Sweeping robot and control method thereof

Abstract

The floor sweeping robot comprises a main body; the wheels are arranged on the main body to move the main body; a pad holder to which a wet cleaning pad can be attached, the pad holder being rotatably provided at a lower portion of the main body; a motor that rotates the pad holder; a floor sensor for detecting a floor to be cleaned; a control unit electrically connected to the wheels, the motor, and the ground sensor; and a lifting assembly that lowers the pad holder toward the ground as the pad holder rotates in a predetermined forward direction, or raises the pad holder toward the main body as the pad holder rotates in a reverse direction opposite to the forward direction.

Description

Technical Field

[0001] The disclosed invention relates to a sweeping robot capable of performing wet or dry cleaning and a method for controlling the sweeping robot. Background Technology

[0002] Robotic vacuum cleaners can move within an indoor space while identifying objects and generating a map of the space. They then use this map to clean the room. Furthermore, they can collect environmental data about the room. Without user intervention, they can autonomously navigate to the designated cleaning area and perform the cleaning task.

[0003] Robotic vacuum cleaners may include a wet cleaning pad for wet cleaning. The wet cleaning pad is rotatably mounted on the underside of the robot's main body. When the wet cleaning pad contacts the surface to be cleaned and rotates, contaminants on the surface can be cleaned. However, when the robotic vacuum cleaner moves onto floor materials requiring dry cleaning (e.g., carpets), the wet cleaning pad needs to be raised to prevent contamination of the floor material. Summary of the Invention

[0004] Technical solution The disclosed invention provides a sweeping robot and a control method for the sweeping robot that can raise a wet cleaning pad when dry cleaning is required according to the type of ground and can adjust the position of the wet cleaning pad according to predetermined conditions.

[0005] The disclosed invention provides a robotic vacuum cleaner capable of independently adjusting the position of each of a plurality of pad supports and a control method for the robotic vacuum cleaner.

[0006] A robotic vacuum cleaner according to one embodiment includes: a main body; wheels disposed on the main body for moving the main body; a pad holder capable of attaching a wet cleaning pad and rotatably disposed on the lower part of the main body; a motor for rotating the pad holder; a floor sensor for detecting the floor to be cleaned; a control unit electrically connected to the wheels, the motor, and the floor sensor; and a lifting assembly for lowering the pad holder toward the floor as the pad holder rotates in a predetermined positive direction, or for raising the pad holder toward the main body as the pad holder rotates in a reverse direction opposite to the positive direction. The control unit identifies the type of the floor based on a detection signal transmitted from the floor sensor, and determines whether dry cleaning is required based on the type of the floor. When dry cleaning is required, the control unit controls the motor to rotate the pad holder in the reverse direction in order to raise the pad holder.

[0007] A control method for a robotic vacuum cleaner according to one embodiment includes the following steps: using the floor sensor to identify the type of the floor; using the control unit to determine whether dry cleaning is required based on the type of the floor; using the control unit to control the motor to rotate the pad support in the opposite direction to a predetermined positive direction, so as to raise the pad support according to the dry cleaning requirement.

[0008] The disclosed robotic vacuum cleaner and its control method can raise the wet cleaning pad when dry cleaning is required, depending on the type of floor surface, and adjust the position of the wet cleaning pad according to predetermined conditions. Therefore, it can prevent floor materials from being contaminated by the wet cleaning pad.

[0009] The disclosed robotic vacuum cleaner and its control method can reduce power consumption by independently adjusting the position of each of the multiple pad supports, and can reduce wear on the lifting components that raise or lower the pad supports. Attached Figure Description

[0010] Figure 1 A robotic vacuum cleaner according to one embodiment is shown.

[0011] Figure 2 The lower part of a robotic vacuum cleaner according to one embodiment is shown.

[0012] Figure 3 The pad support is shown in a state where it is detached from a robotic vacuum cleaner according to one embodiment.

[0013] Figure 4 The image shows the state of the pad support being lowered according to one embodiment.

[0014] Figure 5 The image shows the raised state of the pad support according to one embodiment.

[0015] Figure 6 A vertical cross-section of a pad holder according to one embodiment is shown.

[0016] Figure 7 This is a control block diagram of a robotic vacuum cleaner according to one embodiment.

[0017] Figure 8 The direction of rotation of the pad support is shown when a robotic vacuum cleaner cleans a hard floor according to one embodiment.

[0018] Figure 9 The direction of rotation of the pad support is shown when a robotic vacuum cleaner cleans a soft floor according to one embodiment.

[0019] Figure 10 An example is shown of the change in the position of the pad support when the robot vacuum cleaner rotates according to one embodiment.

[0020] Figure 11 Another example is shown where the position of the pad bracket changes as the robot vacuum cleaner rotates according to one embodiment.

[0021] Figure 12 This is a flowchart that briefly illustrates a control method for a robotic vacuum cleaner according to one embodiment.

[0022] Figure 13 This is a flowchart that explains in more detail the control method of the robot vacuum cleaner based on the type of floor surface to be cleaned.

[0023] Figure 14 This is a flowchart illustrating the control method of a robotic vacuum cleaner that includes multiple pad supports. Detailed Implementation

[0024] The various embodiments and terms used in this specification are not intended to limit the technical features described herein to specific embodiments, but should be understood to include various modifications, equivalents or alternatives to the corresponding embodiments.

[0025] Regarding the description of the accompanying drawings, similar reference numerals may be used to indicate similar or related constituent elements.

[0026] Unless the context clearly indicates otherwise, the singular form of the noun corresponding to an item may include one or more items.

[0027] In this specification, each of the statements such as “A or B”, “at least one of A and B”, “at least one of A or B”, “A, B or C”, “at least one of A, B and C”, and “at least one of A, B or C” may include one of the items listed together in the corresponding statement or all possible combinations thereof.

[0028] For example, "at least one of A, B and C" can mean A, B, C, a combination of A and B, a combination of A and C, a combination of B and C, or a combination of A, B and C.

[0029] Terms such as “first,” “second,” or “first,” “second” can be used simply to distinguish one constituent element from another, and do not limit the constituent element in other respects (e.g., importance or order).

[0030] When referring to the use of the terms “functionally” or “communically”, or even without such terms, when one (e.g., the first) component is “coupled” or “connected” to another (e.g., the second) component, it means that one component can be connected to the other component directly (e.g., wired), wirelessly, or via a third component.

[0031] Terms such as “comprising” or “having” are used to specify the presence of features, figures, steps, operations, constituent elements, components or combinations thereof described in this specification, without precluding the presence or additional possibility of one or more other features or figures, steps, operations, constituent elements, components or combinations thereof.

[0032] When it is mentioned that a constituent element is “connected,” “joined,” “supported,” or “in contact” with another constituent element, this includes not only cases where the constituent elements are directly connected, joined, supported, or in contact, but also cases where they are indirectly connected, joined, supported, or in contact through a third constituent element.

[0033] When a constituent element is "on" another constituent element, this includes not only the case where a constituent element is connected to another constituent element, but also the case where there is another constituent element between the two constituent elements.

[0034] The term "and / or" includes a combination of elements of a plurality of related records or one element of a plurality of related records.

[0035] The working principle and embodiments of the present invention will be described below with reference to the accompanying drawings.

[0036] Figure 1 A robotic vacuum cleaner according to one embodiment is shown. Figure 2 The lower part of a robotic vacuum cleaner according to one embodiment is shown. Figure 3 The pad support is shown in a state where it is detached from a robotic vacuum cleaner according to one embodiment.

[0037] In the accompanying drawings, terms such as front, rear, above, below, left, and right are defined based on the forward movement direction of the robotic vacuum cleaner 1, and the shape and position of the various components are not limited by these terms. Furthermore, the expressions indicating directions are used for the purpose of clearly understanding the invention, and the various directions may also be defined in different ways.

[0038] Reference Figure 1 , Figure 2 and Figure 3 The robotic vacuum cleaner 1 may include a main body 10 and wheels 40 configured to rotate around an axis parallel to the ground and move the main body 10. The main body 10 may include a housing forming the exterior. Multiple wheels 40 may be provided. For example, two main wheels 41 and auxiliary wheels 42 may be provided at the lower part of the main body 10. Each wheel 40 may include a wheel motor, which can rotate the wheel 40 by the rotational force generated by the wheel motor.

