shutter body 311 may be provided with at least one guide protrusion 311a disposed between the agitator casing 212 and the shutter guide 323 and connected to a rail 325 of the shutter guide 323.

In addition, a scraper coupling portion 311b may be provided at a lower end of the shutter body 311, such that the scraper 313 may be provided. The scraper coupling portion 311b may be provided in a shape in which a part of the lower end of the shutter body 311 protrudes forward, and the scraper coupling portion 311b may be provided with a groove to which a fixing portion 313a of the scraper 313 is coupled.

The scraper 313 may be made of a more elastic material than the shutter body 311, and the scraper 313 may be elastically deformed by sucked foreign substances. The scraper 313 may include the fixing portion 313a and a flap portion 313b.

The fixing portion 313a may be provided with a protrusion coupled to the scraper coupling portion 311b of the shutter body 311 and inserted into the groove of the scraper coupling portion 311b.

One end of the flap portion 313b may be integrated with the fixing portion 313a, and the other end of the flap portion 313b may be disposed to have a gap with respect to the cleaning target 10. Further, one end of the flap portion 313b may be disposed forward of the shutter body 311, and the other end of the flap portion 313b may be disposed rearward of the shutter body 311. The other end of the flap portion 313b may be disposed between the shutter body 311 and the cleaning target 10. For example, the flap portion 313b may be provided in a shape that partially protrudes from the fixing portion 313a and protrudes downward and rearward. Therefore, the flap portion 313b may be easily deformed elastically by foreign substances sucked into the suction part 211, such that even foreign substances larger than the gap between the shutter 310 and the cleaning target 10 may be sucked. In addition, the other end of the flap portion 313b may be disposed at the rear side and disposed to be more adjacent to the suction port 211d.

In addition, the flap portion 313b may be provided with at least one slit 313cso that the flap portion 313b is easily deformed elastically. The slit 313c is cut out by a predetermined length from a lower end of the flap portion 313b, such that the slit 313c is provided to allow only a part of the flap portion 313b to be deformed when foreign substances pass through the gap.

The shutter driving part 320 may operate the shutter 310 in accordance with foreign substances placed on the cleaning target 10. The shutter driving part 320 may operate the shutter 310 to adjust the gap between the shutter 310 and the cleaning target 10. The shutter driving part 320 may include at least one of a shutter drive motor 321, a shutter driving gear 322, or the shutter guide 323.

The shutter drive motor 321 may rotate the shutter driving gear 322, which is connected to a motor shaft, clockwise or counterclockwise while operating in response to an inputted signal. For example, the shutter 310 may move upward when the shutter drive motor 321 operates clockwise, and the shutter 310 may move downward when the shutter drive motor 321 operates counterclockwise.

In addition, the shutter drive motor 321 may operate until a signal is inputted from the first detection part 330 or the second detection part 340. For example, the motor shaft of the shutter drive motor 321 may be disposed in a longitudinal direction of the suction port 211d.

The shutter driving part 320 may be provided with the shutter driving gear 322 and the shutter guide 323 in order to provide rotational driving power of the shutter drive motor 321 as rectilinear reciprocation driving power that moves the shutter 310 upward or downward.

The shutter driving gear 322 may be connected to the motor shaft of the shutter drive motor 321 and move the shutter 310 upward or downward while rotating when the shutter drive motor 321 operates. The shutter driving gear 322 may engage with a gear part 324 provided on the shutter guide 323 and move the shutter guide 323 in the leftward/rightward direction.

The shutter guide 323 may be provided to move the shutter 310 upward or downward while moving in the leftward/rightward direction in accordance with the operation of the shutter drive motor 321.

For example, the shutter guide 323 may be provided in the form of a board perpendicular to the cleaning target 10 and installed to move only in the leftward/rightward direction along the guide support portion 213b of the shutter installation part 213. The shutter guide 323 may be seated forward of the shutter insertion hole 213a of the shutter installation part 213, and at least a part of the shutter guide 323 may be covered by the guide support portion 213b and disposed between the shutter 310 and the guide support portion 213b.

