Cleaning robot and method for detecting overheating of cleaning robot

Abstract

Disclosed is a method for detecting overheating of a cleaning robot, the method comprising the steps of: sending a charging command to a station when contact between a first charging terminal of the cleaning robot and a second charging terminal of the station is detected by a first voltage detection circuit; obtaining a heat generation amount between the first charging terminal and the second charging terminal when the voltage is supplied from the station to the cleaning robot according to the charging command; and performing a re-docking operation after being separated from the station by a predetermined distance when the obtained heat generation amount exceeds a threshold heat generation amount as a reference for overheat generation.

Description

Technical Field

[0001] Embodiments of this disclosure relate to a docked cleaning robot at a station and a method for detecting overheating of the cleaning robot. Background Technology

[0002] A cordless vacuum cleaner is a type of cleaner that is used by charging a battery included in the vacuum cleaner itself, without needing to connect a cord to an outlet. A cordless vacuum cleaner includes a suction motor that generates suction, thus using the suction generated in the suction motor to suck up foreign objects (such as dust) along with air from the vacuum cleaner head (brush), and collecting the sucked-up foreign objects by separating them from the air.

[0003] Compared to corded vacuum cleaners, cordless vacuum cleaners are much more convenient to use because they do not require a power cord. Therefore, cordless vacuum cleaners are becoming increasingly popular. Because the main body of a cordless vacuum cleaner is detached from the station and performs cleaning wirelessly, a battery is essential. The battery is primarily charged when the cordless vacuum cleaner's main body is electrically connected to the station. In this case, the cordless vacuum cleaner may be damaged if overheating occurs at the charging port used to connect the cordless vacuum cleaner's main body to the station.

[0004] Furthermore, as an example of cordless vacuum cleaners, cleaning robots have become popular and widely used. In these robots, the cleaning body automatically performs cleaning while being moved by the driving force of motors, without user intervention. The cleaning robot's body cleans the floor while moving independently within a defined area. Cleaning robots typically include a rechargeable battery and various sensors that can identify and avoid obstacles while moving.

[0005] In this configuration, the cleaning robot's main body is wirelessly powered by a battery. Because the main body provides various display and cleaning functions, the battery needs to be continuously charged. A power conversion device can be used to charge the battery. The main body docks at a station that includes the power conversion device to charge the battery before and after cleaning operations. Summary of the Invention

[0006] Solution to the problem A cleaning robot docked at a station according to an embodiment of the present disclosure includes: a first charging terminal configured to charge a battery powering the cleaning robot; a first voltage detection circuit configured to detect the voltage of the first charging terminal; a first communication interface configured to communicate with the station; a memory configured to store one or more instructions; and at least one processor. The at least one processor is configured to execute the one or more instructions to perform a plurality of operations, including: detecting contact between the first charging terminal of the cleaning robot and a second charging terminal of the station via the first voltage detection circuit, based on the docking of the cleaning robot at the station; the at least one processor is configured to execute the one or more instructions to send a charging command to the station via the first communication interface based on the detected contact between the first charging terminal and the second charging terminal; the at least one processor is configured to execute the one or more instructions to obtain a calorific value between the first charging terminal and the second charging terminal based on the voltage supplied to the cleaning robot from the station according to the charging command; and the at least one processor is configured to execute the one or more instructions to perform a re-docking operation after the cleaning robot moves a predetermined distance away from the station, based on determining that the obtained calorific value exceeds a threshold calorific value as an overheating criterion.

[0007] A cordless vacuum cleaner according to an embodiment of the present disclosure is configured to dock at a station. The cordless vacuum cleaner includes: a first charging terminal configured to charge a battery powering the cordless vacuum cleaner; a first voltage detection circuit configured to detect the voltage of the first charging terminal; a first communication interface configured to communicate with the station; a memory configured to store one or more instructions; and at least one processor configured to execute the one or more instructions to perform a plurality of operations. The operations include: detecting contact between the first charging terminal of the cordless vacuum cleaner and a second charging terminal of the station via the first voltage detection circuit, based on the cordless vacuum cleaner docking at the station; sending a charging command to the station via the first communication interface based on the detected contact between the first charging terminal and the second charging terminal; obtaining a calorific value between the first charging terminal and the second charging terminal based on the voltage supplied to the cordless vacuum cleaner from the station according to the charging command; and performing an overheat prevention operation based on determining that the obtained calorific value exceeds a threshold calorific value as an overheating standard.

[0008] According to an embodiment of this disclosure, an overheat detection method for a cleaning robot at a station includes: based on the cleaning robot docking at the station, detecting the contact between a first charging terminal of the cleaning robot and a second charging terminal of the station via a first voltage detection circuit of the cleaning robot; based on the detected contact between the first charging terminal and the second charging terminal, sending a charging command to the station via a first communication interface of the cleaning robot; obtaining a heat value between the first charging terminal and the second charging terminal based on the voltage supplied from the station to charge the battery of the cleaning robot according to the charging command; and performing a re-docking operation after the cleaning robot moves a predetermined distance away from the station based on determining that the obtained heat value exceeds a threshold heat value as an overheating standard. Attached Figure Description

[0009] Figure 1 This is a view used to describe a cleaning system according to embodiments of the present disclosure.

[0010] Figure 2 This is a graph used to describe the temperature of the charging terminal when misaligned according to an embodiment of the present disclosure.

[0011] Figure 3a This is a view used to describe a cleaning robot according to embodiments of the present disclosure.

[0012] Figure 3b This is a view used to describe a station according to embodiments of the present disclosure.

[0013] Figure 4 This is a block diagram used to describe the configuration of cleaning robots and stations according to embodiments of the present disclosure.

[0014] Figure 5 This is a block diagram used to describe a power conversion device according to embodiments of the present disclosure.

[0015] Figure 6 This is a flowchart describing an overheat detection method for a cleaning robot according to embodiments of the present disclosure.

[0016] Figure 7 This is a circuit diagram used by a cleaning robot to detect contact between a first charging terminal and a second charging terminal, according to an embodiment of this disclosure.

[0017] Figure 8 This is a circuit diagram used by a cleaning robot to check for voltage boosting according to an embodiment of this disclosure.

[0018] Figure 9 This is a circuit diagram describing the operation of a cleaning robot according to embodiments of the present disclosure to calculate the heating value between a first charging terminal and a second charging terminal.

[0019] Figure 10 It is a graph used to describe the threshold calorific value as a superheat standard according to embodiments of the present disclosure.

[0020] Figure 11 It is a diagram used to describe the overheating and normal heat according to embodiments of the present disclosure.

[0021] Figure 12 This is a flowchart describing a method for a cleaning robot to send a charging command to a station according to embodiments of the present disclosure.

[0022] Figure 13 This is a flowchart describing a method for a cleaning robot to output a notification according to embodiments of the present disclosure.

[0023] Figure 14 This is a view used to describe the operation of a cleaning robot outputting notifications according to embodiments of the present disclosure.

[0024] Figure 15 This is a flowchart describing a method for a cleaning robot to perform a re-docking operation according to embodiments of the present disclosure.

[0025] Figure 16 This is a view used to describe the re-docking operation of a cleaning robot according to embodiments of the present disclosure.

[0026] Figure 17 This is a view used to describe the operation of a cleaning robot interacting with a server according to embodiments of the present disclosure.

[0027] Figure 18 This is a view used to describe the operation of a cleaning robot outputting notifications through a user terminal according to embodiments of the present disclosure.

[0028] Figure 19 This is a view used to describe a cleaning system including a cordless stick cleaner, which may generally be referred to as a cordless vacuum cleaner, according to embodiments of the present disclosure.

[0029] Figure 20 This is a view used to describe the operation of the cordless stick cleaner outputting notifications according to embodiments of the present disclosure. Detailed Implementation

[0030] The terminology used herein will be briefly described, and embodiments of this disclosure will be described in detail.

[0031] In consideration of the functionality of the embodiments of this disclosure, the terminology used herein is generally common and widely used in the art; however, these terms may vary according to the intent, precedent, or new technology of those skilled in the art. Furthermore, the applicant may arbitrarily choose some terms, and in such cases, the meaning of the chosen terms will be described in detail in the detailed description of the embodiments of this disclosure. Therefore, the specific terms used herein should be defined based on their unique meaning and the entire context of this disclosure.

[0032] Throughout the disclosure, the expression "at least one of a, b, or c" indicates only a, only b, only c, both a and b, both a and c, both b and c, all of a, b, and c, or variations thereof.

[0033] When a part "includes" an element, another element may be further included, rather than excluding, the presence of other elements, unless otherwise described. Furthermore, terms such as "...unit" or "...module" as used herein refer to a unit that performs at least one function or operation, and that unit may be implemented as hardware or software, or a combination of hardware and software.

[0034] It should be understood that the boxes in each flowchart and the combination of flowcharts can be executed by one or more computer programs including instructions. One or more computer programs can be stored in a single memory, or one or more computer programs can be divided into different parts stored in multiple different memories.

[0035] It will be understood that, unless the context explicitly specifies otherwise, the singular form includes the plural indicator. Thus, for example, a reference to “component surface” includes a reference to one or more such surfaces.

[0036] Any function or operation described herein may be processed by a processor or a combination of processors. A processor or a combination of processors is circuitry that performs processing and includes circuitry such as an application processor (AP), a communication processor (CP), a graphics processing unit (GPU), a neural processing unit (NPU), a microprocessor unit (MPU), a system-on-a-chip (SoC), or an integrated circuit (IC)).

[0037] Embodiments of the present disclosure will now be described more fully with reference to the accompanying drawings so that those skilled in the art can perform the embodiments of the present disclosure without difficulty. However, embodiments of the present disclosure may be implemented in many different forms and are not limited to the embodiments described herein. Furthermore, in the drawings, portions irrelevant to the description have been omitted for clarity of the embodiments of the present disclosure, and throughout the disclosure, the same reference numerals denote the same elements.

