Robot cleaner

Claim 2

A robot cleaner comprising: a cleaner body; suction means provided in the cleaner body for sucking dirt on a floor; a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal; driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means; and sensing means provided at a lower portion of the cleaner body and adapted to sense dirt and output a dirt sensing signal to which said control means responses responds for generating a control signal to drive the suction means.

Claim 3

A robot cleaner in accordance with claim 1, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn.

Claim 4

A robot cleaner in accordance with claim 1, wherein said suction means is a vacuum motor.

Claim 5

A robot cleaner in accordance with claim 1, wherein said control means is a microprocessor.

Claim 6

A robot cleaner comprising: a cleaner body; suction means provided in the cleaner body for sucking dirt on a floor; a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal; driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; and control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a turning left or a turning right, and wherein said straight driving means comprises a first driving motor rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

Claim 7

A robot cleaner comprising: a cleaner body; suction means provided in the cleaner body for sucking dirt on a floor; a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal; driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; and control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a turning left or a turning right, and wherein said straight driving means comprises a first driving motor rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

Claim 8

A robot cleaner comprising: a cleaner body; suction means provided in the cleaner body for sucking dirt on a floor; a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal; driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; and control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a turning left or a turning right, and wherein said turning conversion means comprises a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 9

A robot cleaner comprising: a cleaner body; suction means provided in the cleaner body for sucking dirt on a floor; a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal; driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; and control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a turning left or a turning right, and wherein said turning conversion means comprises a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 10

A robot cleaner comprising: a cleaner body; suction means provided in the cleaner body for sucking dirt on a floor; a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal; driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; and control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means, wherein said driving means comprises a first driving motor rotating normally and reversely a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 11

A robot cleaner comprising: a cleaner body; suction means provided in the cleaner body for sucking dirt on a floor; a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal; driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; and control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means, wherein said driving means comprises a first driving motor rotating normally and reversely a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 12

A robot cleaner in accordance with claim 7, wherein the number of gear teeth formed at the first worm wheel is larger than that of gear teeth formed at the second worm wheel.

Claim 13

A robot cleaner in accordance with claim 7, wherein the number of gear teeth formed at the third worm wheel is larger than that of gear teeth formed at the first spur gear.

Claim 14

A robot cleaner comprising: a cleaner body; suction means provided in the cleaner body for sucking dirt on a floor; a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal; driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; and control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means, wherein said navigation sensor comprises an ultrasonic wave sensor adapted to emit an ultrasonic wave in a moving direction, receive the reflected wave, and output it to microprocessor for determining a distance to be moved, an optical sensor adapted to emit light, receive the reflected light, and output it to the microprocessor for determining a direction to be moved, a cylindrical protector for accommodating and protecting the ultrasonic wave sensor and the optical sensor, a bracket supporting the ultrasonic wave sensor and the optical sensor, a deflective reflection collar provided at a lower end of the protector and adapted to reflect the light emitting from the optical sensor at a predetermined deflective angle for determining a direction to be moved, and sensor driving means for rotating the ultrasonic wave sensor and the optical sensor fixed to the bracket.

Claim 15

A robot cleaner comprising: a cleaner body; suction means provided in the cleaner body for sucking dirt on a floor; a navigation sensor provided at a top of the cleaner body for sensing a distance and a direction of an obstacle and for outputting a distance sensing signal and a direction sensing signal; driving means provided at a bottom of the cleaner body for moving the cleaner body in a moving direction; and control means for determining a cleaning area and a moving direction of the cleaner body in response to the distance sensing signal and the direction sensing signal from the navigation sensor and for outputting a control signal for moving the cleaner body in the moving direction and a control signal for driving the suction means, wherein said navigation sensor comprises an ultrasonic wave sensor adapted to emit an ultrasonic wave in a moving direction, receive the reflected wave, and output it to microprocessor for determining a distance to be moved, an optical sensor adapted to emit light, receive the reflected light, and output it to the microprocessor for determining a direction to be moved, a cylindrical protector for accommodating and protecting the ultrasonic wave sensor and the optical sensor, a bracket supporting the ultrasonic wave sensor and the optical sensor, a deflective reflection collar provided at a lower end of the protector and adapted to reflect the light emitting from the optical sensor at a predetermined deflective angle for determining a direction to be moved, and sensor driving means for rotating the ultrasonic wave sensor and the optical sensor fixed to the bracket.