The gear part 324 is provided at one side of the shutter guide 323 and engages with the shutter driving gear 322. In accordance with the rotation direction of the shutter driving gear 322, the shutter guide 323 moves leftward or rightward, and the shutter 310 moves upward or downward.

Further, a configuration for moving the shutter 310 in the upward/downward direction when the shutter guide 323 moves in the leftward/rightward direction is provided between the shutter guide 323 and the shutter 310. For example, at least one of the shutter guide 323 and the shutter 310 may be provided with the rail 325, and the other of the shutter guide 323 and the shutter 310 may be provided with at least one guide protrusion 311a inserted into the rail 325 and configured to move along the rail 325.

The shutter guide 323 may be provided with the rail 325, and at least a part of the rail 325 may be provided to be inclined. For example, at least a part of the rail 325 may be provided to be inclined downward and rightward, such that the shutter 310 may move upward when the shutter guide 323 moves rightward. The rail 325 may be provided as at least one including a first rail end 325a, a second rail end 325b, and a connection portion 325c.

The connection portion 325c may be provided in the form of a long hole inclined downward and rightward. The rail 325 may be provided with the first rail end 325a formed by extending an upper end of the connection portion 325c leftward, and the second rail end 325b formed by extending a lower end of the connection portion 325c rightward.

With this configuration, when the shutter drive motor 321 rotates, the shutter 310 may move upward or downward to a predetermined position, and the shutter 310 may maintain the gap with respect to the cleaning target 10.

In addition, the robot cleaner 200 may be provided with the first detection part 330 and the second detection part 340 in order to detect the position of the shutter guide 323.

The first detection part 330 and the second detection part 340 may determine a positioned state of the shutter 310. For example, the first detection part 330 and the second detection part 340 may be micro-switches. The first detection part 330 and the second detection part 340 may each have a cantilevered-beam-shaped handle fixed at one end thereof. When the shutter 310 is positioned at the first or second position, the handle may be pressed to recognize the position of the shutter 310.

With this configuration, the first detection part 330 and the second detection part 340 may detect the shutter guide 323 positioned at the first or second position.

Further, the shutter drive motor 321 operates until the first detection part 330 or the second detection part 340 detects the shutter guide 323 after a driving signal is inputted. The operation of the shutter drive motor 321 may be stopped when the first detection part 330 or the second detection part 340 detects the shutter guide 323.

In addition, a failure may be determined when a signal is not inputted from the first detection part 330 or the second detection part 340 even when a predetermined time is elapsed after the driving signal is inputted to the shutter drive motor 321.

With reference to FIG. 9, the first detection part 330 and the second detection part 340 may be disposed to be spaced apart from each other at a predetermined gap in the longitudinal direction of the suction port 211d, and first and second protrusions 326 and 327, which are configured to come into contact with the first detection part 330 or the second detection part 340, may be disposed between the first detection part 330 and the second detection part 340.

The shutter guide 323 may be provided with the first protrusion 326 and the second protrusion 327. The first protrusion 326 may come into contact with the first detection part 330 when the shutter guide 323 moves to a rightmost side, and the second protrusion 327 may come into contact with the second detection part 340 when the shutter guide 323 moves to a leftmost side. A signal is generated when the first detection part 330 and the second detection part 340 come into contact with the first protrusion 326 or the second protrusion 327, and the signal is transmitted to the shutter drive motor 321 or controller 400.

Meanwhile, the robot cleaner 200 according to the present disclosure may include the foreign substance detection part 350 in order to detect foreign substances placed on the cleaning target 10 and operate the shutter driving part 320 without the user's intervention.