[0038] Figure 1This is a view used to describe a cleaning system according to embodiments of the present disclosure.

[0039] Reference Figure 1 The cleaning system according to embodiments of this disclosure may include, but is not limited to, a cleaning robot 1000 and a station 2000. In addition to the cleaning robot 1000 and the station 2000, the cleaning system may also include a server (not shown) and a user terminal (not shown). Reference will be made below. Figure 17 A cleaning system including a server and a user terminal is described in detail. According to embodiments of this disclosure, the cleaning system may include a cordless pole-shaped cleaner instead of a cleaning robot 1000. Reference will be made below. Figure 19 The cleaning system includes a cordless pole cleaner.

[0040] The following description assumes that the cleaning system includes a cleaning robot 1000 and a station 2000, the cleaning robot 1000 including a battery, and the station 2000 including a power conversion device (e.g., an adapter) for charging the battery of the cleaning robot 1000.

[0041] The cleaning robot 1000 can be a robotic device capable of performing cleaning functions while moving autonomously. The cleaning robot 1000 can navigate an indoor space using at least one sensor (e.g., a three-dimensional (3D) sensor, a lidar sensor, a camera, or an anti-tipping sensor) and can generate a map of the indoor space. The cleaning robot 1000 can plan cleaning paths or operating patterns using artificial intelligence (AI) functions. For example, the cleaning robot 1000 can adjust the suction intensity based on the amount of dust in the room or the material of the floor (e.g., hard floor or carpet) using an AI model. When the cleaning robot 1000 detects a carpet, it can automatically lift the wet mop to prevent moisture and contaminants from entering the carpet. The cleaning robot 1000 can set up concentrated cleaning areas. For example, when the cleaning robot 1000 detects a stain on the floor during cleaning, it can return to station 2000 to heat the wet mop with steam and then focus on cleaning the stain on the floor again. In addition, the cleaning robot 1000 can change its cleaning path based on the location of obstacles (such as cables, pet poop pads, socks, etc.) and can return to station 2000 to recharge the battery based on the remaining battery power or user commands.

[0042] Station 2000 can be a device for charging the battery, removing dust, and storing the cleaning robot 1000. Station 2000 can also be called a charger or cleaning station.

[0043] The cleaning robot 1000 and the station 2000 can be electrically coupled to each other via charging terminals. For example, the charging terminal of the cleaning robot 1000 (hereinafter referred to as the first charging terminal 1010) and the charging terminal of the station 2000 (hereinafter referred to as the second charging terminal 2010) can be electrically coupled to each other. The cleaning robot 1000 can be aligned with and docked at the station 2000, such that the first charging terminal 1010 and the second charging terminal 2010 are electrically coupled to each other. When the cleaning robot 1000 is properly docked at the station 2000 and the first charging terminal 1010 of the cleaning robot 1000 and the second charging terminal 2010 of the station 2000 are in direct contact with each other, the battery of the cleaning robot 1000 can be charged through a charging sequence. In this specification, unless otherwise described, the term "charging terminal" collectively refers to the first charging terminal 1010 of the cleaning robot 1000 and the second charging terminal 2010 of the station 2000.

[0044] When the cleaning robot 1000 docks at the station 2000 and the first charging terminal 1010 and the second charging terminal 2010 are electrically connected, but the cleaning robot 1000 and the station 2000 are not aligned or there are foreign objects between the charging terminals, the charging terminals may overheat. For example, when the cleaning robot 1000 and the station 2000 are well aligned and properly docked, the contact resistance between the first charging terminal 1010 of the cleaning robot 1000 and the second charging terminal 2010 of the station 2000 can be very low, such as at a certain value or lower. However, when the cleaning robot 1000 and the station 2000 are not well aligned and the charging terminals are not properly contacting each other, the contact resistance between the first charging terminal 1010 of the cleaning robot 1000 and the second charging terminal 2010 of the station 2000 may increase. In this case, when the battery of the cleaning robot 1000 is charged, heat may be generated due to the abnormally high contact resistance, which may lead to damage to components near the charging terminals or damage to the charging terminals themselves. In the following text, a situation where the cleaning robot 1000 and station 2000 are well aligned and the contact resistance between the charging terminals is very low (e.g., almost 0 Ω) can be referred to as a "normal alignment state," and a situation where the cleaning robot 1000 and station 2000 are not well aligned and the contact resistance increases can be referred to as a "misalignment state."

[0045] When the cleaning robot 1000 is properly docked at station 2000 and its battery begins charging, station 2000 charges the battery using appropriate power (= voltage x current) according to the capacity of the power conversion device (also known as an adapter or switch-mode power supply (SMPS)). When the cleaning robot 1000 is properly docked at station 2000 and the charging sequence begins, no abnormal overheating occurs at the charging terminals during charging because the contact resistance between the charging terminals is within several mΩ. However, if the cleaning robot 1000 is not fully docked at station 2000 for some reason, the contact resistance between the charging terminals increases to several Ω, causing a release of P=I from the charging terminals. I R corresponds to the power.

[0046] For example, when the power conversion device (also known as the adapter or SMPS) of station 2000 has a specification of 25.25V / 2.5A and the cleaning robot 1000 is not fully docked at station 2000 and therefore the contact resistance between the charging terminals is 2Ω, 12.5W (=2.5×2.5×2) of the total battery charging power (63W) becomes heat at the charging terminals, causing overheating at the charging terminals.

[0047] Reference Figure 2 Overheating at the charging end can raise its temperature to 100°C or higher within minutes. In the event of overheating, the injection-molded product surrounding the charging end, the components around the charging end, and / or the charging end itself may deform due to the heat, potentially leading to a fire in the cleaning robot 1000 or station 2000.

[0048] Because the cleaning robot 1000 is used in various environments due to its product characteristics, misalignment between charging terminals or foreign objects adhering to the charging terminals may easily occur. Therefore, according to embodiments of this disclosure, the cleaning robot 1000 can calculate the heat value of the charging terminals by applying a charging terminal voltage and current detection algorithm, and can perform overheat prevention operations when the heat value of the charging terminals exceeds a threshold heat value as an overheating standard. For example, the cleaning robot 1000 can stop charging and perform re-docking after moving a predetermined distance away from the station 2000 to realign with the station 2000.

[0049] The following will refer to Figure 6 The cleaning robot 1000 detects overheating and performs a realignment with station 2000, and will refer to... Figure 3a The configuration of the cleaning robot 1000 is described in more detail.

[0050] Figure 3a This is a view used to describe a cleaning robot 1000 according to an embodiment of the present disclosure.

[0051] Reference Figure 3a The cleaning robot 1000 may include a first charging terminal 1010 on its rear surface. When the first charging terminal 1010 is located on the rear surface, the cleaning robot 1000 is movable rearward and can dock at the station 2000. The first charging terminal 1010 includes a conductor for electrical connection with the station 2000. Although the first charging terminal 1010 according to embodiments of the present disclosure... Figure 3a The first charging terminal 1010 is attached to the rear surface of the cleaning robot 1000, but this disclosure is not limited thereto. According to the design of the cleaning robot 1000, the first charging terminal 1010 may be attached to the bottom surface of the cleaning robot 1000, the front surface of the cleaning robot 1000, or the side surface of the cleaning robot 1000.

[0052] The cleaning robot 1000 may include a lidar sensor 1021 on its top surface, an obstacle detection sensor (3D sensor) 1022 on its side surfaces, and an anti-tipping sensor 1023 on its bottom surface in contact with the surface to be cleaned, but this disclosure is not limited thereto. The cleaning robot 1000 may include a printed circuit board assembly (PBA) or a printed circuit board assembly 1011. The PBA 1011 may be connected to a first charging terminal 1010 and may include at least one processor, memory, and voltage detection circuitry. The cleaning robot 1000 may also include drive wheels 1061, brushes 1064, and a battery 1050. Reference will be made below. Figure 4 Describe each component.

[0053] Figure 3b This is a view used to describe a station 2000 according to an embodiment of the present disclosure.

[0054] Reference Figure 3b The second charging terminal 2010 may be located in the station 2000. Furthermore, the PBA 2210 may be located between the positive (+) charging terminal and the negative (-) charging terminal. The PBA 2210 may be connected to the second charging terminal 2010 and may include a voltage detection circuit, at least one processor, and a memory.

[0055] According to embodiments of this disclosure, the second charging terminal 2010 may be located at a position where it can contact the first charging terminal 1010 when the cleaning robot 1000 docks at the station 2000. For example, when the first charging terminal 1010 is located on the rear surface of the cleaning robot 1000, the second charging terminal 2010 may be positioned facing forward. When the first charging terminal 1010 is located on the bottom surface of the cleaning robot 1000, the second charging terminal 2010 may be positioned facing upward.

[0056] According to embodiments of this disclosure, station 2000 may include status indicator lights 2501. Status indicator lights 2501 may include, but are not limited to, multiple light-emitting diodes (LEDs). Station 2000 can display the charging and docking status of cleaning robot 1000 by controlling the flashing cycle, color, etc., of status indicator lights 2501. For example, when the battery 1050 of cleaning robot 1000 is charging, station 2000 may illuminate status indicator lights 2501 in orange, and when the battery 1050 is fully charged, station 2000 may illuminate status indicator lights 2501 in green. Furthermore, when the battery 1050 of cleaning robot 1000 is charging, station 2000 may flash status indicator lights 2501 at a certain cycle, and when the battery 1050 is fully charged, station 2000 may stop flashing status indicator lights 2501.

[0057] Reference Figure 4 The configuration of the cleaning robot 1000 and station 2000 is described in more detail.