[0039] A brush 60 may be provided at the lower part of the main body 10. The brush 60 can disperse foreign objects present in the travel path of the main body 10. The brush 60 is provided at the suction port formed on the bottom surface of the main body 10, and disperses foreign objects into the suction port while rotating about a rotation axis perpendicular to the front of the main body 10. Inside the main body 10, a suction fan 61 that generates suction for sucking in foreign objects and a dust collection box for storing foreign objects may be provided.

[0040] The robotic vacuum cleaner 1 may include a variety of sensors. For example, the robotic vacuum cleaner 1 may include at least one of a camera 21, a lidar sensor 22, and an ultrasonic sensor 23. The various sensors may be disposed in the main body 10. The various sensors may be configured such that at least a portion of them is exposed to the outside of the main body 10. The camera 21, lidar sensor 22, and ultrasonic sensor 23 may be disposed in front, side, rear, and / or top of the main body 10.

[0041] A camera 21 may be positioned in front of the main body 10. The camera 21 may include a camera. The camera 21 may have a field of view (FOV) facing forward of the main body 10 and generate images. The position of the camera 21 is not limited to the front of the main body 10. The camera 21 may rotate and capture images of the periphery of the robotic vacuum cleaner 1. Another camera may also be positioned on the side and / or rear of the main body 10.

[0042] Camera 21 may include an image sensor that collects light incident from the outside to generate image information. For example, camera 21 may include at least one of an RGB (red, green, blue) camera that collects visible light to generate a color image and an infrared camera that generates an infrared image. Camera 21 may include a binocular camera (stereo camera). A binocular camera can utilize the difference in vision between the two eyes to acquire depth information up to an object. The image information acquired by camera 21 can be transmitted to the control unit 300 of the robotic vacuum cleaner 1. The control unit 300 can identify external objects by processing the image information. The control unit 300 can also identify the type of floor to be cleaned by the image acquired by camera 21.

[0043] The LiDAR (Light Detection and Ranging) sensor 22 can emit light (pulsed laser) and receive light in a preset direction from reflected light from external objects. The LiDAR sensor 22 can rotate 360 ​​degrees clockwise or counterclockwise. Because the LiDAR sensor 22 can emit light in 360 degrees and receive reflected light, the robotic vacuum cleaner 1 can use the LiDAR sensor 22 to detect external objects from all directions.

[0044] The lidar data generated by lidar sensor 22 can be transmitted to the control unit 300 of the robotic vacuum cleaner 1. The lidar data may include information on the direction of light travel and distance to external objects. The control unit 300 can process the lidar data to perform 3D modeling of the indoor space. The control unit 300 can also process the lidar data to obtain 3D data about external objects. Furthermore, the control unit 300 can identify the type of floor surface to be cleaned using the lidar data acquired by lidar sensor 22.

[0045] The ultrasonic sensor 23 can emit ultrasonic waves and receive echo signals reflected from objects. The control unit 300 of the robotic vacuum cleaner 1 can identify the presence of an object and calculate the distance to the object based on ultrasonic data, including the time difference between the ultrasonic waves emitted by the ultrasonic sensor 23 and the received echo signals. The control unit 300 can identify the type of floor surface to be cleaned using the ultrasonic data acquired by the ultrasonic sensor 23.

[0046] In addition to the example, the robotic vacuum cleaner 1 may be equipped with a variety of sensors. For example, the robotic vacuum cleaner 1 may also include at least one of the following: an impact sensor for detecting impacts with external objects; a motion sensor 24 for detecting the movement and rotation of the robotic vacuum cleaner 1; a wheel sensor 25 for detecting the rotation and speed of the wheels 40; a time-of-flight (ToF) sensor for measuring the distance to external objects; a radio frequency (RF) sensor; and a lidar sensor.

[0047] The robotic vacuum cleaner 1 may include a wet cleaning pad 30 and a pad holder 50. The wet cleaning pad 30 may refer to a wet mop. The wet cleaning pad 30 may be made of various materials (e.g., fabric, sponge, etc.). The wet cleaning pad 30 may be attached to the pad holder 50.

[0048] The pad support 50 is rotatably mounted on the lower part of the main body 10. The wet cleaning pad 30 can be rotated by rotating the pad support 50. The wet cleaning pad 30 fits tightly against the floor to be cleaned and rotates, thereby enabling wet cleaning of the floor. The wet cleaning pad 30 and the pad support 50 can be formed into a circular plate shape.

[0049] The wet cleaning pad 30 and the pad holder 50 can each be provided in pairs. For example, the first wet cleaning pad 30a and the first pad holder 50a can be located on the lower right side of the main body 10. The second wet cleaning pad 30b and the second pad holder 50b can be located on the lower left side of the main body 10. The number of wet cleaning pads 30 and pad holders 50 can be varied according to the design.

[0050] The pad holder 50 may include a holder body 51 and a rotating plate 52. At least a portion of the lower surface of the holder body 51 may be provided with Velcro for attaching the wet cleaning pad 30. The holder body 51 and the rotating plate 52 can be detachably joined. The rotating plate 52 can rotate according to the operation of the motor 80 (described later). As the rotating plate 52 rotates, the holder body 51 can rotate together. The holder body 51 and the rotating plate 52 may each be formed in a circular plate shape.

[0051] The pad support 50 can descend toward the ground by rotating in a predetermined positive direction. The pad support 50 can rise toward the main body 10 by rotating in the opposite direction. A lifting assembly 100 capable of lowering or raising the pad support 50 can be provided.

[0052] Furthermore, when multiple pad supports 50 are provided, multiple lifting components 100 corresponding to the multiple pad supports 50 can be provided. For example, the robotic vacuum cleaner 1 may include a first lifting component 100a that lowers or raises a first pad support 50a and a second lifting component 100b that lowers or raises a second pad support 50b. The first lifting component 100a and the second lifting component 100b may have the same structure.

[0053] Figure 4 The image shows the state of the pad support being lowered according to one embodiment. Figure 5 The image shows the raised state of the pad support according to one embodiment. Figure 6 A vertical cross-section of a pad holder according to one embodiment is shown. Figure 6 It is along Figure 4 The cross-sectional view taken by line A-A' is shown.

[0054] Reference Figure 4 , Figure 5 and Figure 6 The robotic vacuum cleaner 1 may include a pad support 50, a lifting assembly 100, and a solenoid device 200. The lifting assembly 100 can lower or raise the pad support 50 according to its rotation. The solenoid device 200 can detach the support body 51 of the pad support 50 from the rotating plate 52.

[0055] The support body 51 can be detachably attached to the upper surface of the rotating plate 52. The support body 51 is formed in a circular plate shape and may include an attachment protrusion 53 and a guide groove 54. The attachment protrusion 53 can protrude downward from the lower surface of the support body 51. The attachment protrusion 53 may be provided with Velcro for attaching the wet cleaning pad 30. The rotating plate 52 may include an insertion groove for the attachment protrusion 53 of the support body 51 to be inserted.

[0056] The guide groove 54 of the support body 51 can be configured for the insertion of the stop 210 of the solenoid device 200. If the rotating plate 52 rotates after the stop 210 of the solenoid device 200 is inserted into the guide groove 54, the support body 51 is locked in place by the stop 210. If the rotation of the support body 51 is restricted by the stop 210 and the rotating plate 52 continues to rotate, the support body 51 and the rotating plate 52 can be separated and isolated. As the support body 51 is separated from the rotating plate 52, the wet cleaning pad 30 attached to the lower surface of the support body 51 can be separated from the support body 51.

[0057] The rotating plate 52 can be connected to the rotating shaft of the gear 70. The gear 70 can be connected to the motor 80 (described later) and can rotate by the rotational force of the motor 80. The rotating plate 52 can rotate along with the rotation of the gear 70. The rotating plate 52 may include a receiving groove 56 for accommodating the lifting assembly 100. An upwardly opening cylindrical protruding wall 55 may be formed at the center of the rotating plate 52. The lifting assembly 100 can be accommodated in the receiving groove 56 formed inside the cylindrical protruding wall 55.