Claim 16

A robot cleaner in accordance with claim 10, wherein said sensor driving means comprises a second driving motor, a third spur gear connected to a rotating shaft of the second driving motor, a fourth spur gear engaged with the third spur gear, and a driving shaft attached with the bracket and fixed to the center of the fourth spur gear to be rotated by rotation of the fourth spur gear.

Claim 17

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body in a predetermined moving direction; sensing means provided at a top of the cleaner for sensing a distance to and a direction of an obstacle and outputting a distance sensing signal and a direction sensing signal, and control means for controlling to cause the cleaner body to be moved along an inner contour of an area to be cleaned in response to the distance sensing signal and the direction sensing signal from the sensing means, thereby determining the area to be cleaned, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn, and wherein said straight driving means comprises a first driving motor rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

Claim 18

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body in a predetermined moving direction; sensing means provided at a top of the cleaner for sensing a distance to and a direction of an obstacle and outputting a distance sensing signal and a direction sensing signal, and control means for controlling to cause the cleaner body to be moved along an inner contour of an area to be cleaned in response to the distance sensing signal and the direction sensing signal from the sensing means, thereby determining the area to be cleaned, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn, and wherein said straight driving means comprises a first driving motor rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

Claim 19

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body in a predetermined moving direction; sensing means provided at a top of the cleaner for sensing a distance to and a direction of an obstacle and outputting a distance sensing signal and a direction sensing signal, and control means for controlling to cause the cleaner body to be moved along an inner contour of an area to be cleaned in response to the distance sensing signal and the direction sensing signal from the sensing means, thereby determining the area to be cleaned, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn, and wherein said turning conversion means comprises a turning conversion motor rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 20

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body in a predetermined moving direction; sensing means provided at a top of the cleaner for sensing a distance to and a direction of an obstacle and outputting a distance sensing signal and a direction sensing signal, and control means for controlling to cause the cleaner body to be moved along an inner contour of an area to be cleaned in response to the distance sensing signal and the direction sensing signal from the sensing means, thereby determining the area to be cleaned, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn, and wherein said turning conversion means comprises a turning conversion motor rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 21

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body in a predetermined moving direction; sensing means provided at a top of the cleaner for sensing a distance to and a direction of an obstacle and outputting a distance sensing signal and a direction sensing signal, and control means for controlling to cause the cleaner body to be moved along an inner contour of an area to be cleaned in response to the distance sensing signal and the direction sensing signal from the sensing means, thereby determining the area to be cleaned, wherein said driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 22

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body in a predetermined moving direction; sensing means provided at a top of the cleaner for sensing a distance to and a direction of an obstacle and outputting a distance sensing signal and a direction sensing signal, and control means for controlling to cause the cleaner body to be moved along an inner contour of an area to be cleaned in response to the distance sensing signal and the direction sensing signal from the sensing means, thereby determining the area to be cleaned, wherein said driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 23

A robot cleaner in accordance with claim 14, wherein the number of gear teeth formed at the first worm wheel is larger than that of gear teeth formed at the second worm wheel.

Claim 24

A robot cleaner in accordance with claim 14, wherein the number of gear teeth formed at the third worm wheel is larger than that of gear teeth formed at the first gear.

Claim 25

A robot cleaner in accordance with claim 14, wherein said sensing means is a navigation sensor.

Claim 26

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body in a predetermined moving direction; sensing means provided at a top of the cleaner for sensing a distance to and a direction of an obstacle and outputting a distance sensing signal and a direction sensing signal, and control means for controlling to cause the cleaner body to be moved along an inner contour of an area to be cleaned in response to the distance sensing signal and the direction sensing signal from the sensing means, thereby determining the area to be cleaned, wherein said sensing means is a navigation sensor, and wherein said navigation sensor comprises an ultrasonic wave sensor adapted to emit an ultrasonic wave in a moving direction, receive the reflected wave, and output it to a microprocessor for determining a distance to be moved, an optical sensor adapted to emit light, receive the reflected light, and output it to the microprocessor for determining a direction to be moved, a cylindrical protector accommodating and protecting the ultrasonic wave sensor and the optical sensor, a bracket supporting the ultrasonic wave sensor and the optical sensor, a deflective reflection collar provided at a lower end of the protector and adapted to reflect the light emitting from the optical sensor at a predetermined deflective angle for determining a direction to be moved, and sensor driving means for rotating the ultrasonic wave sensor and the optical sensor fixed to the bracket.