[0058] Figure 4 This is a block diagram illustrating the configuration of the cleaning robot 1000 and station 2000 according to embodiments of the present disclosure.

[0059] The cleaning robot 1000 may include a first processor 1001, a first memory 1002, a first charging terminal 1010, a first switch 1111, a sensor unit 1020, a camera 1040, a battery 1050, a first user interface 1070, a first communication interface 1080, a mobile assembly 1062, a cleaning assembly 1063, and a first voltage detection circuit 1100. However, Figure 4 At least one of the components shown may not be necessary. The cleaning robot 1000 may include more than... Figure 4 The number of components shown may be more or less. Each component will be described.

[0060] The first processor 1001 controls the overall operation of the cleaning robot 1000. The first processor 1001 can control the components of the cleaning robot 1000 by executing a program stored in the first memory 1002. The first processor 1001 can be at least one processor. For example, the first processor 1001 can be one processor or multiple processors.

[0061] The first processor 1001 according to embodiments of the present disclosure may include at least one of a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), an integrated many-core processor (MIC), a digital signal processor (DSP), or a neural processing unit (NPU). The first processor 1001 may be implemented as an integrated system-on-a-chip (SoC) including one or more electronic components. The first processor 1001 may be referred to as a microprocessor controller (MICOM), a microprocessor unit (MPU), or a microcontroller unit (MCU). The first processor 1001 according to embodiments of the present disclosure may be implemented as a single-core processor or a multi-core processor.

[0062] According to embodiments of this disclosure, the first processor 1001 may include an analog-to-digital conversion unit. Although Figure 4 Not shown, but when the first processor 1001 does not include an analog-to-digital converter (ADC) unit, the cleaning robot 1000 may include a separate ADC IC. When the first processor 1001 includes an ADC unit, it may include an ADC input port for receiving an analog signal that will be converted into a digital signal. In embodiments of this disclosure, multiple ADC input ports may be provided. The ADC input port may receive analog values ​​corresponding to voltage changes from the first voltage detection circuit 1100. The received analog values ​​may be converted into digital values ​​that can be processed by the first processor 1001. That is, the first processor 1001 may measure the voltage value of the first charging terminal 1010 via the first voltage detection circuit 1100.

[0063] According to embodiments of this disclosure, the first processor 1001 can obtain the discharge current value or the charging current value of the battery 1050 through a current detection circuit (not shown). The current detection circuit may be located in the battery 1050 or may be separately located outside the battery 1050. The following description assumes that the current detection circuit is located in the battery 1050. The current detection circuit may include, but is not limited to, a shunt resistor.

[0064] According to embodiments of this disclosure, the first processor 1001 can obtain the charging terminal heat value using the charging terminal voltage and charging terminal current. The charging terminal voltage can refer to the voltage applied to the contact resistance formed between the first charging terminal 1010 and the second charging terminal 2010. For example, the charging terminal voltage can be the difference between the voltage value of the first charging terminal 1010 obtained by the first voltage detection circuit 1100 and the voltage value of the second charging terminal received from the station 2000. The charging terminal current can be the sum of the charging current value and the discharging current value of the battery 1050. The first processor 1001 can determine whether the first charging terminal 1010 is in an overheated state by comparing the charging terminal heat value with a threshold heat value as an overheating standard.

[0065] When it is determined that the first charging terminal 1010 is overheated, the first processor 1001 may perform an overheat prevention operation. For example, when it is determined that the first charging terminal 1010 is overheated, the first processor 1001 may drive the cleaning robot 1000 and perform an overheat prevention operation to move the cleaning robot 1000 away from the station 2000 by a predetermined distance. The predetermined distance may be, for example, a distance where the first charging terminal 1010 is electrically insulated from the second charging terminal 2010. The first processor 1001 may separate the cleaning robot 1000 from the station 2000 by the predetermined distance or further, and then may perform a docking operation to reconnect the cleaning robot 1000 to the station 2000 (hereinafter referred to as a re-docking operation).

[0066] According to embodiments of this disclosure, the overheat prevention operation of the first processor 1001 can be performed in another manner. For example, when it is determined that the first charging terminal 1010 is overheating, the first processor 1001 can control the first switch 1111 to be turned off to disconnect the electrical connection between the first charging terminal 1010 and the battery 1050. Due to this operation, because the electrical connection between the power conversion device 2400 of the station 2000 and the battery 1050 of the cleaning robot 1000 is disconnected, damage to the components of the cleaning robot 1000 due to overheating of the first charging terminal 1010 (or the second charging terminal 2010 of the station 2000) can be prevented. Throughout this specification, "when the first charging terminal 1010 is overheating" may also mean that the second charging terminal 2010 of the station 2000 is overheating. This is because, at the moment of overheating, the first charging terminal 1010 and the second charging terminal 2010 are in considerable close contact.

[0067] According to an embodiment of this disclosure, when it is determined that the first charging terminal 1010 is in an overheated state, the first processor 1001 can communicate with the second communication interface 2300 of the station 2000 through the first communication interface 1080 to notify the station 2000 that the first charging terminal 1010 (or the second charging terminal 2010 of the station 2000 in contact with the first charging terminal 1010) is in an overheated state (hereinafter referred to as overheat notification).

[0068] In embodiments of this disclosure, station 2000, receiving an overheat notification from cleaning robot 1000, can perform overheat prevention operations. For example, a second processor 2200 of station 2000 can disconnect a second switch 2410 of station 2000 based on the overheat notification received from cleaning robot 1000. When the second switch 2410 is disconnected, the electrical connection between power conversion device 2400 and second charging terminal 2010 can be severed.

[0069] The first memory 1002 may store or retain programs and / or data used to control the cleaning robot 1000. The first memory 1002 stores or records various information, data, instructions, and programming operations of the cleaning robot 1000. The first memory 1002 may store temporary data generated when control signals are produced to control the components included in the cleaning robot 1000. The first memory 1002 may include at least one or a combination of volatile memory and non-volatile memory.

[0070] The cleaning robot 1000 may include a first charging terminal 1010 electrically connected to a second charging terminal 2010. The battery 1050 can be charged using a direct current (DC) voltage transmitted through the first charging terminal 1010. In embodiments of this disclosure, a first switch 1111 for cutting off power may be included between the first charging terminal 1010 and the battery 1050, but is not required.

[0071] As the cleaning robot 1000 moves through the space to be cleaned, the sensor unit 1020 senses the space to prevent the robot from reaching a state where cleaning is impossible due to obstacles or falls. The sensor unit 1020 may include, but is not limited to, an obstacle detection sensor (3D sensor) 1022, a lidar sensor 1021, a bumper sensor, an anti-tipping sensor 1023, an ultrasonic sensor, and a travel distance detection sensor (e.g., an encoder). For example, the sensor unit 1020 may include an infrared sensor. The cleaning robot 1000 can detect infrared signals emitted from the station 2000 using the infrared sensor and can dock while aligning with the station 2000.

[0072] Camera 1040 may be an image sensor used to acquire images of the clean space. According to an example implementation, multiple cameras 1040 may be located in the cleaning robot 1000.

[0073] The battery 1050 may be referred to as a battery pack and may include an array of battery cells 1053 that are electrically rechargeable and a battery controller 1055 for controlling the battery 1050. The battery controller 1055 may include a battery management system (BMS). The battery controller 1055 may perform inter-integrated circuit (I2C) communication with the first processor 1001. According to embodiments of this disclosure, the battery 1050 may include a current sensing circuit (e.g., a shunt resistor), and the battery controller 1055 may sense the charging current or discharging current of the battery cell array 1053 through the current sensing circuit. The battery controller 1055 may transmit the charging current value and discharging current value of the battery cell array 1053 to the first processor 1001 via I2C communication.

[0074] The first user interface 1070 may include a first input interface 1071 and a first output interface 1073. Commands can be input to the cleaning robot 1000 via the first input interface 1071, and information can be displayed to the user via the first output interface 1073. The first input interface 1071 may be a touch-enabled user input interface or a microphone capable of voice input. The first output interface 1073 may be, but is not limited to, an LCD or LED display or a speaker. The first output interface 1073 may display various information indicating the status of the cleaning robot 1000 to the user. For example, according to embodiments of this disclosure, when the first charging terminal 1010 and / or the second charging terminal 2010 overheats, the first output interface 1073 may display or output voice information regarding whether the charging terminal is overheating, and may also display location information regarding which of the positive (+) and negative (-) charging terminals is overheating. Furthermore, the first output interface 1073 may provide information such as the operating status of the cleaning robot 1000, the charging level, and whether the cleaning robot 1000 is being charged.

[0075] The first communication interface 1080 can communicate with external devices. For example, the cleaning robot 1000 can communicate with the station 2000 or a server through the first communication interface 1080. According to embodiments of this disclosure, the cleaning robot 1000 can send charging commands (boost commands), voltage value reply commands from the second charging terminal 2010, etc., to the station 2000 through the first communication interface 1080. When the first charging terminal 1010 or the second charging terminal 2010 is in an overheated state, the cleaning robot 1000 can send information (re-docking notification) to the server through the first communication interface 1080, indicating that re-docking should be performed due to misalignment with the station 2000.

[0076] The first communication interface 1080 may include a short-range wireless communication interface and a long-range wireless communication interface. Examples of short-range wireless communication interfaces may include, but are not limited to, an Infrared Data Association (IrDA) communication interface, a Bluetooth communication interface, a Bluetooth Low Energy (BLE) communication interface, a Near Field Communication (NFC) unit, a Wireless Local Area Network (WLAN) (Wi-Fi) communication interface, a Zigbee communication interface, a Wi-Fi Direct (WFD) communication interface, an Ultra Wideband (UWB) communication interface, and an Ant+ communication interface. The first communication interface 1080 may also include a wired communication interface.