[0058] The lifting assembly 100 can lower the pad support 50 toward the ground as the pad support 50 rotates in a predetermined positive direction (e.g., clockwise). The lifting assembly 100 can raise the pad support 50 toward the main body 10 as the pad support 50 rotates in the opposite direction (e.g., counterclockwise).

[0059] The lifting assembly 100 may include an external threaded portion 110 and an internal threaded portion 120. The external threaded portion 110 may have a cylindrical shape. The rotating shaft of the gear 70 may pass through the external threaded portion 110. The external threaded portion 110 may be inserted into the internal threaded portion 120. A protrusion 111 for engaging with the internal threaded portion 120 may be provided on the outer surface of the external threaded portion 110. Multiple protrusions 111 may be provided.

[0060] The internal thread portion 120 may have an upwardly opening cylindrical shape. The internal thread portion 120 may accommodate the external thread portion 110. A sliding groove 122 may be formed on the inner surface of the internal thread portion 120. The sliding groove 122 may be formed in a helical manner along the inner surface of the internal thread portion 120. A protrusion 111 formed on the outer surface of the external thread portion 110 may be inserted into the sliding groove 122 formed on the inner surface of the internal thread portion 120. If the internal thread portion 120 rotates, the protrusion 111 of the external thread portion 110 may slide along the sliding groove 122.

[0061] A tensioner 121 can be formed on the outer surface of the internal thread portion 120. The tensioner 121 can be configured to be elastic and can fit tightly against the inner surface of the protruding wall 55 formed at the center of the rotating plate 52. The internal thread portion 120 can be fixed to the rotating plate 52 by means of the tensioner 121. If the rotating plate 52 rotates, the internal thread portion 120 can also rotate together. The rotational force of the rotating plate 52 can also be transmitted to the internal thread portion 120 through the tensioner 121.

[0062] The protrusion 111 of the external thread portion 110 can slide along the sliding groove 122 formed in a spiral manner on the inner surface of the internal thread portion 120, thereby allowing the internal thread portion 120 to move upward or downward. As the internal thread portion 120 moves upward, the pad support 50 can rise. As the internal thread portion 120 moves downward, the pad support 50 can descend. To prevent the protrusion 111 of the external thread portion 110 from disengaging from the sliding groove 122 of the internal thread portion 120, both ends of the sliding groove 122 can be blocked.

[0063] If the pad support 50 rotates in a predetermined positive direction (e.g., clockwise), the internal thread portion 120 can also rotate in the positive direction, and the protrusion 111 of the external thread portion 110 can move to the upper end of the internal thread portion 120 along the sliding groove 122 formed on the inner surface of the internal thread portion 120. Therefore, the pad support 50 can descend. The external thread portion 110 can remain stationary until the protrusion 111 of the external thread portion 110 contacts the upper end of the sliding groove 122. If the protrusion 111 of the external thread portion 110 contacts the upper end of the sliding groove 122, the protrusion 111 can no longer slide, and therefore the external thread portion 110 can rotate together with the internal thread portion 120 in the positive direction.

[0064] If the pad support 50 rotates in the opposite direction to the forward direction (e.g., counterclockwise), the internal thread portion 120 can also rotate in the opposite direction, and the protrusion 111 of the external thread portion 110 can move to the lower end of the internal thread portion 120 along the sliding groove 122 formed on the inner surface of the internal thread portion 120. Therefore, the pad support 50 can rise. If the protrusion 111 of the external thread portion 110 contacts the lower end of the sliding groove 122, the protrusion 111 can no longer slide, so the external thread portion 110 can rotate together with the internal thread portion 120 in the opposite direction.

[0065] Figure 7 This is a control block diagram of a robotic vacuum cleaner according to one embodiment.

[0066] Reference Figure 7The robotic vacuum cleaner 1 may include a floor sensor 20, wheels 40, a brush 60, a suction fan 61, a motor 80, and a control unit 300. The robotic vacuum cleaner 1 may include a motion sensor 24 and a wheel sensor 25. The robotic vacuum cleaner 1 may include a communication circuit 90 and a solenoid device 200.

[0067] The control unit 300 can control the constituent elements of the robotic vacuum cleaner 1. The control unit 300 may include a processor 310 and a memory 320. The processor 310, as hardware, may include logic circuits and arithmetic circuits. For the operation of the robotic vacuum cleaner 1, the processor 310 can use programs, instructions, and / or data stored in the memory 320 to control the electrically connected constituent elements of the robotic vacuum cleaner 1. The control unit 300 may be implemented as a control circuit including circuit elements such as capacitors, inductors, and resistors. The processor 310 and the memory 320 may be implemented as separate chips or a single chip. Furthermore, the control unit 300 may include multiple processors and multiple memories.

[0068] The memory 320 may store programs, applications, and / or data for the operation of the robotic vacuum cleaner 1, and may also store data generated by the processor 310. The memory 320 may include non-volatile memory such as read-only memory (ROM) or flash memory for long-term data storage. The memory 320 may also include volatile memory such as static random access memory (S-RAM) or dynamic random access memory (D-RAM) for temporary data storage.

[0069] The ground sensor 20 can detect the surface to be cleaned. For example, the ground sensor 20 may include at least one of a camera 21, a lidar sensor 22, and an ultrasonic sensor 23. The control unit 300 can identify the type of surface to be cleaned based on the detection signal transmitted by the ground sensor 20. The control unit 300 can use at least one of the camera 21, lidar sensor 22, and ultrasonic sensor 23 to identify the type of surface to be cleaned.

[0070] Camera 21 can have a field of view (FOV) facing the periphery of the subject 10 and acquire images. The robotic vacuum cleaner 1 can acquire images at predetermined time intervals while moving through the cleaning area. Camera 21 can transmit the images to control unit 300. Control unit 300 can identify various objects within the cleaning area using the images acquired by camera 21. Control unit 300 can also identify the type of floor surface to be cleaned using the images acquired by camera 21.

[0071] The lidar sensor 22 can have an omnidirectional field of view facing the subject 10 and acquire lidar data. The lidar sensor 22 can transmit the lidar data to the control unit 300. The control unit 300 can identify various objects in the cleaning area using the lidar data. The control unit 300 can identify the type of ground to be cleaned using the lidar data acquired by the lidar sensor 22.

[0072] The ultrasonic sensor 23 can emit ultrasonic waves and receive echo signals reflected from objects. The control unit 300 can identify the presence of an object and calculate the distance to the object based on ultrasonic data, including the time difference between the ultrasonic waves emitted by the ultrasonic sensor 23 and the received echo signals. The control unit 300 can identify the type of floor to be cleaned using the ultrasonic data acquired by the ultrasonic sensor 23.

[0073] Motion sensor 24 can sense the movement of the main body 10. For example, motion sensor 24 can detect the rotation of the main body 10. Motion sensor 24 may include a gyroscope sensor. Motion sensor 24 can detect the rotation direction and rotation angle of the main body 10. Motion sensor 24 can detect the rotational angular velocity of the main body 10. Motion sensor 24 can transmit electrical signals corresponding to the movement of the main body 10 to control unit 300. Control unit 300 can determine the rotation direction and rotation angle of the main body 10 based on the motion detection signals generated by motion sensor 24.

[0074] The wheel sensor 25 can detect the rotation and speed of the wheel 40. The wheel sensor 25 can transmit electrical signals corresponding to the rotation direction and speed of the wheel 40 to the control unit 300. The control unit 300 can also detect the rotation direction and rotation angle of the main body 10 based on the wheel rotation signal generated by the wheel sensor 25.

[0075] The wheel 40 allows the main body 10 to move. The wheel 40 includes a wheel motor and can rotate using the rotational force generated by the wheel motor. Multiple wheels 40 can be configured, and each of the multiple wheels 40 can be controlled independently. The direction of travel of the robotic vacuum cleaner 1 can be changed by altering the rotation direction of the multiple wheels 40. Furthermore, the travel speed of the robotic vacuum cleaner 1 can be adjusted by regulating the rotation speed of each of the multiple wheels 40. The control unit 300 can change the rotation direction of the main wheel 41 to change the travel direction of the robotic vacuum cleaner 1. If the two main wheels 41 rotate in opposite directions, the main body 10 can rotate to the left or right.