Claim 27

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body in a predetermined moving direction; sensing means provided at a top of the cleaner for sensing a distance to and a direction of an obstacle and outputting a distance sensing signal and a direction sensing signal, and control means for controlling to cause the cleaner body to be moved along an inner contour of an area to be cleaned in response to the distance sensing signal and the direction sensing signal from the sensing means, thereby determining the area to be cleaned, wherein said sensing means is a navigation sensor, and wherein said navigation sensor comprises an ultrasonic wave sensor adapted to emit an ultrasonic wave in a moving direction, receive the reflected wave, and output it to a microprocessor for determining a distance to be moved, an optical sensor adapted to emit light, receive the reflected light, and output it to the microprocessor for determining a direction to be moved, a cylindrical protector accommodating and protecting the ultrasonic wave sensor and the optical sensor, a bracket supporting the ultrasonic wave sensor and the optical sensor, a deflective reflection collar provided at a lower end of the protector and adapted to reflect the light emitting from the optical sensor at a predetermined deflective angle for determining a direction to be moved, and sensor driving means for rotating the ultrasonic wave sensor and the optical sensor fixed to the bracket.

Claim 28

A robot cleaner in accordance with claim 18, wherein said sensor driving means comprises a second driving motor, a third spur gear connected to a rotating shaft of the second driving motor, a fourth spur gear engaged with the third spur gear, and a driving shaft attached with the bracket and fixed to the center of the fourth spur gear to be rotated by rotation of the fourth spur gear.

Claim 29

A robot cleaner in accordance with claim 18, wherein said deflective reflection collar is provided at its inner surface with between 36 and 720 triangular mirrors.

Claim 30

A sensing device comprising: optical sensing means for emitting light and receiving the reflected light; ultrasonic wave sensing means for emitting an ultrasonic wave and receiving the reflected ultrasonic wave; mounting means for mounting thereon the optical sensing means and the ultrasonic wave sensing means spaced from each other; rotating means for rotating the optical sensing means and the ultrasonic wave sensing means mounted on the mounting means; and a light reflection disc spaced from the optical sensing means and vertically positioned with respect to the light emitting from the optical sensing means, which is provided thereon with a plurality of continual reflective means in order to determine a turned angle of the optical sensing means when the optical sensing means is turned, whereby the ultrasonic wave sensing means senses a distance to an obstacle and the optical sensing means senses a direction of the obstacle.

Claim 31

A sensing device comprising: optical sensing means for emitting light and receiving the reflected light; ultrasonic wave sensing means for emitting an ultrasonic wave and receiving the reflected ultrasonic wave; mounting means for mounting thereon the optical sensing means and the ultrasonic wave sensing means spaced from each other; rotating means for rotating the optical sensing means and the ultrasonic wave sensing means mounted on the mounting means; and a light reflection disc spaced from the optical sensing means and vertically positioned with respect to the light emitting from the optical sensing means, which is provided thereon with a plurality of continual reflective means in order to determine a turned angle of the optical sensing means when the optical sensing means is turned, whereby the ultrasonic wave sensing means senses a distance to an obstacle and the optical sensing means senses a direction of the obstacle.

Claim 32

A sensing device in accordance with claim 21, wherein said mounting means is a bracket.

Claim 33

A sensing device in accordance with claim 21, wherein said rotating means comprises a second driving motor, a third spur gear connected to a rotating shaft of the second driving motor, a fourth spur gear engaged with the third spur gear, and a driving shaft attached with the bracket and fixed to the center of the fourth spur gear to be rotated by rotation of the fourth spur gear.

Claim 34

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor; wheel means mounted on at least four corners of the bottom of the cleaner body for movably supporting the cleaner body; switch means associated with the wheel means; and control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor.