[0077] The mobile assembly 1062 is the main body of the mobile cleaning robot 1000. The mobile assembly 1062 may include a pair of wheels for moving and rotating the cleaning robot 1000 forward and backward, wheel motors that apply movement force to each wheel, and casters positioned in front of the main body that rotate to change angle depending on the state of the floor on which the cleaning robot 1000 moves. The mobile assembly 1062 moves the cleaning robot 1000 under the control of a first processor 1001. The first processor 1001 determines a travel path and controls the mobile assembly 1062 to move the cleaning robot 1000 along the determined travel path.

[0078] The cleaning assembly 1063 may include: a main brush assembly disposed at the bottom of the main body and configured to sweep or pick up dust or dust that has been swept or scattered on the floor; and a side brush assembly disposed at the bottom of the main body and protruding outwards, configured to sweep dust in areas other than those cleaned by the main brush assembly and transfer the swept dust to the main brush assembly. Furthermore, the cleaning assembly 1063 may include a vacuum cleaning module for performing vacuum suction or a wet mop cleaning module for performing wet mop cleaning.

[0079] The first voltage detection circuit 1100 is used to detect the voltage value of the first charging terminal 1010. The first voltage detection circuit 1100 may include a voltage divider circuit. When the cleaning robot 1000 docks at the station 2000, the first processor 1001 can detect the contact between the first charging terminal 1010 and the second charging terminal 2010 by obtaining a voltage value (e.g., 8V) via the first voltage detection circuit 1100. When a charging command (also called a boost command) is sent to the station 2000, the first processor 1001 can determine via the first voltage detection circuit 1100 whether the supply voltage of the station 2000 has been increased. For example, the first processor 1001 can determine whether the voltage of the first charging terminal 1010 has increased from 8V to 17V. The first processor 1001 can continuously monitor the heat value (hereinafter referred to as the charging terminal heat value) between the first charging terminal 1010 and the second charging terminal 2010 by periodically (e.g., at 1.6-second intervals) measuring the voltage value of the first charging terminal 1010 via the first voltage detection circuit 1100 during charging.

[0080] Station 2000 may include a second processor 2200, a second memory 2250, a second communication interface 2300, a power conversion device 2400, a second user interface 2500, a second charging terminal 2010, a second switch 2410, and a second voltage detection circuit 2100. However, Figure 4 At least one of the components shown may not be required. Station 2000 may include more than Figure 4The components shown may include more or fewer components. For example, station 2000 may also include: a suction motor that generates suction to expel dust from cleaning robot 1000; a collection unit (e.g., a dust bag) in which dust from cleaning robot 1000 is collected; a filter unit (e.g., a motor filter or a high-efficiency particulate air (HEPA) filter) that filters out ultrafine dust not collected in the collection unit; a steam unit that sprays steam; and multiple infrared modules that guide cleaning robot 1000 to its positioning and docking. Each component will be described.

[0081] The second processor 2200 controls the overall operation of the station 2000. The second processor 2200 can control the components of the station 2000 by executing programs stored in the second memory 2250. The second processor 2200 can be at least one processor. For example, the second processor 2200 can be one or more processors.

[0082] The second processor 2200 according to embodiments of the present disclosure may include at least one of a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), an integrated many-core processor (MIC), a digital signal processor (DSP), or a neural processing unit (NPU). The second processor 2200 may be implemented as an integrated system-on-a-chip (SoC) including one or more electronic components. The second processor 2200 may be referred to as a microprocessor controller (MICOM), a microprocessor unit (MPU), or a microcontroller unit (MCU). The second processor 2200 according to embodiments of the present disclosure may be implemented as a single-core processor or a multi-core processor.

[0083] The second memory 2250 may store programs (e.g., one or more instructions) and input / output data, which the second processor 2200 typically uses to control the operation of the station 2000. For example, the second memory 2250 may store, but is not limited to, software related to the control of the station 2000, charging terminal overheating status data, charging terminal overheating history data, charging terminal overheating location information data, error occurrence data (e.g., fault history data), types of operating events, and information related to the charging of the battery 1050 (e.g., charging intervals, last compensated charging time point data, and the charging level of the battery 1050 during the most recent compensated charging). The second memory 2250 may also store data received from the cleaning robot 1000. For example, the second memory 2250 may store product information (e.g., identification information and model information) of the cleaning robot 1000 installed on the station 2000, version information of the software installed on the cleaning robot 1000, error occurrence data (fault history data) of the cleaning robot 1000, and information related to the charging of the battery 1050.

[0084] The second memory 2250 may include at least one type of storage medium selected from flash memory, hard disk memory, multimedia card micro-storage, card-type memory (e.g., SD or XD memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic storage, magnetic disk, or optical disk. Programs stored in the second memory may be categorized into multiple modules according to their functions.

[0085] Station 2000 may include a second communication interface 2300 for performing communication with external devices. For example, station 2000 may communicate with cleaning robot 1000, server (not shown), and / or user terminal (not shown) via the second communication interface 2300. In this case, the second communication interface 2300 may communicate with the server via a first communication method (e.g., Wi-Fi communication method) and with the cleaning robot 1000 via a second communication method (e.g., infrared communication method).

[0086] The second communication interface 2300 may include a short-range wireless communication interface and a long-range wireless communication interface. Examples of short-range wireless communication interfaces may include, but are not limited to, an Infrared Data Association (IrDA) communication interface, a Bluetooth communication interface, a Bluetooth Low Energy (BLE) communication interface, a Near Field Communication (NFC) unit, a Wireless Local Area Network (WLAN) (Wi-Fi) communication interface, a Zigbee communication interface, a Wi-Fi Direct (WFD) communication interface, an Ultra Wideband (UWB) communication interface, and an Ant+ communication interface. The long-range communication interface can be used to enable the station 2000 to communicate remotely with a server or user terminal. Examples of long-range wireless communication interfaces may include the Internet, computer networks (e.g., local area networks (LANs) or wide area networks (WANs)), and mobile communication interfaces. Examples of mobile communication interfaces may include, but are not limited to, 3G modules, 4G modules, 5G modules, LTE modules, NB-IoT modules, and LTE-M modules.

[0087] The second communication interface 2300 can send data to the processor 2200 via, for example, the Universal Asynchronous Receiver / Transmitter (UART) protocol as asynchronous communication, but the communication method is not limited to this.

[0088] The second user interface 2500 of station 2000 may include a second output interface and a second input interface. The second input interface may be a device through which a user can input commands to station 2000. The second input interface may include, but is not limited to, a touchscreen, a microphone, and physical buttons. The second input interface may include a cleaning start button, a dust removal button, a mode selection button, etc. The second output interface may include, but is not limited to, a display of LEDs, LCDs, or touchscreens, or a voice output device (e.g., a speaker). The second output interface may display, but is not limited to, the charge level of the cleaning robot 1000's battery 1050, software update progress information, operation event information, and overheating information of the cleaning robot 1000.

[0089] The second voltage detection circuit 2100 is a circuit used to detect the voltage value of the second charging terminal 2010. The second voltage detection circuit 2100 may include a voltage divider circuit. When the second processor 2200 receives a voltage value response command from the cleaning robot 1000 regarding the second charging terminal 2010, the second processor 2200 can send the voltage value of the second charging terminal 2010 detected by the second voltage detection circuit 2100 to the cleaning robot 1000. The second processor 2200 can continuously detect the voltage value of the second charging terminal 2010 through the second voltage detection circuit 2100 during charging, and can periodically send the voltage value of the second charging terminal 2010 to the cleaning robot 1000.

[0090] The power conversion device 2400 is a device that receives alternating current (AC) power and converts AC power into DC power. The power conversion device 2400 may include a power conversion IC, such as a pulse width modulation (PWM) controller for power consumption. The power conversion device 2400 can generate a DC voltage for charging the battery 1050 included in the cleaning robot 1000. When the cleaning robot 1000 is electrically coupled to the station 2000, the DC power generated by the power conversion device 2400 can be supplied to the battery 1050 of the cleaning robot 1000 through a first charging terminal 1010 of the cleaning robot 1000 and a second charging terminal 2010 of the station 2000 to charge the battery 1050. The second charging terminal 2010 can be electrically connected to the first charging terminal 1010 to charge the battery 1050 included in the cleaning robot 1000. The second charging terminal 2010 can be connected to the power conversion device 2400 and can supply the battery 1050 with the DC voltage (e.g., 17V) output from the power conversion device 2400 through the first charging terminal 1010. For example, when the second processor 2200 receives a charging command (boost command) from the cleaning robot 1000, the second processor 2200 can turn on the second switch 2410 to supply the voltage output from the power conversion device 2400 to the battery 1050 through the second charging terminal 2010 and the first charging terminal 1010.

[0091] In embodiments of this disclosure, a second switch 2410 capable of cutting off the DC voltage generated in the power conversion device 2400 may be included between the power conversion device 2400 and the second charging terminal 2010, but is not required.

[0092] The power conversion device 2400 can receive input power 10 supplied to station 2000 and can convert AC voltage to DC voltage. The power conversion device 2400 may include a switching device for AC-DC conversion and a PWM controller for driving the switching device. The switching device included in the power conversion device 2400 may be, but is not limited to, a field-effect transistor (FET), a metal-oxide-semiconductor field-effect transistor (MOSFET), an insulated-gate bipolar transistor (IGBT), and a transistor (TR). The power conversion device 2400 may be located on the bottom surface of station 2000 that can be connected to the input power supply 10, but this disclosure is not limited thereto, and the power conversion device 2400 may be located on any surface of station 2000. (Refer to...) Figure 5 The power conversion device 2400 is described in more detail.

[0093] Figure 5 This is a block diagram for describing a power conversion device 2400 according to an embodiment of the present disclosure.