[0076] The brush 60 may include a brush motor. The rotational force generated by the brush motor causes the brush 60 to rotate. The rotational speed of the brush 60 can be adjusted by adjusting the rotational speed of the brush motor. Depending on the rotational speed of the brush 60, the degree to which foreign objects are dispersed along the path of the robotic vacuum cleaner 1 can be changed.

[0077] The suction fan 61 can suck up foreign objects scattered by the brush 60 and move them into the dust collection box. The suction fan 61 can be rotated by the rotational force of the suction motor, and as the suction fan 61 rotates, it can generate suction force for sucking up foreign objects. The suction force can be adjusted by adjusting the rotational speed of the suction fan 61.

[0078] Motor 80 can rotate pad support 50. Motor 80 may be referred to as "pad motor". When multiple pad supports 50 are provided, multiple motors 80 corresponding to the multiple pad supports 50 can be provided. For example, the vacuum cleaner 1 may include a first motor 80a that rotates a first pad support 50a and a second motor 80b that rotates a second pad support 50b.

[0079] The pad support 50 can be rotated in a predetermined positive direction by the operation of the motor 80, or it can be rotated in the opposite direction. The positive direction of the first pad support 50a located on the lower right side of the main body 10 can be clockwise. The positive direction of the second pad support 50b located on the lower left side of the main body 10 can be counterclockwise.

[0080] The communication circuit 90 can perform communication with external electronic devices. The communication circuit 90 can connect the robotic vacuum cleaner 1 to at least one of a user device, a server, and a home appliance via a network. The control unit 300 can acquire various information, signals, and / or data from external electronic devices through the communication circuit 90. For example, the communication circuit 90 can receive remote control signals from the user device. The control unit 300 can acquire an artificial intelligence model from the server for processing various types of data through the communication circuit 90.

[0081] The communication circuit 90 may include various communication circuits. The communication circuit 90 may include wireless communication circuits. These wireless communication circuits may include those supporting various wireless communications such as wireless local area networks (LANs), home radio frequency (Home RF), infrared communication, ultra-wideband (UWB) communication, Wi-Fi, Bluetooth, Zigbee, and long-range wireless networks (e.g., cellular communication). Furthermore, the communication circuit 90 may also include wired communication circuits.

[0082] The solenoid device 200, under the control of the control unit 300, can separate the support body 51 of the pad bracket 50 from the rotating plate 52. The control unit 300 controls the solenoid device 200 to separate the support body 51 from the rotating plate 52, causing the stop member 210 of the solenoid device 200 to protrude downwards. The downwardly protruding stop member 210 can be inserted into the guide groove 54 of the support body 51. If the stop member 210 is inserted into the guide groove 54, the rotation of the support body 51 is restricted; if the rotating plate 52 continues to rotate, the support body 51 can be separated from the rotating plate 52.

[0083] The components of a robotic vacuum cleaner 1 are not limited to Figure 7 The constituent elements illustrated in the text. Figure 7 Some of the components illustrated herein may be omitted, or the robotic vacuum cleaner 1 may include other components. For example, the robotic vacuum cleaner 1 may include a user interface and a battery. The user interface may include at least one of an input unit, a display, and a speaker. The input unit can acquire user input for operating the robotic vacuum cleaner 1. The input unit may include at least one of a button and a microphone. The display can provide various information about the operation of the robotic vacuum cleaner 1. If the display includes a touchscreen, user input can also be acquired through the display. The speaker can output various sound effects and / or voice. The battery can supply power to various electronic components included in the robotic vacuum cleaner 1.

[0084] The control unit 300 can identify external objects from at least one of image data, LiDAR data, and ultrasonic data using an artificial intelligence model obtained from the memory 320 or a server, and can identify the characteristics of the external objects. For example, the control unit 300 can identify the type of floor to be cleaned. Furthermore, the control unit 300 can estimate the distance to the external object and the height of the external object above the ground using depth information included in at least one of the image data, LiDAR data, and ultrasonic data. The control unit 300 can identify obstacles present in the travel path of the sweeping robot 1 and can control the wheels 40 to avoid the obstacles.

[0085] While camera 21, lidar sensor 22, and ultrasonic sensor 23 are examples of sensors used to identify external objects, they are not limited to these. External objects can also be identified using data acquired by a radar sensor.

[0086] The control unit 300 can control the movement of the robotic vacuum cleaner 1 based on multiple detection information acquired from at least one of the camera 21, the lidar sensor 22, the ultrasonic sensor 23, the motion sensor 24, and the wheel sensor 25. For example, the control unit 300 can determine the movement path of the robotic vacuum cleaner 1 based on at least one of the image acquired by the camera 21 and the lidar data acquired by the lidar sensor 22.

[0087] The control unit 300 of the robotic vacuum cleaner 1 can generate a map of the indoor space, including multiple areas of the indoor space. For example, the control unit 300 can generate a reference map of the indoor space using at least one of image data and LiDAR data acquired by the robotic vacuum cleaner 1 while it is moving through the indoor space, and identify the position of the robotic vacuum cleaner 1 in the indoor space. To generate the reference map, a Simultaneous Localization and Mapping (SLAM) algorithm can be used. SLAM is an algorithm that estimates the position of the robotic vacuum cleaner 1 in an already drawn map while simultaneously drawing a map of the space in which the robotic vacuum cleaner 1 is moving.

[0088] The reference map can include structural information about the indoor space. For example, the reference map can represent the shape and location of structures such as walls and floors, and can represent the type, size, and location of various objects located in the indoor space. The reference map can be stored in the memory 320. The control unit 300 can update the reference map according to a predetermined period or each time a change in the indoor structure is sensed. The reference map can also be generated by a server. The server can generate the reference map by processing various data received from the robotic vacuum cleaner 1, and can transmit the generated reference map to the robotic vacuum cleaner 1.

[0089] The control unit 300 can identify the type of the floor based on detection signals transmitted from the floor sensor. The type of floor can be identified as a hard floor or a soft floor. A hard floor is formed of a smooth, non-soft material, and can be exemplified as a stone floor, a wood floor, or a ceramic floor. A soft floor is formed of a non-smooth, soft material, and can be exemplified as a fabric with multiple tufts of pile (e.g., a carpet or floor mat).

[0090] The robotic vacuum cleaner 1 can perform either dry or wet cleaning. Dry cleaning refers to cleaning that uses the brush 60 to suck up dust instead of the wet cleaning pad 30. Wet cleaning refers to cleaning that uses the wet cleaning pad 30 to wipe the floor. The control unit 300 of the robotic vacuum cleaner 1 can determine whether to perform dry or wet cleaning based on the type of floor surface. The control unit 300 can determine whether dry cleaning is needed based on the type of floor surface. Furthermore, the control unit 300 can determine whether to perform dry or wet cleaning based on instructions obtained from the user interface or user device of the robotic vacuum cleaner 1.

[0091] When performing wet cleaning on hard surfaces, the control unit 300 can lower the wet cleaning pad 30 to the ground. The control unit 300 can control the motor 80 to rotate the pad support 50 in a predetermined positive direction (e.g., clockwise), thereby lowering the wet cleaning pad 30. If the pad support 50 rotates in the predetermined positive direction, the lifting assembly 100 can lower the pad support 50. The wet cleaning pad 30 can fit tightly against the surface to be cleaned and rotate to perform wet cleaning of the surface.

[0092] However, the multiple tufts of fibers that typically form fabrics are at a predetermined height from the surface on which the fabric is laid. When the robotic vacuum cleaner 1 cleans fabrics with multiple tufts of fibers (e.g., carpets or mats), the fabric may become contaminated if the wet cleaning pad 30 is in a lowered state. Therefore, dry cleaning is required when the robotic vacuum cleaner 1 cleans fabrics. To perform dry cleaning, the control unit 300 can decide to raise the pad support 50 to which the wet cleaning pad 30 is attached. When cleaning soft surfaces such as fabrics, the control unit 300 can determine that dry cleaning is required. The control unit 300 can control the motor 80 to rotate the pad support 50 in the opposite direction according to the need for dry cleaning. If the pad support 50 rotates in the opposite direction, the lifting assembly 100 can raise the pad support 50.