Claim 35

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor; wheel means mounted on at least four corners of the bottom of the cleaner body for movably supporting the cleaner body; switch means associated with the wheel means; and control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor.

Claim 36

A robot cleaner in accordance with claim 24, wherein said wheel means are casters.

Claim 37

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor; wheel means mounted on at least four corners of the bottom of the cleaner body for supporting movably the cleaner body; switch means associated with the wheel means; and control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn.

Claim 38

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor; wheel means mounted on at least four corners of the bottom of the cleaner body for supporting movably the cleaner body; switch means associated with the wheel means; and control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn.

Claim 39

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor; wheel means mounted on at least four corners of the bottom of the cleaner body for supporting movably the cleaner body; switch means associated with the wheel means; and control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor, wherein said straight driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

Claim 40

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor; wheel means mounted on at least four corners of the bottom of the cleaner body for supporting movably the cleaner body; switch means associated with the wheel means; and control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor, wherein said straight driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

Claim 41

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor; wheel means mounted on at least four corners of the bottom of the cleaner body for supporting movably the cleaner body; switch means associated with the wheel means; and control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor, wherein said turning conversion means comprises a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 42

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor; wheel means mounted on at least four corners of the bottom of the cleaner body for supporting movably the cleaner body; switch means associated with the wheel means; and control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor, wherein said turning conversion means comprises a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 43

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor; wheel means mounted on at least four corners of the bottom of the cleaner body for supporting movably the cleaner body; switch means associated with the wheel means; and control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor, wherein said driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 44

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body for moving the cleaner body on a floor; wheel means mounted on at least four corners of the bottom of the cleaner body for supporting movably the cleaner body; switch means associated with the wheel means; and control means for controlling the driving means to cause the cleaner body to be stopped and turned by switching action of the corresponding switch means when any of the wheel means encounters a depressed portion or a stepped portion on a floor, wherein said driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 45

A robot cleaner in accordance with claim 29, wherein the number of gear teeth formed at the first worm wheel is larger than that of gear teeth formed at the second worm wheel.

Claim 46

A robot cleaner in accordance with claim 29, wherein the number of gear teeth formed at the third worm wheel is larger than that of gear teeth formed at the first spur gear.

Claim 47

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights.

Claim 48

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights.

Claim 49

A robot cleaner in accordance with claim 32, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn.

Claim 50

A robot cleaner in accordance with claim 32, wherein said direction sensing means comprises a hermetic housing, a magnetic needle received in the hermetic housing and rotatably supported by upper and lower supporters of the hermetic housing at its central shaft for indicating the north and south poles, a reflection disc rotatably fixed to the central shaft of the magnetic needle and provided with a plurality of reflective mirrors thereon, a condensing lens attached to an upper portion of the hermetic housing for condensing light, and an optical sensor adapted to emit light to the reflective mirrors on the reflection disc and to receive the reflected light for detecting a turned angle of the driving means and outputting it to a microprocessor.

Claim 51

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn, and wherein said straight driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

Claim 52

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn, and wherein said straight driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

Claim 53

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn, and wherein said turning conversion means comprises a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 54

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction of the cleaner into a left turn or a right turn, and wherein said turning conversion means comprises a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 55

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said driving means comprises a first driving motor rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 56

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said driving means comprises a first driving motor rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 57

A robot cleaner in accordance with claim 37, wherein the number of gear teeth formed at the first worm wheel is larger than that of gear teeth formed at the second worm wheel.

Claim 58

A robot cleaner in accordance with claim 37, wherein the number of gear teeth formed at the third worm wheel is larger than that of gear teeth formed at the first spur gear.

Claim 59

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said direction sensing means comprises a hermetic housing, a magnetic needle received in the hermetic housing and rotatably supported by upper and lower supporters of the hermetic housing at its central shaft for indicating the north and south poles, a reflection disc rotatably fixed to the central shaft of the magnetic needle and provided with a plurality of reflective mirrors thereon, a condensing lens attached to an upper portion of the hermetic housing for condensing light, and an optical sensor adapted to emit light to the reflective mirrors on the reflection disc and to receive the reflected light for detecting a turned angle of the driving means and outputting it to a microprocessor, and wherein said hermetic housing contains transparent oil or liquid therein.