[0094] Reference Figure 5 The power conversion device 2400 receives input power 10 as AC voltage. The amplitude of the AC voltage may vary depending on the specifications, but it can be any value in the range of 90 V to 210 V. However, since some countries use lower or higher AC voltage values, the above values ​​are only approximate and are not intended to limit the range of AC voltage.

[0095] The power conversion device 2400 is a device for converting AC voltage received through input power supply 10 into DC voltage (e.g., DC 5V and / or DC 17V). The power conversion device 2400 may be referred to as an adapter or a switch-mode power supply (SMPS).

[0096] The AC voltage from input power supply 10 is noise-removed by EMI filter 11 and converted to DC voltage by rectifier 12. Rectifier 12 primarily comprises diodes, but this disclosure is not limited thereto, and rectifier 12 may include switching devices such as thyristors or insulated-gate bipolar transistors (IGBTs). The DC voltage converted by rectifier 12 is smoothed by DC link capacitor 13. By PWM switching of switch 40 under the control of PWM controller 30, the DC voltage across DC link capacitor 13 can be converted back to AC voltage of the desired amplitude and frequency. The converted AC voltage passes through transformer 20 for insulation, filtering, and / or voltage amplitude modification. The output of the secondary side of transformer 20 becomes secondary AC voltage, and the secondary AC voltage passes through secondary rectifier 22 and is rectified back to secondary DC voltage. The secondary DC voltage is smoothed by secondary DC link capacitor 23. The smooth secondary DC voltage passes through the secondary EMI filter 21 to remove noise, and the DC voltage (e.g., DC 17V) passing through the secondary EMI filter 21 can be used to charge the battery 1050 of the cleaning robot 1000 through the first charging terminal 1010 and the second charging terminal 2010.

[0097] exist Figure 5 In this circuit, CC / CV IC 24 is a circuit or integrated circuit (IC) used to control the switching between constant current (CC) mode and constant voltage (CV) mode during the charging of battery 1050. As the discharge level increases, the voltage of battery 1050 may fall below the fully charged voltage. Therefore, when battery 1050 is charged, it is charged in CC mode under the control of CC / CV IC 24 until a certain percentage (%) of the fully charged voltage is reached (e.g., 80% of the fully charged voltage), and then charged in CV mode. CC / CV IC 24 is responsible for this switching between CC mode and CV mode.

[0098] Feedback circuit 25 monitors the output voltage (e.g., 17V) used to charge battery 1050 and provides feedback to PWM controller 30 to ensure a constant charge output to battery 1050. For example, when the charging voltage to battery 1050 is 17V and the current charging voltage is 20V, feedback circuit 25 provides overvoltage feedback to PWM controller 30. PWM controller 30, receiving overvoltage feedback, controls the output voltage of power conversion device 2400 to be reduced by decreasing the switching of switch 40. Conversely, when the charging voltage to battery 1050 is currently 15V, feedback circuit 25 provides low voltage feedback to PWM controller 30. PWM controller 30, receiving low voltage feedback, controls the output voltage of power conversion device 2400 to be increased by increasing the switching of switch 40.

[0099] The PWM controller 30 is responsible for controlling the output of the power conversion device 2400 and may be in the form of an IC pre-manufactured by a chip manufacturer. The PWM controller 30 controls the switch 40 to perform PWM switching.

[0100] Reference Figure 6 This document describes in detail the method for detecting overheating at the charging terminal of the cleaning robot 1000.

[0101] Figure 6 This is a flowchart describing an overheat detection method for a cleaning robot 1000 according to an embodiment of the present disclosure.

[0102] Reference Figure 6 The overheat detection method for the cleaning robot 1000 may include operations S610 to S650. In embodiments of this disclosure, operations S610 to S650 may be executed by at least one processor included in the cleaning robot 1000. The overheat detection method for the cleaning robot 1000 is not limited to... Figure 6 The overheat detection method for the cleaning robot 1000, and in one or more embodiments of this disclosure, may further include... Figure 6 Operations not shown in the diagram, or some operations may be omitted.

[0103] In operation S610, when the cleaning robot 1000 docks with the station 2000, the cleaning robot 1000 according to the embodiment of the present disclosure can detect the contact between the first charging terminal 1010 of the cleaning robot 1000 and the second charging terminal 2010 of the station 2000 through the first voltage detection circuit 1100.

[0104] According to embodiments of this disclosure, the cleaning robot 1000 can dock at station 2000 based on a user command to stop cleaning and return to station 2000 or the remaining battery power. For example, the cleaning robot 1000 can detect infrared signals emitted from station 2000 (e.g., a first infrared signal emitted from the left infrared module, a second infrared signal emitted from the central infrared module, and a third infrared signal emitted from the right infrared module) and can perform a docking operation while aligning with station 2000. A docking operation can mean that the cleaning robot 1000 is electrically coupled to station 2000. For example, a docking operation can refer to the cleaning robot 1000 contacting its first charging terminal 1010 with the second charging terminal 2010 of station 2000 to charge battery 1050. The user can also manually dock the cleaning robot 1000 at station 2000.

[0105] According to embodiments of this disclosure, when the voltage value detected by the first voltage detection circuit 1100 after a docking operation is equal to or greater than a first threshold voltage value, the cleaning robot 1000 can determine that the first charging terminal 1010 of the cleaning robot 1000 and the second charging terminal 2010 of the station 2000 are in contact with each other. The first threshold voltage value is a preset voltage value and may be the amplitude of the voltage supplied from the station 2000 through the second charging terminal 2010 before the charging command is sent to the station 2000. The first threshold voltage value may be, but is not limited to, 8V. (See also...) Figure 7 The operation of the cleaning robot 1000 detecting contact between the charging terminals is described in more detail.

[0106] Figure 7 This is a circuit diagram used by a cleaning robot 1000 according to an embodiment of the present disclosure to detect the contact between a first charging terminal 1010 and a second charging terminal 2010.

[0107] Reference Figure 7 When the first charging terminal 1010 and the second charging terminal 2010 are in contact with each other, a preset voltage (e.g., 8V) can be applied from the station 2000 to the cleaning robot 1000. That is, because the second switch 2410 between the power conversion device 2400 (e.g., an adapter) and the second charging terminal 2010 is open, 8V, instead of the voltage output from the power conversion device 2400 (e.g., 17.54V), can be supplied to the cleaning robot 1000 through the second charging terminal 2010 and the first charging terminal 1010. When the preset voltage (e.g., 8V) is detected by the first voltage detection circuit 1100, the processor 1001 of the cleaning robot 1000 can determine that the first charging terminal 1010 and the second charging terminal 2010 are in contact with each other.

[0108] Return to reference Figure 6 In operation S620, when contact between the first charging terminal 1010 and the second charging terminal 2010 is detected, the cleaning robot 1000 according to an embodiment of the present disclosure can send a charging command. For example, the cleaning robot 1000 can send a charging command to the station 2000 via the first communication interface 1080 to start a charging sequence.

[0109] A charging command can be a command to supply voltage output from the power conversion device 2400 to charge the battery 1050. Because the voltage output from the power conversion device 2400 (e.g., 17.54V) is higher than the voltage preset to detect contact between the charging terminals (e.g., 8V), the charging command can be referred to as a boost command.

[0110] According to embodiments of this disclosure, the cleaning robot 1000 can send charging commands via wireless or wired communication. For example, the cleaning robot 1000 can send charging commands via infrared communication. When the cleaning robot 1000 docks at station 2000, since the infrared transmitting unit and infrared receiving unit can face each other, the cleaning robot 1000 can send charging commands via infrared communication. The cleaning robot 1000 can send charging commands using any of various wireless communication methods other than infrared communication (e.g., BLE, Wi-Fi Direct, UWB, or Zigbee). Furthermore, the cleaning robot 1000 may include a communication terminal separate from the charging terminal to send charging commands via wired communication.

[0111] According to an embodiment of this disclosure, when the cleaning robot 1000 sends a charging command to the station 2000, the station 2000 can turn on the second switch 2410 to supply the voltage output from the power conversion device 2400 to the cleaning robot 1000. In this case, the cleaning robot 1000 can check whether the voltage output from the power conversion device 2400 is being supplied to the cleaning robot 1000 by checking the voltage value supplied from the station 2000 through the first voltage detection circuit 1100. This will refer to... Figure 8 Describe it.

[0112] Figure 8 This is a circuit diagram used by a cleaning robot 1000 to check whether a voltage boost has occurred, according to an embodiment of this disclosure.

[0113] Reference Figure 8 When contact is detected between the charging terminals, the cleaning robot 1000 can send a charging command (boost command) to the station 2000. In this case, the second processor 2200 of the station 2000 can turn on the second switch 2410 according to the charging command (boost command). When the second switch 2410 is turned on, the cleaning robot 1000 can be supplied with the voltage output from the power conversion device 2400 (e.g., 17.54V), instead of 8V. The cleaning robot 1000 can detect the voltage increase from 8V to 17.54V through the first voltage detection circuit 1100.

[0114] Return to reference Figure 6 In operation S630, when voltage is supplied to the cleaning robot 1000 from the slave station 2000 according to a charging command, the cleaning robot 1000 according to an embodiment of the present disclosure can obtain the heat value between the first charging terminal 1010 and the second charging terminal 2010. Hereinafter, the heat value between the first charging terminal 1010 and the second charging terminal 2010 can be referred to as the charging terminal heat value.

[0115] For example, when a voltage equal to or greater than a second threshold voltage value (e.g., 17V) is detected by the first voltage detection circuit 1100, the cleaning robot 1000 can calculate the heat value between the first charging terminal 1010 and the second charging terminal 2010. The heat value between the first charging terminal 1010 and the second charging terminal 2010 can be referred to as the heat value of the first charging terminal 1010 or the heat value of the second charging terminal 2010.