[0093] With the first pad support 50a and the second pad support 50b installed in the main body 10, the first motor 80a for rotating the first pad support 50a and the second motor 80b for rotating the second pad support 50b can be controlled independently. The control unit 300 can identify the type of floor to be cleaned as fabric, control the first motor 80a to raise the first pad support 50a and rotate it in a first opposite direction, and control the second motor 80b to raise the second pad support 50b and rotate it in a second opposite direction.

[0094] The protrusion 111 of the external thread portion 110 formed in the lifting assembly 100 slides along the sliding groove 122 formed on the inner surface of the internal thread portion 120 of the lifting assembly 100 towards the lower part of the internal thread portion 120, thereby allowing the pad support 50 to rise. Since the lower end of the sliding groove 122 is closed, if the protrusion 111 of the external thread portion 110 contacts the lower end of the sliding groove 122, the rise of the pad support 50 can be restricted. If the rise of the pad support 50 is restricted, the control unit 300 can stop the motor 80. That is, once the rise of the pad support 50 is completed, the pad support 50 does not need to rotate.

[0095] Furthermore, the height of each tuft of fibers forming the fabric can be different. A portion of the tufts can have a relatively long length. Because the length of the tufts forming the fabric is uneven, and the maximum rising height of the wet cleaning pad 30 is structurally limited, even when the wet cleaning pad 30 is in a raised position, a portion of the tufts may still come into contact with the wet cleaning pad 30. Therefore, even when the wet cleaning pad 30 is raised, friction may still occur between the wet cleaning pad 30 and the fabric while the robot vacuum 1 moves across the fabric.

[0096] Because the motor 80 stops when the pad holder 50 rises to its upper limit, the friction between the wet cleaning pad 30 and the fabric may cause the pad holder 50 to rotate in the positive direction. If the pad holder 50 rotates in the positive direction, it can be lowered by the lifting assembly 100. That is, when cleaning the fabric, occasional friction between the wet cleaning pad 30 and the fabric may cause the position of the pad holder 50 to change unexpectedly. If the pad holder 50 falls unexpectedly, the wet cleaning pad 30 may continue to be in contact with the fabric, which may cause fabric contamination.

[0097] The robot vacuum cleaner 1 can lift the pad support 50 again to prevent the pad support 50 from being lowered due to friction between the wet cleaning pad 30 and the fabric from being held in a fixed position. When dry cleaning is required (e.g., when the main body 10 is moving on the fabric), the control unit 300 can control the motor 80 to rotate the pad support 50 in the opposite direction at a predetermined cycle (e.g., every 10 seconds).

[0098] The control unit 300 can detect the rotation of the main body 10 when the motor 80, which provides rotational force to the pad support 50, is stopped. For example, the control unit 300 can determine the rotation direction and rotation angle of the main body 10 based on the motion detection signal generated by the motion sensor 24. The control unit 300 can also detect the rotation direction and rotation angle of the main body 10 based on the wheel rotation signal generated by the wheel sensor 25. In addition to the method of detecting the rotation of the main body 10 using the motion sensor 24 and / or the wheel sensor 25, various other methods can be used.

[0099] During dry cleaning, the control unit 300 can control the motor 80 to rotate the pad support 50 in the opposite direction, based on the principle that the main body 10 rotates in the same direction as the rotation of the pad support 50. The control unit 300 can also control the motor 80 to rotate the pad support 50 in the opposite direction based on a predetermined critical rotation angle of the main body 10 rotating in the same direction as the rotation of the pad support 50.

[0100] Whenever the main body 10 rotates in the same direction as the opposite direction to the rotation of the pad support 50, the control unit 300 can calculate the cumulative rotation angle by accumulating the rotation angle of the main body 10. The control unit 300 can control the motor 80 to make the pad support 50 rotate in the opposite direction based on the cumulative rotation angle reaching a predetermined critical rotation angle.

[0101] With the first pad support 50a and the second pad support 50b installed on the main body 10, the control unit 300 can adjust the positions of the first pad support 50a and the second pad support 50b independently. The control unit 300 can control the first motor 80a based on the rotation direction of the main body 10 to rotate the first pad support 50a in a first opposite direction, or control the second motor 80b to rotate the second pad support 50b in a second opposite direction.

[0102] As described above, the disclosed robotic vacuum cleaner 1 can independently adjust the position of each of the plurality of pad supports 50. By selectively raising the pad supports 50 that require position adjustment, power consumption can be reduced, and wear on the lifting assembly 100 can be minimized. Furthermore, the disclosed robotic vacuum cleaner 1 can adjust the position of the pad supports 50 without the need for separate sensors to detect the position and / or height of the pad supports 50. Therefore, costs can be reduced.

[0103] the following, Figures 8 to 10 The image shows the wet cleaning pad 30 viewed from above the robot vacuum cleaner 1.

[0104] Figure 8 The direction of rotation of the pad support is shown when a robotic vacuum cleaner cleans a hard floor according to one embodiment.

[0105] Reference Figure 8 In order to perform wet cleaning of the floor, the robotic vacuum cleaner 1 can rotate the pad support 50, on which the wet cleaning pad 30 is attached, in a predetermined positive direction while moving forward. To perform wet cleaning, the control unit 300 of the robotic vacuum cleaner 1 can control the first motor 80a to rotate the first pad support 50a in a first positive direction, which is clockwise, and can control the second motor 80b to rotate the second pad support 50b in a second positive direction, which is counterclockwise.

[0106] If the first pad support 50a rotates clockwise, it descends, and the first wet cleaning pad 30a can adhere tightly to the hard surface. If the second pad support 50b rotates counterclockwise, it descends, and the second wet cleaning pad 30b can adhere tightly to the hard surface.

[0107] As the main body 10 moves forward, the friction between the hard floor and the wet cleaning pads 30 is increased by rotating the first wet cleaning pad 30a clockwise and the second wet cleaning pad 30b counterclockwise. Therefore, wet cleaning of hard floors can be performed effectively.

[0108] Figure 9 The direction of rotation of the pad support is shown when a robotic vacuum cleaner cleans a soft floor according to one embodiment.

[0109] Reference Figure 9 The robotic vacuum cleaner 1 can identify the type of floor to be cleaned as a soft surface. For example, if a fabric F with multiple tufts of fibers is located in front of the robotic vacuum cleaner 1, the floor type can be identified as a soft surface. A fabric with multiple tufts of fibers can be exemplified as a carpet or floor mat. The robotic vacuum cleaner 1 can use at least one of a camera 21, a lidar sensor 22, and an ultrasonic sensor 23 to identify the type of floor to be cleaned.

[0110] As described above, when cleaning soft surfaces such as fabric F, dry cleaning is required to prevent fabric F from becoming contaminated. The robotic vacuum cleaner 1 can determine to raise the first wet cleaning pad 30a and the second wet cleaning pad 30b based on recognizing the type of the surface in front of the robotic vacuum cleaner 1 as fabric F.

[0111] The control unit 300 of the robotic vacuum cleaner 1 can rotate the pad support 50 in the opposite direction to raise the wet cleaning pad 30. In order to perform dry cleaning, the control unit 300 of the robotic vacuum cleaner 1 can control the first motor 80a to rotate the first pad support 50a in a first counterclockwise direction, and can control the second motor 80b to rotate the second pad support 50b in a second counterclockwise direction.

[0112] If the first pad support 50a rotates counterclockwise, it rises, causing the first wet cleaning pad 30a to separate from the fabric F. If the second pad support 50b rotates clockwise, it rises, causing the second wet cleaning pad 30b to separate from the fabric F.

[0113] Furthermore, the height of each tuft of fibers forming fabric F can be different. A portion of the tufts can have a relatively long length. Because the lengths of the tufts forming fabric F are uneven, and the maximum rising height of the wet cleaning pad 30 is structurally limited, even when the wet cleaning pad 30 is in a raised state, a portion of the tufts can still contact the wet cleaning pad 30. Therefore, even when the wet cleaning pad 30 is raised, friction may still occur between the wet cleaning pad 30 and the fabric while the robot vacuum cleaner 1 moves on fabric F.

[0114] Since the motor 80 stops when the pad support 50 rises to its upper limit, the friction between the wet cleaning pad 30 and the fabric may cause the pad support 50 to rotate in the positive direction. That is, due to the friction between the first wet cleaning pad 30a and the fabric F, the first pad support 50a may rotate clockwise and descend. Due to the friction between the second wet cleaning pad 30b and the fabric F, the second pad support 50b may rotate clockwise and descend.