Claim 60

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said direction sensing means comprises a hermetic housing, a magnetic needle received in the hermetic housing and rotatably supported by upper and lower supporters of the hermetic housing at its central shaft for indicating the north and south poles, a reflection disc rotatably fixed to the central shaft of the magnetic needle and provided with a plurality of reflective mirrors thereon, a condensing lens attached to an upper portion of the hermetic housing for condensing light, and an optical sensor adapted to emit light to the reflective mirrors on the reflection disc and to receive the reflected light for detecting a turned angle of the driving means and outputting it to a microprocessor, and wherein said hermetic housing contains transparent oil or liquid therein.

Claim 61

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said direction sensing means comprises a hermetic housing, a magnetic needle received in the hermetic housing and rotatably supported by upper and lower supporters of the hermetic housing at its central shaft for indicating the north and south poles, a reflection disc rotatably fixed to the central shaft of the magnetic needle and provided with a plurality of reflective mirrors thereon, a condensing lens attached to an upper portion of the hermetic housing for condensing light, and an optical sensor adapted to emit light to the reflective mirrors on the reflection disc and to receive the reflected light for detecting a turned angle of the driving means and outputting it to a microprocessor, and wherein each of said reflective mirrors has a triangular shape.

Claim 62

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said direction sensing means comprises a hermetic housing, a magnetic needle received in the hermetic housing and rotatably supported by upper and lower supporters of the hermetic housing at its central shaft for indicating the north and south poles, a reflection disc rotatably fixed to the central shaft of the magnetic needle and provided with a plurality of reflective mirrors thereon, a condensing lens attached to an upper portion of the hermetic housing for condensing light, and an optical sensor adapted to emit light to the reflective mirrors on the reflection disc and to receive the reflected light for detecting a turned angle of the driving means and outputting it to a microprocessor, and wherein each of said reflective mirrors has a triangular shape.

Claim 63

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said direction sensing means comprises a hermetic housing, a magnetic needle received in the hermetic housing and rotatably supported by upper and lower supporters of the hermetic housing at its central shaft for indicating the north and south poles, a reflection disc rotatably fixed to the central shaft of the magnetic needle and provided with a plurality of reflective mirrors thereon, a condensing lens attached to an upper portion of the hermetic housing for condensing light, and an optical sensor adapted to emit light to the reflective mirrors on the reflection disc and to receive the reflected light for detecting a turned angle of the driving means and outputting it to a microprocessor, and wherein said reflection disc is provided with between 36 and 360 triangular reflective mirrors thereon for detecting a clockwise or a counterclockwise turn of the driving means.

Claim 64

A robot cleaner comprising: a cleaner body; driving means provided at a bottom of the cleaner body and in contact with a floor for moving the cleaner body in a predetermined direction; and direction sensing means integrally mounted on the driving means for sensing a moving direction of the driving means, said direction sensing means having a housing, a central shaft rotatably and vertically supported in the housing, a disc vertically and rotatably fixed to the central shaft at its center and provided with a permanent magnet, a plurality of reflective means defining a circle provided on a surface of the disc, and means mounted on the housing for sensing a turned angle of the driving means by emitting light to the reflective means and receiving and counting up the reflected lights, wherein said direction sensing means comprises a hermetic housing, a magnetic needle received in the hermetic housing and rotatably supported by upper and lower supporters of the hermetic housing at its central shaft for indicating the north and south poles, a reflection disc rotatably fixed to the central shaft of the magnetic needle and provided with a plurality of reflective mirrors thereon, a condensing lens attached to an upper portion of the hermetic housing for condensing light, and an optical sensor adapted to emit light to the reflective mirrors on the reflection disc and to receive the reflected light for detecting a turned angle of the driving means and outputting it to a microprocessor, and wherein said reflection disc is provided with between 36 and 360 triangular reflective mirrors thereon for detecting a clockwise or a counterclockwise turn of the driving means.