[0116] According to embodiments of this disclosure, the cleaning robot 1000 can calculate the heat value (charging terminal heat value) between the first charging terminal 1010 and the second charging terminal 2010 using the charging terminal voltage and charging terminal current. The charging terminal voltage refers to the voltage applied to the contact resistance formed between the charging terminals when the first charging terminal 1010 and the second charging terminal 2010 are in contact, and can also be referred to as the voltage value between the first charging terminal 1010 and the second charging terminal 2010. The charging terminal current can refer to the sum of the charging current and the discharging current of the battery 1050. (Refer to...) Figure 9 Describe in detail the operation of the cleaning robot 1000 in calculating the calorific value.

[0117] Figure 9 This is a circuit diagram describing the operation of a cleaning robot according to embodiments of the present disclosure to calculate the heat value between a first charging terminal and a second charging terminal.

[0118] Reference Figure 9 The cleaning robot 1000 can obtain the calorific value P of the charging terminal using Equations 1 to 3. That is, the first processor 1001 of the cleaning robot 1000 can obtain the calorific value between the first charging terminal 1010 and the second charging terminal 2010 based on the voltage value v2 of the first charging terminal 1010, the voltage value v1 of the second charging terminal 2010, the discharge current value I_leak of the battery 1050, and the charging current value I_chg of the battery 1050.

[0119] Equation 1: Charging terminal voltage V = Second charging terminal voltage v1 - First charging terminal voltage v2 Equation 2: Charging terminal current I = I_chg (variable) + I_leak (fixed) Equation 3: Charging terminal heat value P = Charging terminal voltage V Charging current I According to embodiments of this disclosure, in order to detect the charging terminal voltage V of Equation 1, the cleaning robot 1000 can obtain a first voltage value v2 of the first charging terminal 1010 and can receive information from the station 2000 regarding a second voltage value v1 of the second charging terminal 2010. The cleaning robot 1000 can obtain the difference between the first voltage value v2 of the first charging terminal 1010 and the second voltage value v1 of the second charging terminal 2010 as the charging terminal voltage V.

[0120] For example, refer to Figure 9 The cleaning robot 1000 can read the v2_sense value input to the input port of the first processor 1001 via the first voltage detection circuit 1100. The station 2000 can read the v1_sense value input to the input port of the second processor 2200 via the second voltage detection circuit 2100. In this case, the second voltage value v1 of the second charging terminal 2010 and the first voltage value v2 of the first charging terminal 1010 can be calculated as follows.

[0121] v1=(R1+R2) (v1_sense / R2) v2=(R3+R4) (v2_sense / R4) The cleaning robot 1000 can communicate with the station 2000, and the cleaning robot 1000 can read the v1 value or v1_sense value from a given packet, and can calculate the charging terminal voltage V as in Equation 1 (V=v1-v2). The following will refer to... Figure 12 The operation of the cleaning robot 1000 obtaining the second voltage value v1 from the second charging terminal 2010 of the station 2000 is described in more detail.

[0122] According to embodiments of this disclosure, the cleaning robot 1000 can obtain a first current value detected by a current detection circuit as the discharge current value of the battery 1050 after docking and before charging begins. The discharge current value of the battery 1050 can be a fixed value and can be referred to as the leakage current value I_leak. Because current flows from the battery 1050 to the load 1052 before charging begins, a processor (e.g., an MCU) included in the battery management system (BMS) can detect the charging current of the battery 1050 via a current detection circuit (e.g., a shunt resistor).

[0123] The cleaning robot 1000 can obtain a second current value detected by the current detection circuit after charging begins, which serves as the charging current value for the battery 1050. The charging current value of the battery 1050 can vary according to the state of charge (SoC) of the battery 1050. For example, as the charge level of the battery 1050 decreases, the charging current value can increase, and as the charge level of the battery 1050 increases, the charging current value can decrease. This is because when the cleaning robot 1000 docks with the station 2000, the power conversion device 2400 detects the charge level of the battery 1050 and adjusts the charging current accordingly.

[0124] According to embodiments of this disclosure, when the current detection circuit is located inside the battery 1050, the first processor 1001 of the cleaning robot 1000 can obtain the charging current value I_chg and the discharging current value I_leak of the battery 1050 by communicating with the battery controller 1055 (e.g., a battery management system (BMS)) via internal integrated circuit (I2C) communication. When the first processor 1001 of the cleaning robot 1000 obtains the charging current value and the discharging current value of the battery 1050, the processor 1001 of the cleaning robot 1000 can calculate the charging current I by using Equation 2 (I=I_chg+I_leak).

[0125] According to embodiments of this disclosure, when the cleaning robot 1000 detects the charging terminal voltage V and the charging terminal current I, the cleaning robot 1000 can use Equation 3 (P=V) to... I) Calculate the heat value P of the charging terminal. When the cleaning robot 1000 and station 2000 are misaligned and the resistance (contact resistance) formed between the charging terminals increases, the charging terminal voltage V increases. Therefore, the voltage value v2 of the first charging terminal 1010 measured by the first voltage detection circuit 1100 can decrease, and the heat value P of the charging terminal calculated by the first processor 1001 can increase.

[0126] The heat value between the first charging terminal 1010 and the second charging terminal 2010 can vary depending on the state of charge of the battery 1050. As the charging rate of the battery 1050 increases, the charging current value can decrease, and therefore, the heat value P of the charging terminal can decrease.

[0127] For example, assume that station 2000 and cleaning robot 1000 are slightly misaligned, forming a contact resistance of 0.5 ohms between the charging terminals, and the battery 1050 is at 0% charge. Cleaning robot 1000 can obtain v1=17V, v2=15.8V, I_chg=2A, and I_leak=0.5A. In this case, the calculated calorific value P can be as follows.

[0128] Calorific value P = (17V - 15.8V) (2A + 0.5A) = 3W = 3000mW On the other hand, assume that station 2000 and cleaning robot 1000 are slightly misaligned, forming a contact resistance of 0.5 ohms between the charging terminals, and the battery 1050 is charged to 90%. Cleaning robot 1000 can obtain v1=17V, v2=16V, I_chg=0.4A, and I_leak=0.5A. In this case, the calculated calorific value P can be as follows.

[0129] Calorific value P = (17V - 16V) (0.4A + 0.5A) = 0.9W = 900mW In operation S640, the cleaning robot 1000 according to an embodiment of the present disclosure can determine whether the calorific value obtained in operation S630 exceeds the threshold calorific value (hereinafter referred to as the overheating reference value) which serves as an overheating standard.

[0130] The threshold calorific value (overheating reference value) used as the overheating standard can be, but is not limited to, the maximum value of the normal calorific value. The normal calorific value refers to the heat generated at the charging terminal when the battery 1050 of the cleaning robot 1000 is charged from 0% to 100% under normal conditions, where the cleaning robot 1000 is not misaligned and there are no foreign objects between the charging terminals. As shown in Equation 1, the charging terminal calorific value P can be calculated by multiplying the charging terminal voltage V by the charging terminal current I, and the maximum value of the normal calorific value (the threshold calorific value used as the overheating standard) can be calculated as follows.

[0131] The maximum normal heat value = I (maximum current specification of the adapter) V{I (Maximum Current Specification of the Adapter) R(resistance of the first charging terminal [fixed] + resistance of the second charging terminal [fixed] + contact resistance [variable]) Contact resistance can vary depending on misalignment between the charging terminals or the presence of foreign objects between them. Since the normal heat value is the heat generated in the charging terminals under conditions where the cleaning robot 1000 is not misaligned (or there are no foreign objects between the charging terminals), the contact resistance can approach 0 when the maximum value of the normal heat value is calculated. . will refer to Figure 10 A more detailed description of the threshold calorific value as a superheat standard.

[0132] Figure 10 It is a graph used to describe the threshold calorific value as a superheat standard according to embodiments of the present disclosure.

[0133] exist Figure 10 The diagram shows the actual measured values ​​of the charging terminal voltage V, charging terminal current I, and charging terminal calorific value P during the charging process of the battery 1050 of the cleaning robot 1000. Referring to the curve 101 of the charging terminal calorific value P, since the maximum calorific value during normal charging is 711mW, the cleaning robot 1000 can define 0mW to 711mW as the normal calorific value, and can define a calorific value higher than 711mW as an overheat value. That is, the threshold calorific value (overheat reference value) used as the overheat standard can be, but is not limited to, 711mW. The threshold calorific value used as the overheat standard can vary depending on the specifications of the cleaning robot 1000, the station 2000, etc. For ease of explanation, the following description will assume that the calorific value threshold used as the overheat standard is 711mW.

[0134] According to an embodiment of this disclosure, when the cleaning robot 1000 and the station 2000 are not aligned with each other, the contact resistance between the charging terminals is 0.5 ohms, and the charging rate of the battery 1050 is 0%, v1=17V, v2=15.8V, I_chg=2A, and I_leak=0.5A. In this case, the calculated heat value P can be 3000mW (=(17V-15.8V)). (2A + 0.5A) = 3W). Because the calculated heat value (3000mW) exceeds the overheating reference value (e.g., 711mW), the cleaning robot 1000 can determine that the charging end is in an overheated state.

[0135] According to an embodiment of this disclosure, when a foreign object exists between the charging terminals, the contact resistance between the charging terminals is 0.5 ohms, and the charging rate of the battery 1050 is 90%, v1=17V, v2=16V, I_chg=0.4A, and I_leak=0.5A. In this case, the calculated heat value P can be 900mW (=(17V-16V)). (0.4A + 0.5A) = 0.9W). Because the calculated heat value (e.g., 900mW) exceeds the overheating reference value (e.g., 711mW), the cleaning robot 1000 can determine that the charging end is in an overheated state.