[0115] The robotic vacuum cleaner 1 can lift the pad support 50 again to prevent the lowered pad support 50 from being held in the same position. When dry cleaning is required (e.g., when the main body 10 is moving on the fabric F), the control unit 300 can control the motor 80 to make the pad support 50 rotate in the opposite direction at a predetermined cycle (e.g., every 10 seconds).

[0116] Figure 10 An example is shown of the change in the position of the pad support when the robot vacuum cleaner rotates according to one embodiment.

[0117] Figure 10 The illustration shows the robot vacuum cleaner 1 rotating clockwise on fabric F. If the main body 10 of the robot vacuum cleaner 1 rotates clockwise, the second wet cleaning pad 30b located on the lower left side of the main body 10 may rotate counterclockwise due to friction between the fabric F and the wet cleaning pad 30b. Since the second pad support 50b rotates counterclockwise (which is the positive direction), the second pad support 50b will descend via the second lifting assembly 100b. That is, if the rotation direction of the main body 10 is the same as the opposite direction of the second pad support 50b, the friction generated between the fabric F and the second wet cleaning pad 30b may cause the second pad support 50b to rotate in the positive direction. Therefore, the raised state of the second pad support 50b is released, and the position of the second pad support 50b may change.

[0118] When the main body 10 rotates clockwise, the frictional force generated between the fabric F and the first wet cleaning pad 30a is directed in the opposite direction to the first wet cleaning pad 30a, thus the first pad support 50a can remain in the raised state. That is, since the rotation direction of the main body 10 is opposite to the opposite direction of the first pad support 50a, the raised state of the first pad support 50a does not need to be released.

[0119] The control unit 300 of the robotic vacuum cleaner 1 can control the second motor 80b based on a predetermined critical rotation angle of the main body 10 rotating clockwise, so that the second pad support 50b rotates in the opposite direction (clockwise). Furthermore, each time the main body 10 rotates clockwise, the control unit 300 of the robotic vacuum cleaner 1 can calculate a cumulative rotation angle by accumulating the rotation angle of the main body 10. The control unit 300 can control the second motor 80b based on the cumulative rotation angle reaching a predetermined critical rotation angle, so that the second pad support 50b rotates in the opposite direction (clockwise).

[0120] As described above, the robotic vacuum cleaner 1 can adjust the position of the second pad support 50b, which changes as the main body 10 rotates clockwise above the fabric F. The robotic vacuum cleaner 1 can adjust the position of the second pad support 50b according to a predetermined cycle, or whenever the rotation angle of the main body 10 reaches a critical rotation angle.

[0121] Figure 11 Another example is shown where the position of the pad bracket changes as the robot vacuum cleaner rotates according to one embodiment.

[0122] Figure 11 The illustration shows the robot vacuum cleaner 1 rotating counterclockwise on fabric F. If the main body 10 of the robot vacuum cleaner 1 rotates counterclockwise, the first wet cleaning pad 30a located on the lower right side of the main body 10 may rotate clockwise due to friction between the fabric F and the wet cleaning pad 30a. Since the first pad support 50a rotates clockwise (which is the positive direction), the first pad support 50a will descend via the first lifting assembly 100a. That is, if the rotation direction of the main body 10 is the same as the opposite direction of the first pad support 50a, the friction generated between the fabric F and the first wet cleaning pad 30a can cause the first pad support 50a to rotate in the positive direction. Therefore, the raised state of the first pad support 50a may be released, and the position of the first pad support 50a may change.

[0123] When the main body 10 rotates counterclockwise, the frictional force generated between the fabric F and the second wet cleaning pad 30b is directed in the opposite direction to the second wet cleaning pad 30b, thus the second pad support 50b can remain in the raised state. That is, since the rotation direction of the main body 10 is opposite to the opposite direction of the second pad support 50b, the raised state of the second pad support 50b does not need to be released.

[0124] The control unit 300 of the robotic vacuum cleaner 1 can control the first motor 80a based on a predetermined critical rotation angle of the main body 10 rotating counterclockwise, so that the first pad support 50a rotates in the opposite direction (counterclockwise). Furthermore, each time the main body 10 rotates counterclockwise, the control unit 300 of the robotic vacuum cleaner 1 can calculate a cumulative rotation angle by accumulating the rotation angle of the main body 10. The control unit 300 can control the first motor 80a based on the cumulative rotation angle reaching a predetermined critical rotation angle, so that the first pad support 50a rotates in the opposite direction (counterclockwise).

[0125] As described above, the robotic vacuum cleaner 1 can adjust the position of the first pad support 50a, which changes as the main body 10 rotates counterclockwise above the fabric F. The robotic vacuum cleaner 1 adjusts the position of the first pad support 50a according to a predetermined cycle, or whenever the rotation angle of the main body 10 reaches a critical rotation angle.

[0126] Figure 12 This is a flowchart that briefly illustrates a control method for a robotic vacuum cleaner according to one embodiment.

[0127] Reference Figure 12 The robotic vacuum cleaner 1 can use the floor sensor 20 to identify the type of floor surface to be cleaned (1201). The robotic vacuum cleaner 1 can determine to perform wet cleaning based on identifying the floor surface as a hard surface (1202). When wet cleaning is required, the robotic vacuum cleaner 1 can control the motor 80 to rotate the pad support 50 in a predetermined positive direction to lower the pad support 50 (1203). The robotic vacuum cleaner 1 can determine the execution of wet cleaning based on wet cleaning instructions received through the robotic vacuum cleaner 1's user interface or user device.

[0128] The robotic vacuum cleaner 1 can determine whether to perform dry cleaning based on the recognition that the type of the floor is different from that of a hard floor (1204). For example, the robotic vacuum cleaner 1 can determine that dry cleaning is required based on recognizing the type of the floor as a soft floor. When a fabric with multiple tufts of fibers (e.g., a carpet or floor mat) is laid on the floor, the robotic vacuum cleaner 1 can recognize the type of floor as a soft floor. When dry cleaning is required, in order to raise the mat support 50, the robotic vacuum cleaner 1 can control the motor 80 to rotate the mat support 50 in the opposite direction (1205).

[0129] The robotic vacuum cleaner 1 can determine whether cleaning is complete (1206). For example, the robotic vacuum cleaner 1 can determine that cleaning is complete when it has cleaned all areas of the floor or when it receives a cleaning completion instruction from the user interface or user device. Before cleaning is complete, the robotic vacuum cleaner 1 can determine whether the pad support 50 should be lowered or raised based on the identified type of floor surface.

[0130] Figure 13 This is a flowchart that explains in more detail the control method of the robot vacuum cleaner based on the type of floor surface to be cleaned.

[0131] Reference Figure 13 The robotic vacuum cleaner 1 can determine whether to perform dry cleaning based on the type of floor surface to be cleaned (1301). The robotic vacuum cleaner 1 can identify the type of floor surface to be cleaned as a soft surface (e.g., fabric) based on detection signals generated by the floor sensor 20, and can determine that dry cleaning is required. Based on the need for dry cleaning, the robotic vacuum cleaner 1 controls the motor 80 to raise the pad support 50, causing the pad support 50 to rotate in the opposite direction (1302). The robotic vacuum cleaner 1 can rotate the pad support 50 in the opposite direction until it is restricted by the lifting assembly 100, and then stop the motor 80 (1303).

[0132] The control unit 300 of the robotic vacuum cleaner 1 can detect whether the main body 10 is rotating (1304) when dry cleaning is required and the motor 80 is stopped. For example, the control unit 300 can determine the rotation direction and rotation angle of the main body 10 based on the motion detection signal generated by the motion sensor 24. The control unit 300 can also detect the rotation direction and rotation angle of the main body 10 based on the wheel rotation signal generated by the wheel sensor 25.

[0133] Even if the rotation of the main body 10 is not detected, the control unit 300 of the sweeping robot 1 can control the motor 80 to rotate the pad support 50 in the opposite direction according to a predetermined cycle (1305). That is, the sweeping robot 1 can periodically adjust the rising position of the pad support 50.

