Vacuum cleaner

A vacuum cleaner, comprising:

• a main body;
• a plurality of wheels provided at both sides of the main body;
• a plurality of driving motors configured to provide the plurality of wheels with driving forces;
• a plurality of reduction gears configured to deliver the driving forces of the plurality of driving motors to the plurality of wheels;
• an actuator configured to rotate in left and right directions centering on a first rotation axis or in forward and backward directions centering on a second rotation axis;
• a first displacement sensor configured to detect rotational displacement of the actuator in the left and right directions;
• a second displacement sensor configured to detect rotational displacement of the actuator in the forward and backward directions;
• and
• multiple clutches configured to intermit power transmission by connecting or disconnecting the plurality of reduction gears and the plurality of wheels,
• wherein the vacuum cleaner has an active driving mode in which the multiple clutches are connected and a manual driving mode in which the multiple clutches are disconnected.

A vacuum cleaner, comprising:

• a main body configured to generate a suction force and to separate dust from air being sucked in;
• a suction nozzle unit provided at a lower portion of the main body to suck in air;
• a driving unit configured to drive the main body;
• a handle unit provided at an upper portion of the main body to be rotatable with respect to the main body;
• an actuator including
• a first rotating body configured to rotate along a first rotation axis according to a movement of the handle unit,
• a second rotating body configured to rotate along a second rotation axis according to the movement of the handle unit,
• and
• a displacement sensor configured to detect a rotational displacement of the actuator,
• wherein the rotational displacement of the actuator includes a rotational displacement of first rotating body along the first rotation axis and a rotational displacement of the second rotating body along the second rotation axis;
• a vent unit provided inside the actuator to communicate with the handle unit;
• and
• a control unit configured to control the driving unit on the basis of the rotational displacement of the actuator,
• wherein the vent unit includes:
• a first vent coupled to a lower portion of the second rotating body to communicate with the handle unit, and
• a second vent rotatably coupled to the first vent by a universal joint to communicate with the first vent.