[0136] According to embodiments of this disclosure, when the cleaning robot 1000 and station 2000 are well aligned with each other, the contact resistance between the charging terminals is close to 0 ohms, and the battery 1050 has a charging rate of 90%, v1=17V, v2=16.8V, I_chg=0.4A, and I_leak=0.5A. In this case, the calculated calorific value P can be 180mW (=(17V-16.8V)). (0.4A + 0.5A) = 0.18W). Because the calculated calorific value (180mW) is lower than the overheat reference value (e.g., 711mW), the cleaning robot 1000 can determine that the charging end is in a normal thermal state.

[0137] In summary, refer to Figure 11 When the heat value of the charging terminal exceeds the overheating reference value (e.g., 711mW), the cleaning robot 1000 can determine that the charging terminal is in an overheated state, and when the heat value of the charging terminal is lower than the overheating reference value (e.g., 711mW), the cleaning robot 1000 can determine that the charging terminal is in a normal thermal state. Figure 11 As shown, the heat value at the charging end decreases as the charging rate of battery 1050 increases. Therefore, when the contact resistance between the charging ends is the same but the charging rate of battery 1050 is high, it can be determined as a normal thermal state, and when the contact resistance is the same and the charging rate of battery 1050 is low, it can be determined as an overheated state.

[0138] According to embodiments of this disclosure, when the calorific value obtained in operation S630 is equal to or lower than a threshold calorific value ("No" in operation S640), in order to continuously perform charging, the cleaning robot 1000 can send a charging command (boost command) to the station 2000 at predetermined time intervals. For example, the cleaning robot 1000 can send the charging command (boost command) to the station 2000 at 0.8-second intervals via wireless communication. Furthermore, the cleaning robot 1000 can periodically calculate the calorific value at the charging end to continuously monitor whether the calorific value at the charging end exceeds an overheating reference value during charging.

[0139] In operation S650, when the calorific value obtained in operation S630 exceeds the threshold calorific value used as a superheat standard ("Yes" in operation S640), the cleaning robot 1000 can perform a re-docking operation after moving a predetermined distance away from the station 2000.

[0140] When the cleaning robot 1000 controls the moving assembly 1062 to separate from the station 2000 by a predetermined distance, the contact between the first charging terminal 1010 and the second charging terminal 2010 can be removed, and the power supply from the station 2000 to the cleaning robot 1000 can be stopped, thereby releasing the overheated state. Therefore, the cleaning robot 1000 can prevent damage to components or fire due to overheating.

[0141] When the overheating condition is released, the cleaning robot 1000 can dock while aligning with the station 2000 to recharge the battery 1050. For example, when the cleaning robot 1000 separates from the station 2000 by a predetermined distance, the wireless communication connection (e.g., infrared communication connection) between the cleaning robot 1000 and the station 2000 can be interrupted. When the wireless communication connection between the station 2000 and the cleaning robot 1000 is interrupted, the station 2000 can emit infrared signals for docking of the cleaning robot 1000. For example, the station 2000 can control each of the left infrared module, the central infrared module, and the right infrared module to emit infrared signals. The cleaning robot 1000 can detect each of the first infrared signal emitted from the left infrared module, the second infrared signal emitted from the central infrared module, and the third infrared signal emitted from the right infrared module. The cleaning robot 1000 can dock at the station 2000 while aligning with the station 2000 by using the angle of incidence of each of the first, second, and third infrared signals.

[0142] According to embodiments of this disclosure, the cleaning robot 1000 can return to operation S610 after performing a re-docking operation. That is, when the re-docking operation is performed, the cleaning robot 1000 can detect the contact between the first charging terminal 1010 and the second charging terminal 2010, and can send a charging command (boost command) to the station 2000. When power is supplied to the cleaning robot 1000 from the station 2000 according to the charging command (boost command), the cleaning robot 1000 can calculate the heat value between the first charging terminal 1010 and the second charging terminal 2010, and when the calculated heat value exceeds a threshold heat value, because the charging terminal is in an overheated state, the cleaning robot 1000 can perform the docking operation again. In other words, according to embodiments of this disclosure, when the cleaning robot 1000 is not aligned with the station 2000, the cleaning robot 1000 can perform multiple re-docking operations. When the calculated heat value after reconnection does not exceed the threshold heat value, the cleaning robot 1000 can charge the battery 1050 by periodically sending a charging command (boost command) to the station 2000 because the charging end is in a normal thermal state.

[0143] Reference Figure 12 The operation of the cleaning robot 1000 sending a charging command (boost command) to the station 2000 and a reply command to the second voltage value of the second charging terminal 2010 is described in more detail.

[0144] Figure 12 This is a flowchart describing a method by which a cleaning robot 1000 sends a charging command to a station 2000 according to an embodiment of the present disclosure.

[0145] In operation S1210, the cleaning robot 1000 according to an embodiment of the present disclosure can perform a docking operation. For example, the cleaning robot 1000 can perform a docking operation when the battery 1050 needs to be charged or when a docking command is received from the user.

[0146] According to embodiments of this disclosure, the cleaning robot 1000 can detect at least one infrared signal emitted from the station 2000 and can dock while aligning with the station 2000. For example, the cleaning robot 1000 can perform a docking operation while aligning with the station 2000 by using the angle of incidence of each of a first infrared signal emitted from the right infrared module, a second infrared signal emitted from the central infrared module, and a third infrared signal emitted from the left infrared module.

[0147] Users can lift the cleaning robot 1000 from the floor and manually dock it at station 2000.

[0148] In operation S1220, when the cleaning robot 1000 docks at station 2000, the cleaning robot 1000 according to an embodiment of the present disclosure can detect contact between the charging terminals. For example, when the voltage value detected by the first voltage detection circuit 1100 is equal to or greater than a first threshold voltage value (e.g., 8V, see...), the contact is detected. Figure 7 When the cleaning robot 1000 and the station 2000's second charging terminal 2010 are in contact with each other, the cleaning robot 1000 can determine that the first charging terminal 1010 of the cleaning robot 1000 and the second charging terminal 2010 of the station 2000 are in contact with each other. Operation S1220 and... Figure 6 The operation corresponds to S610, therefore, its detailed description will be omitted.

[0149] According to an embodiment of this disclosure, when no contact between the charging terminals is detected during charging, the cleaning robot 1000 can move while adjusting its position, such that the first charging terminal 1010 contacts the second charging terminal 2010.

[0150] In operation S1230, when contact between the charging terminals is detected, the cleaning robot 1000 according to an embodiment of the present disclosure may stop moving. For example, when the first charging terminal 1010 contacts the second charging terminal 2010, the cleaning robot 1000 may determine that the docking at station 2000 has been successfully completed and may stop moving.

[0151] In operation S1240, when docking at station 2000 is completed, the cleaning robot 1000 according to an embodiment of the present disclosure may send a charging command (boost command) to station 2000.

[0152] According to embodiments of this disclosure, when contact between the first charging terminal 1010 and the second charging terminal 2010 is detected, the cleaning robot 1000 can send a charging command (boost command) to the station 2000 via wireless or wired communication. For example, the cleaning robot 1000 can send the charging command via infrared communication.

[0153] Operation S1240 and Figure 6 The operation corresponds to S620, therefore, its detailed description will be omitted.

[0154] In operation S1250, station 2000 according to an embodiment of the present disclosure can receive charging commands (boost commands) from cleaning robot 1000. For example, station 2000 can receive charging commands (boost commands) from cleaning robot 1000 via a second communication interface 2300. When cleaning robot 1000 docks, station 2000 can periodically receive charging commands (boost commands) from cleaning robot 1000. Station 2000 can check the communication connection status with cleaning robot 1000 through the periodically received charging commands.

[0155] In operation S1260, station 2000 according to an embodiment of the present disclosure can activate the second switch 2410 (see...). Figure 8 This can be achieved by increasing the voltage supplied to the cleaning robot 1000. For example, station 2000 can supply the cleaning robot 1000 with the voltage supplied from power conversion device 2400 by turning on the second switch 2410. When the second switch 2410 is turned on, the voltage output from power conversion device 2400 (instead of a certain amplitude (e.g., 8V) used to detect contact between charging terminals) can be supplied to the cleaning robot 1000.

[0156] In operation S1270, the cleaning robot 1000 according to an embodiment of the present disclosure may check whether the voltage supplied by the slave station 2000 has been increased.

[0157] According to embodiments of this disclosure, the cleaning robot 1000 can detect the power supply voltage of the station 2000 via the first voltage detection circuit 1100. This is because the first switch 1111 of the cleaning robot 1000 (see [link to relevant documentation]) checks whether the voltage has been increased before... Figure 4 Since the second switch 2410 is in the off state, the cleaning robot 1000 can detect the voltage supplied from the station 2000 through the first voltage detection circuit 1100, regardless of whether misalignment has occurred. For example, when the station 2000 turns on the second switch 2410, the cleaning robot 1000 can detect a voltage value that increases from 8V to 17.54V through the first voltage detection circuit 1100.

[0158] According to an embodiment of this disclosure, when the voltage supplied by station 2000 is not increased (No in operation S1270), cleaning robot 1000 may send a charging command (boost command) to station 2000 again.

[0159] According to an embodiment of this disclosure, when the voltage supplied by the slave station 2000 is increased, the cleaning robot 1000 can turn on the first switch 1111 to allow current to flow through the cleaning robot 1000. In order to calculate the heat value of the charging terminal, the cleaning robot 1000 can detect the first voltage value of the first charging terminal 1010 through the first voltage detection circuit 1100.