Claim 65

A robot cleaner system comprising: a cleaner body; driving means for moving the cleaner body; a sensor rotatably mounted on an upper portion of the cleaner body; a storage battery provided in the cleaner body; a charging terminal provided at an outer surface of the cleaner body for applying current to the storage battery; a charging station positioned separately from the cleaner body and provided with signal generating means for informing the cleaner body of the location of the charging station and with a charging source adapted to be connected to the charging terminal of the cleaner body when the storage battery is charged; and control means provided in the cleaner body for detecting a charged condition of the storage battery and controlling the driving means to cause the cleaner body to be moved to the charging station while the sensor senses a signal from the signal generating means, thereby permitting the storage battery to be charged with energy of the charging source by connection of the charging terminal and the charging source, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction for the cleaner into a left turn or a right turn.

Claim 66

A robot cleaner system comprising: a cleaner body; driving means for moving the cleaner body; a sensor rotatably mounted on an upper portion of the cleaner body; a storage battery provided in the cleaner body; a charging terminal provided at an outer surface of the cleaner body for applying current to the storage battery; a charging station positioned separately from the cleaner body and provided with signal generating means for informing the cleaner body of the location of the charging station and with a charging source adapted to be connected to the charging terminal of the cleaner body when the storage battery is charged; and control means provided in the cleaner body for detecting a charged condition of the storage battery and controlling the driving means to cause the cleaner body to be moved to the charging station while the sensor senses a signal from the signal generating means, thereby permitting the storage battery to be charged with energy of the charging source by connection of the charging terminal and the charging source, wherein said driving means comprises straight driving means for moving the robot cleaner forward and backward and turning conversion means for converting a turning direction for the cleaner into a left turn or a right turn.

Claim 67

A robot cleaner system in accordance with claim 43, wherein said straight driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, and a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely.

Claim 68

A robot cleaner system in accordance with claim 43, wherein said turning conversion means comprises a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel engaged with the second worm, a second spur gear concentrically fixed to an underside of the third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 69

A robot cleaner, system comprising: a cleaner body; driving means for moving the cleaner body; a sensor rotatably mounted on an upper portion of the cleaner body; a storage battery provided in the cleaner body; a charging terminal provided at an outer surface of the cleaner body for applying current to the storage battery; a charging station positioned separately from the cleaner body and provided with signal generating means for informing the cleaner body of the location of the charging station and with a charging source adapted to be connected to the charging terminal of the cleaner body when the storage battery is charged; and control means provided in the cleaner body for detecting a charged condition of the storage battery and controlling the driving means to cause the cleaner body to be moved to the charging station while the sensor senses a signal from the signal generating means, thereby permitting the storage battery to be charged with energy of the charging source by connection of the charging terminal and the charging source, wherein said driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 70

A robot cleaner, system comprising: a cleaner body; driving means for moving the cleaner body; a sensor rotatably mounted on an upper portion of the cleaner body; a storage battery provided in the cleaner body; a charging terminal provided at an outer surface of the cleaner body for applying current to the storage battery; a charging station positioned separately from the cleaner body and provided with signal generating means for informing the cleaner body of the location of the charging station and with a charging source adapted to be connected to the charging terminal of the cleaner body when the storage battery is charged; and control means provided in the cleaner body for detecting a charged condition of the storage battery and controlling the driving means to cause the cleaner body to be moved to the charging station while the sensor senses a signal from the signal generating means, thereby permitting the storage battery to be charged with energy of the charging source by connection of the charging terminal and the charging source, wherein said driving means comprises a first driving motor for rotating normally and reversely, a first worm connected to a rotating shaft of the first driving motor, a first worm wheel engaged with the first worm, a second worm wheel engaged with the first worm wheel for adjusting a rotating speed, a driving roller connected to a driving shaft of the second worm wheel and adapted to rotate normally and reversely, a turning conversion motor for rotating normally and reversely, a second worm connected to a rotating shaft of the turning conversion motor, a third worm wheel for increasing a rotating speed, a turning conversion gear fixed to a periphery of a bracket supporting the driving roller and engaged with the first spur gear for turning the bracket left and right, and a ball bearing interposed between a flange of the bracket and a bottom plate of the cleaner body for permitting the bracket to be smoothly rotated.

Claim 71

A robot cleaner system in accordance with claim 46, wherein said charging terminal is a plug for applying direct current.

Claim 72

A robot cleaner system in accordance with claim 46, wherein said charging station is an automated charging means.