The foreign substance detection part 350 detects sizes, types, and the like of foreign substances placed on the cleaning target 10. For example, the foreign substance detection part 350 may be a camera and detect front obstacles. In case that foreign substances are relatively large foreign substances when the foreign substance detection part 350 detects foreign substances placed on the cleaning target 10, the shutter driving part 320 may operate so that the shutter 310 moves upward. Next, distances from foreign substances and a traveling speed of the robot cleaner 200 are calculated, and a state in which the shutter 310 is moved upward may be maintained until the foreign substances pass through the shutter 310. The shutter driving part 320 may operate so that the shutter 310 moves downward after the foreign substances pass through the shutter 310.

In another example, the foreign substance detection part 350 may be an ultrasonic sensor and detect a state of the cleaning target 10. When the foreign substance detection part 350 detects a state of the cleaning target 10 as a carpet, the shutter driving part 320 may operate to move the shutter 310 downward in order to improve the cleaning performance. In addition, when the foreign substance detection part 350 detects a state of the cleaning target 10 as a wooden floor, the shutter driving part 320 may operate to move the shutter 310 upward.

In addition, the shutter driving part 320 may be remotely controlled, and the shutter driving part 320 may operate in response to a signal inputted to a smart device.

The foreign substance detection part 350 may be a sensor disposed forward of the robot cleaner 200 or installed in the robot cleaner 200.

With reference to FIGS. 9 to 11, FIG. 9 illustrates a state in which the shutter 310 is opened, the shutter guide 323 is moved to the rightmost side (leftmost side based on the drawings), and the shutter 310 is moved upward and spaced apart from the cleaning target by the first gap a.

In this case, the first protrusion 326 of the shutter guide 323 comes into contact with the first detection part 330, such that the first detection part 330 may determine that the shutter guide 323 is positioned at the first position.

In case that the foreign substance detection part 350 detects a carpet disposed forward of the cleaning target 10 in this state, the shutter driving part 320 rotates the shutter driving gear 322 counterclockwise, the shutter guide 323 moves leftward, and the first protrusion 326 is spaced apart from the first detection part 330, as illustrated in FIG. 10. Further, the shutter 310 moves downward to narrow the gap with respect to the cleaning target 10.

Further, as illustrated in FIG. 11, the shutter guide 323 moves to the leftmost side, and the shutter 310 moves downward and is spaced apart from the cleaning target by the second gap b. Further, when the second protrusion 327 of the shutter guide 323 comes into contact with the second detection part 340, the shutter drive motor 321 is stopped.

In this case, before the shutter drive motor 321 is stopped, the shutter 310 moves to the second position along the second rail end 325b of the rail 325 and is spaced apart from the cleaning target 10 by the second gap b.

Meanwhile, with reference to FIG. 12, the robot cleaner 200 according to the present disclosure may be provided with a controller 400. The controller 400 may operate the shutter drive motor 321 by receiving a signal from the foreign substance detection part 350 and stop the shutter drive motor 321 by receiving a signal from the first detection part 330 or the second detection part 340. In addition, the controller 400 may determine that a failure has occurred in the shutter driving part 320 in case that the controller 400 cannot receive a signal from the first detection part 330 or the second detection part 340 within a predetermined time after the shutter drive motor 321 operates.

While the present disclosure has been described with reference to the specific embodiments, the specific embodiments are only for specifically explaining the present disclosure, and the present disclosure is not limited to the specific embodiments. It is apparent that the present disclosure may be modified or altered by those skilled in the art without departing from the technical spirit of the present disclosure.

All the simple modifications or alterations to the present disclosure fall within the scope of the present disclosure, and the specific protection scope of the present disclosure will be defined by the appended claims.