[0134] If the control unit 300 of the robotic vacuum cleaner 1 detects the rotation of the main body 10, it can determine whether the rotation direction of the main body 10 is the same as the opposite direction related to the rotation of the pad support 50 (1306). If the rotation direction of the main body 10 is the same as the opposite direction related to the rotation of the pad support 50, the control unit 300 can detect the rotation angle and cumulative rotation angle of the main body 10. The control unit 300 can control the motor 80 based on the rotation angle or cumulative rotation angle of the main body 10 being greater than or equal to a critical rotation angle, so that the pad support 50 rotates in the opposite direction (1307, 1308).

[0135] When the rotation direction of the main body 10 is the same as the positive direction related to the rotation of the pad support 50, the pad support 50 will not descend, so there is no need to adjust the position of the pad support 50. Whenever the main body 10 rotates in the opposite direction of the pad support 50, the control unit 300 can calculate the cumulative rotation angle by accumulating the rotation angle of the main body 10.

[0136] The robotic vacuum cleaner 1 can determine whether cleaning is complete (1309). For example, the robotic vacuum cleaner 1 can determine that cleaning is complete when it has cleaned all areas of the floor or when it receives a cleaning completion instruction from the user interface or user device. Before cleaning is complete, the robotic vacuum cleaner 1 can determine whether the pad support 50 is lowered or raised based on a predetermined cycle or whether the main body 10 is rotating.

[0137] Figure 14 This is a flowchart illustrating the control method of a robotic vacuum cleaner that includes multiple pad supports.

[0138] Reference Figure 14 The robotic vacuum cleaner 1 can determine whether to perform dry cleaning based on the type of floor surface to be cleaned (1401). The robotic vacuum cleaner 1 can identify the type of floor surface to be cleaned as a soft surface (e.g., fabric) based on detection signals generated by the floor sensor 20, and can determine that dry cleaning is required. Based on the need for dry cleaning, the robotic vacuum cleaner 1 can control the first motor 80a to rotate the first pad support 50a in a first opposite direction (1402), and can control the second motor 80b to rotate the second pad support 50b in a second opposite direction (1403). The robotic vacuum cleaner 1 can stop the first motor 80a and the second motor 80b after raising them to their upper limits (1404).

[0139] The control unit 300 of the robotic vacuum cleaner 1 can detect whether the main body 10 is rotating (1405) while the first motor 80a and the second motor 80b are stopped during the dry cleaning process.

[0140] Even if the rotation of the main body 10 is not detected, the control unit 300 of the sweeping robot 1 can control the first motor 80a and the second motor 80b to rotate the first pad support 50a in a first opposite direction and the second pad support 50b in a second opposite direction according to a predetermined cycle (1406). That is, the sweeping robot 1 can periodically adjust the rising position of the pad support 50.

[0141] If the control unit 300 of the robotic vacuum cleaner 1 detects the rotation of the main body 10, it can determine whether the rotation direction of the main body 10 is the same as the first opposite direction of the first pad support 50a (1407). If the rotation direction of the main body 10 is the same as the first opposite direction of the first pad support 50a, the control unit 300 can control the first motor 80a to rotate the first pad support 50a in the first opposite direction (1408). The control unit 300 can rotate the first pad support 50a in the first opposite direction based on whether the rotation angle of the main body 10 in the first opposite direction is greater than or equal to a critical rotation angle or whether the cumulative rotation angle is greater than or equal to a critical rotation angle.

[0142] When the rotation direction of the main body 10 is different from the first opposite direction of the first pad support 50a, the control unit 300 can control the second motor 80b to rotate the second pad support 50b in the second opposite direction (1409). In other words, when the rotation direction of the main body 10 is the same as the second opposite direction of the second pad support 50b, the control unit 300 can rotate the second pad support 50b in the second opposite direction. The control unit 300 can rotate the second pad support 50b in the second opposite direction based on whether the rotation angle of the main body 10 in the second opposite direction is greater than or equal to a critical rotation angle or whether the cumulative rotation angle is greater than or equal to a critical rotation angle.

[0143] The robotic vacuum cleaner 1 can determine whether cleaning is finished (1410). For example, the robotic vacuum cleaner 1 can determine that cleaning is finished when it has cleaned all areas of the floor or when it receives a cleaning end command from the user interface or user device. Before cleaning is finished, the robotic vacuum cleaner 1 can determine the descent or ascent of at least one of the first pad bracket 50a and the second pad bracket 50b based on a predetermined cycle or whether the main body 10 is rotating.

[0144] A robotic vacuum cleaner according to one embodiment may include: a main body; wheels disposed on the main body for moving the main body; a pad holder capable of attaching a wet cleaning pad and rotatably disposed on the lower part of the main body; a motor for rotating the pad holder; a floor sensor for detecting the floor to be cleaned; a control unit electrically connected to the wheels, the motor, and the floor sensor; and a lifting assembly for lowering the pad holder toward the floor as the pad holder rotates in a predetermined positive direction, or for raising the pad holder toward the main body as the pad holder rotates in a reverse direction opposite to the positive direction. The control unit identifies the type of the floor based on detection signals transmitted from the floor sensor and determines whether dry cleaning is required based on the type of the floor. When dry cleaning is required, the control unit controls the motor to rotate the pad holder in the reverse direction in order to raise the pad holder.

[0145] The control unit can rotate the pad support in the opposite direction until the rise of the pad support is restricted by the lifting assembly, and then stop the motor.

[0146] The control unit can control the motor during the dry cleaning process to rotate the pad support in the opposite direction according to a predetermined cycle.

[0147] The control unit can detect the rotation of the main body when the motor is stopped. During the dry cleaning process, the control unit can control the motor to rotate the pad support in the opposite direction based on the main body rotating in the same direction as the rotation associated with the rotation of the pad support.

[0148] The control unit can control the motor based on a predetermined critical rotation angle of the main body rotating in the rotation direction, so that the pad support rotates in the opposite direction.

[0149] Whenever the main body rotates in the rotation direction, the control unit can calculate a cumulative rotation angle by accumulating the rotation angle of the main body. The control unit can control the motor based on the cumulative rotation angle reaching a predetermined critical rotation angle, so as to make the pad support rotate in the opposite direction.

[0150] The robotic vacuum cleaner may also include a motion sensor to detect the rotation of the main body. The control unit can determine the rotation direction and rotation angle of the main body based on the motion detection signal generated by the motion sensor.

[0151] The pad support may include: a first pad support located on the lower right side of the main body; and a second pad support located on the lower left side of the main body. The motor may include: a first motor for rotating the first pad support; and a second motor for rotating the second pad support. The lifting assembly may include: a first lifting assembly for lowering or raising the first pad support; and a second lifting assembly for lowering or raising the second pad support. The control unit controls the first motor to raise the first pad support, causing the first pad support to rotate in a first opposite direction. The control unit controls the second motor to raise the second pad support, causing the second pad support to rotate in a second opposite direction.

[0152] The control unit can detect the rotation of the main body when the motor is stopped. During the dry cleaning process, the control unit can control the first motor based on the rotation direction of the main body to rotate the first pad support in the first opposite direction, or control the second motor to rotate the second pad support in the second opposite direction.

[0153] A control method for a robotic vacuum cleaner, comprising a pad support rotatably mounted on the lower part of a main body capable of attaching a wet cleaning pad, a motor for rotating the pad support, a lifting assembly for raising or lowering the pad support as it rotates, a floor sensor for detecting the floor to be cleaned, and a control unit, may include the following steps: using the floor sensor to identify the type of the floor; using the control unit to determine whether dry cleaning is required based on the type of the floor; and using the control unit to control the motor to rotate the pad support in the opposite direction to a predetermined positive direction, so as to raise the pad support according to the need for dry cleaning.

[0154] The steps of controlling the motor may include the following steps: rotating the pad support in the opposite direction until the rise of the pad support is restricted by the lifting assembly, and then stopping the motor.

[0155] The steps of controlling the motor may further include the following steps: rotating the pad support in the opposite direction at predetermined intervals during the dry cleaning process.

[0156] The control method may further include the following steps: detecting the rotation of the main body when the motor is stopped. The step of controlling the motor may further include the following steps: during the dry cleaning process, rotating the pad support in the opposite direction based on the rotation of the main body in the same direction as the opposite direction of the pad support.