DESCRIPTION OF REFERENCE NUMERALS

200: Robot cleaner

210: Body

211: Suction part

211c: Agitator

211d: Suction port

212: Agitator casing

213: Shutter installation part

220: Dust collection part

230: Water container

260: Wheel

270: Auxiliary wheel

310: Shutter

311: Shutter body

311a: Guide protrusion

313: Scraper

313a: Fixing portion

313b: Flap portion

313c: Slit

320: Shutter driving part

321: Shutter drive motor

322: Shutter driving gear

323: Shutter guide

324: Gear part

325: Rail

325a: First end

325b: Second end

325c: Connection portion

326: First protrusion

327: Second protrusion

330: First detection part

340: Second detection part

Claims

1. A robot cleaner comprising:

a housing formed with a suction port through which air containing foreign substances is sucked;

a shutter installed forward of the suction port of the housing and configured to be movable upward or downward to adjust a gap with respect to a cleaning target; and

a shutter driving part configured to operate the shutter in accordance with a foreign substance detection part.

2. The robot cleaner of claim 1, wherein the foreign substance detection part detects sizes of foreign substances placed on the cleaning target disposed forward of the housing, and wherein the shutter driving part operates the shutter in accordance with the sizes of the foreign substances detected by the foreign substance detection part.

3. The robot cleaner of claim 1, wherein the foreign substance detection part detects types of foreign substances placed on the cleaning target disposed forward of the housing, and wherein the shutter driving part operates the shutter in accordance with the types of the foreign substances detected by the foreign substance detection part.

4. The robot cleaner of claim 1, wherein the shutter moves in a direction perpendicular to the cleaning target.

5. The robot cleaner of claim 1, wherein the shutter is disposed to be spaced apart from the cleaning target, and the gap with respect to the cleaning target is 2 mm or more and 6 mm or less.

6. The robot cleaner of claim 1, further comprising:

a shutter guide configured to move the shutter upward or downward while being moved in a longitudinal direction of the suction port by the shutter driving part.

7. The robot cleaner of claim 6, wherein the shutter guide is provided with a rail at least partially inclined toward one side based on the longitudinal direction of the suction port, the rail being configured such that a guide protrusion provided on the shutter is inserted into the rail and moved along the rail.

8. The robot cleaner of claim 1, wherein the shutter comprises:

a shutter body; and

a scraper provided on a lower portion of the shutter body and disposed to protrude rearward and downward.

9. The robot cleaner of claim 8, wherein the scraper is provided with at least one slit cut out by a predetermined length from a lower end of the scraper.

10. The robot cleaner of claim 8, wherein the shutter body is disposed along the suction port in a state in which the shutter body stands.

11. The robot cleaner of claim 6, further comprising:

a first detection part configured to detect the shutter guide positioned at a first position; and

a second detection part configured to detect the shutter guide positioned at a second position,

wherein the shutter driving part operates the shutter until the first detection part or the second detection part detects the shutter guide.

12. The robot cleaner of claim 1, further comprising:

a first detection part configured to detect the shutter positioned at a first position; and

a second detection part configured to detect the shutter positioned at a second position,

wherein the shutter driving part operates the shutter when a signal is inputted from the foreign substance detection part, and the shutter driving part operates the shutter until the first detection part or the second detection part detects the shutter.

13. The robot cleaner of claim 12, wherein a failure is determined when the shutter is not detected by the first detection part or the second detection part within a preset time after the shutter driving part operates.

14. The robot cleaner of claim 1, wherein the housing comprises:

an agitator casing in which an agitator is disposed, the agitator casing being provided with the suction port; and

a shutter installation part provided at a front outer side of the agitator casing and formed with a shutter insertion hole into which the shutter is inserted.

15. The robot cleaner of claim 1, further comprising:

a pair of wheels disposed at two opposite sides of the suction port of the housing and configured to roll along the cleaning target; and

an auxiliary wheel disposed in the housing and configured to roll along the cleaning target,

wherein the shutter is disposed between the auxiliary wheel and the suction port.

16. A robot cleaner comprising:

a housing formed with a suction port through which air containing foreign substances is sucked; and

a shutter installed forward of the suction port of the housing and configured to be movable upward and downward to adjust a gap with respect to a cleaning target,

wherein the shutter is moved in a direction perpendicular to the cleaning target by a shutter driving part.