[0157] The steps of controlling the motor may include the following steps: based on a predetermined critical rotation angle of the main body rotating in the rotation direction, causing the pad support to rotate in the opposite direction.

[0158] The step of detecting the rotation of the main body may include the following steps: calculating a cumulative rotation angle by accumulating the rotation angle of the main body each time the main body rotates in the rotation direction. The step of controlling the motor may include the following steps: rotating the pad support in the opposite direction based on the cumulative rotation angle reaching a predetermined critical rotation angle.

[0159] The step of detecting the rotation of the subject may include the following steps: determining the rotation direction and rotation angle of the subject based on the motion detection signal generated by the motion sensor.

[0160] The pad support may include: a first pad support located on the lower right side of the main body; and a second pad support located on the lower left side of the main body. The motor may include: a first motor for rotating the first pad support; and a second motor for rotating the second pad support. The lifting assembly may include: a first lifting assembly for lowering or raising the first pad support; and a second lifting assembly for lowering or raising the second pad support. Controlling the motor may include the following steps: controlling the first motor to raise the first pad support, causing the first pad support to rotate in a first opposite direction; and controlling the second motor to raise the second pad support, causing the second pad support to rotate in a second opposite direction.

[0161] The control method may further include the following steps: detecting the rotation of the main body when the motor is stopped. The step of controlling the motor may further include the following steps: during the dry cleaning process, controlling the first motor based on the rotation direction of the main body to rotate the first pad support in the first opposite direction, or controlling the second motor to rotate the second pad support in the second opposite direction.

[0162] As described above, the disclosed robotic vacuum cleaner and its control method can raise the wet cleaning pad when dry cleaning is required, depending on the type of floor surface, and adjust the position of the wet cleaning pad according to predetermined conditions. Therefore, it is possible to prevent floor materials from being contaminated by the wet cleaning pad.

[0163] The disclosed robotic vacuum cleaner and its control method can reduce power consumption by independently adjusting the position of each of the multiple pad supports, and can reduce wear on the lifting components that raise or lower the pad supports.

[0164] The disclosed embodiments can be implemented as a storage medium storing computer-executable instructions. The instructions can be stored as program code, and when executed by a processor, the operations of the disclosed embodiments can be performed by generating program modules.

[0165] Device-readable storage media may be provided in the form of non-transitory storage media. Here, "non-transitory storage media" refers only to a tangible device and does not include signals (e.g., electromagnetic waves). This term does not distinguish between cases where data is stored semi-permanently and cases where data is temporarily stored in the storage medium. As an example, "non-transitory storage media" may include buffers for temporarily storing data.

[0166] According to one embodiment, methods according to the various embodiments disclosed herein may be included in and provided in a computer program product. The computer program product, as a commodity, can be traded between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., a compact disc read-only memory (CD-ROM)) or through an app store (e.g., the Play Store). TM This can be done through direct online distribution (e.g., downloading or uploading) between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., a downloadable app) may be temporarily stored in a machine-readable storage medium, such as the memory of a manufacturer's server, an app store's server, or a relay server, or may be temporarily generated.

[0167] The disclosed embodiments have been described above with reference to the accompanying drawings. Those skilled in the art will understand that the present invention can be implemented in forms different from the disclosed embodiments without altering the technical concept or essential features of the invention. The disclosed embodiments are exemplary and should not be construed as restrictive.

Claims

1. A robotic vacuum cleaner, comprising: main body; Wheels are provided on the main body to move the main body; A pad holder is provided for attaching a wet cleaning pad and is rotatably mounted on the lower part of the main body. The motor causes the pad support to rotate; Ground sensors detect the surface to be cleaned; The control unit is electrically connected to the wheel, the motor, and the ground sensor; as well as The lifting assembly lowers the pad support towards the ground as it rotates in a predetermined positive direction, or raises the pad support towards the main body as it rotates in the opposite direction. The control unit identifies the type of ground based on detection signals transmitted from the ground sensors. The control unit determines whether dry cleaning is required based on the type of ground. When the dry cleaning is required, the control unit controls the motor to raise the pad support, thereby causing the pad support to rotate in the opposite direction.

2. The sweeping robot according to claim 1, wherein, The control unit rotates the pad support in the opposite direction until the rise of the pad support is restricted by the lifting assembly, and then stops the motor.

3. The sweeping robot according to claim 2, wherein, The control unit controls the motor during the dry cleaning process to rotate the pad support in the opposite direction according to a predetermined cycle.

4. The sweeping robot according to claim 2, wherein, The control unit detects the rotation of the main body when the motor is stopped. During the dry cleaning process, the control unit controls the motor based on the main body rotating in the same direction as the opposite direction to the rotation of the pad support, so that the pad support rotates in the opposite direction.

5. The sweeping robot according to claim 4, wherein, The control unit controls the motor based on a predetermined critical rotation angle of the main body rotating in the rotation direction, so that the pad support rotates in the opposite direction.

6. The sweeping robot according to claim 4, wherein, The control unit calculates the cumulative rotation angle by accumulating the rotation angle of the main body each time the main body rotates along the rotation direction. The control unit controls the motor based on the cumulative rotation angle reaching a predetermined critical rotation angle, so that the pad support rotates in the opposite direction.

7. The sweeping robot according to claim 4, further comprising: A motion sensor detects the rotation of the main body. The control unit determines the rotation direction and rotation angle of the main body based on the motion detection signal generated by the motion sensor.

8. The sweeping robot according to claim 1, wherein, The pad support includes: The first pad support is located on the lower right side of the main body; and The second pad support is located on the lower left side of the main body. The motor includes: A first motor causes the first pad support to rotate; and The second motor causes the second pad support to rotate. The lifting assembly includes: A first lifting assembly lowers or raises the first pad support; and The second lifting assembly lowers or raises the second pad support. The control unit controls the first motor to raise the first pad support, thereby causing the first pad support to rotate in the first opposite direction. The control unit controls the second motor to raise the second pad support, thereby causing the second pad support to rotate in a second opposite direction to the first opposite direction.

9. The sweeping robot according to claim 8, wherein, The control unit detects the rotation of the main body when the motor is stopped. During the dry cleaning process, the control unit controls the first motor based on the rotation direction of the main body to rotate the first pad support in the first opposite direction, or controls the second motor to rotate the second pad support in the second opposite direction.

10. A control method for a sweeping robot, comprising a pad support rotatably mounted on the lower part of a main body and capable of attaching a wet cleaning pad, a motor for rotating the pad support, a lifting assembly for lowering or raising the pad support as it rotates, a floor sensor for detecting the floor to be cleaned, and a control unit, the method comprising the following steps: The ground sensor is used to identify the type of ground. The control unit determines whether dry cleaning is required based on the type of the ground. The control unit controls the motor to rotate the pad support in the opposite direction to the predetermined positive direction, so as to raise the pad support according to the dry cleaning requirements.

11. The control method for a sweeping robot according to claim 10, wherein, The steps for controlling the motor include the following: The motor is then stopped when the rise of the pad support is restricted by the lifting assembly, causing the pad support to rotate in the opposite direction.

12. The control method for a sweeping robot according to claim 11, wherein, The steps of controlling the motor also include the following steps: During the dry cleaning process, the pad support is rotated in the opposite direction at predetermined intervals.

13. The control method for a sweeping robot according to claim 11 further includes the following steps: The rotation of the main body is detected while the motor is stopped. The steps of controlling the motor also include the following steps: During the dry cleaning process, the pad support rotates in the opposite direction as the main body rotates in the same direction as the opposite direction of the pad support.

14. The control method for a sweeping robot according to claim 13, wherein, The steps for controlling the motor include the following: Based on a predetermined critical rotation angle of the main body rotating in the rotation direction, the pad support is rotated in the opposite direction.

15. The control method for a sweeping robot according to claim 13, wherein, The step of detecting the rotation of the main body includes the following steps: Each time the main body rotates along the rotation direction, the cumulative rotation angle is calculated by accumulating the rotation angles of the main body. The steps for controlling the motor include the following: Based on the cumulative rotation angle reaching a predetermined critical rotation angle, the pad support is rotated in the opposite direction.

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