[0160] In operation S1280, when the voltage supplied by slave station 2000 is increased ("Yes" in operation S1270), the cleaning robot 1000 according to an embodiment of the present disclosure may request a second voltage value of the second charging terminal 2010 from station 2000. For example, when the voltage supplied by slave station 2000 is increased, the cleaning robot 1000 may command station 2000 to send a response to the second voltage value of the second charging terminal 2010 in order to calculate the heat value of the charging terminal.

[0161] According to embodiments of this disclosure, the cleaning robot 1000 can request a second voltage value of the second charging terminal 2010 from the station 2000 via wireless or wired communication. For example, the cleaning robot 1000 can request information about the second voltage value of the second charging terminal 2010 from the station 2000 via infrared communication.

[0162] In operation S1290, the station 2000 according to an embodiment of the present disclosure may send information about the second voltage value of the second charging terminal 2010 in response to a request (response command) received from the cleaning robot 1000.

[0163] According to embodiments of this disclosure, station 2000 can detect the second voltage value of the second charging terminal 2010 via the second voltage detection circuit 2100. For example, refer to... Figure 9 Station 2000 can read the v1_sense value input to the input port of the second processor 2200 through the second voltage detection circuit 2100. In this case, the second voltage value v1 of the second charging terminal 2010 can be calculated as follows.

[0164] v1=(R1+R2) (v1_sense / R2) Station 2000 can transmit information about the second voltage value of the second charging terminal 2010 (e.g., v1 value or v1_sense value) via wireless or wired communication.

[0165] According to embodiments of this disclosure, when information regarding the second voltage value of the second charging terminal 2010 is received from the station 2000, the cleaning robot 1000 can calculate the heat value of the charging terminal (see...). Figure 6 (Operation S630). For example, the first processor 1001 of the cleaning robot 1000 can detect the first voltage value v2 of the first charging terminal 1010, obtain the charging current value I_chg and the discharging current value I_leak of the battery 1050 from the battery 1050, receive the second voltage value v1 of the second charging terminal 2010 from the station 2000, and calculate the calorific value by using the following equation.

[0166] The heat value at the charging end P = the voltage at the charging end V Charging current I =[v1-v2] [I_chg+I_leak] According to embodiments of this disclosure, the cleaning robot 1000 can request and receive information about the second voltage value of the second charging terminal 2010 from the station 2000 at predetermined time intervals (e.g., 1.6-second intervals), and can calculate the heat value of the charging terminal at predetermined time intervals (e.g., 1.6-second intervals).

[0167] When the calculated calorific value exceeds the overheating reference value, the cleaning robot 1000 can perform a re-docking operation after moving a predetermined distance away from the station 2000, thereby preventing damage to components or fire due to overheating.

[0168] When the calculated calorific value exceeds the superheat reference value, the cleaning robot 1000 can output a notification through the first output interface 1073. In the following text, reference will be made to... Figure 13 Describe in detail the method by which the cleaning robot 1000 outputs notifications.

[0169] Figure 13 This is a flowchart describing a method for a cleaning robot 1000 to output a notification according to an embodiment of the present disclosure.

[0170] In operation S1310, the cleaning robot 1000 according to an embodiment of the present disclosure can detect overheating of the charging terminal by comparing the heat value of the charging terminal with a threshold heat value (overheating reference value) that serves as an overheating standard. For example, when the heat value of the charging terminal exceeds the overheating reference value, the cleaning robot 1000 can determine that the charging terminal is in an overheated state.

[0171] Operation S1310 and Figure 6 The operation corresponds to S640, therefore, repeated descriptions will be omitted.

[0172] In operation S1320, when the cleaning robot 1000 according to an embodiment of the present disclosure detects overheating, the cleaning robot 1000 can output a notification through the first output interface 1073. For example, the cleaning robot 1000 can output the notification message as voice through a speaker.

[0173] Reference Figure 14 When the heat value at the charging end exceeds the overheat reference value, the cleaning robot 1000 can output a voice message 1401 via its speaker instructing a re-dock operation due to misalignment. Additionally, the cleaning robot 1000 can output a preset musical sound to notify of the re-dock operation. Although in Figure 14 Although not shown in the diagram, according to embodiments of this disclosure, when the cleaning robot 1000 includes a display, the cleaning robot 1000 can display a notification message on the display indicating that a re-docking has been performed due to misalignment. The user can check the reason why the cleaning robot 1000 performed the re-docking by checking the notification output from the cleaning robot 1000.

[0174] The cleaning robot 1000 can output notifications via a user terminal connected to the server. The following will refer to... Figure 18 Describe in detail the operation of the cleaning robot 1000 outputting notifications through the user terminal.

[0175] In operation S1330, when overheating of the charging end is detected, the cleaning robot 1000 according to an embodiment of the present disclosure may perform re-docking after outputting a notification.

[0176] According to embodiments of this disclosure, the cleaning robot 1000 can perform a re-docking operation after moving a predetermined distance away from the station 2000. When the cleaning robot 1000 controls the mobile assembly 1062 to move a predetermined distance away from the station 2000, the contact between the first charging terminal 1010 and the second charging terminal 2010 can be removed, and the power supply from the station 2000 to the cleaning robot 1000 can be stopped, thereby releasing the overheated state. Therefore, the cleaning robot 1000 can prevent damage to components or fire due to overheating.

[0177] Operation S1330 and Figure 6 The operation corresponds to S650, therefore, repeated descriptions will be omitted.

[0178] According to embodiments of this disclosure, the cleaning robot 1000 can perform re-docking even when no contact is detected between the charging terminals, except when overheating is detected while the cleaning robot 1000 is docked to the station 2000. (See also...) Figure 15 The method for the cleaning robot 1000 to perform re-docking when no contact is detected between the charging terminals is described in detail.

[0179] Figure 15 This is a flowchart describing a method for a cleaning robot 1000 to perform a re-docking operation according to an embodiment of the present disclosure.

[0180] In operation S1510, the cleaning robot 1000 according to an embodiment of the present disclosure may send a charging command (boost command) to the station 2000. For example, when contact between the first charging terminal 1010 and the second charging terminal 2010 is detected, the cleaning robot 1000 may send the charging command (boost command) to the station 2000 via wireless communication (e.g., infrared communication).

[0181] In operation S1520, the cleaning robot 1000 according to an embodiment of the present disclosure can detect whether the voltage has been increased by the first voltage detection circuit 1100.

[0182] According to an embodiment of this disclosure, when a charging command (boost command) is received from the cleaning robot 1000, the station 2000 can turn on the second switch 2410 to supply the cleaning robot 1000 with the voltage (e.g., 17.54V) output from the power conversion device 2400. In this case, the cleaning robot 1000 can detect the increased supply voltage of the station 2000 from 8V to 17.54V via the first voltage detection circuit 1100.

[0183] When the voltage supplied from station 2000 is not increased (No in operation S1520), cleaning robot 1000 can send a charging command (boost command) to station 2000 again.

[0184] In operation S1530, the cleaning robot 1000 according to an embodiment of the present disclosure can detect that the contact between the charging terminals has been removed after detecting that the voltage has been increased.

[0185] According to embodiments of this disclosure, when the power supply voltage of the inspection station 2000 is increased but the cleaning robot 1000 and the station 2000 are misaligned due to an external impact, the cleaning robot 1000 may no longer detect the contact between the first charging terminal 1010 and the second charging terminal 2010. That is, when the power supply voltage of the station 2000 is no longer detected by the first voltage detection circuit 1100, the cleaning robot 1000 can recognize that the contact between the charging terminals has been removed.

[0186] In operation S1540, when contact between the charging terminals is not detected ("Yes" in operation S1530), the cleaning robot 1000 according to an embodiment of this disclosure can perform a re-docking operation, which will refer to Figure 16 Described.

[0187] Figure 16 This is a view used to describe the re-docking operation of a cleaning robot 1000 according to an embodiment of the present disclosure.

[0188] Reference Figure 16 In the case of a situation where the cleaning robot 1000 is normally docked at the station 2000, the pet 1601 may impact either the station 2000 or the cleaning robot 1000. The contact between the second charging terminal 2010 of the station 2000 and the first charging terminal 1010 of the cleaning robot 1000 may be lost due to the impact of the pet 1601. In this situation, because the power supply voltage of the station 2000 may no longer be detected by the first voltage detection circuit 1100, the cleaning robot 1000 can recognize the loss of contact between the first charging terminal 1010 and the second charging terminal 2010.

[0189] Reference Figure 16In operation 1620, when a loss of contact is detected between the first charging terminal 1010 and the second charging terminal 2010, the cleaning robot 1000 can perform a re-docking operation to charge the battery 1050. For example, the cleaning robot 1000 can move a predetermined distance away from the station 2000 and then perform re-docking by detecting an infrared signal emitted from the station 2000. When the cleaning robot 1000 successfully re-dots at the station 2000, the cleaning robot 1000 can detect the contact between the first charging terminal 1010 and the second charging terminal 2010 via the first voltage detection circuit 1100.

[0190] Return to reference Figure 15 In operation S1550, when the contact between the charging terminals remains good (No in operation S1530), the cleaning robot 1000 according to an embodiment of the present disclosure can send a second voltage value response command from the second charging terminal 2010 to the station 2000. For example, the cleaning robot 1000 can send the second voltage value response command to the station 2000 at certain intervals (e.g., 1.6 seconds) via wireless communication (e.g., infrared communication).

[0191] In operation S1560, the cleaning robot 1000 according to an embodiment of the present disclosure can obtain a second voltage value from the station 2000. For example, when the station 2000 provides information about the second voltage value to the cleaning robot 1000 in response to a second voltage value reply command, the cleaning robot 1000 can receive information about the second voltage value from the station 2000. The station 2000 can detect the second voltage value of the second charging terminal 2010 through the second voltage detection circuit 2100.

[0192] According to embodiments of this disclosure, the cleaning robot 1000 can receive a second voltage value from the second charging terminal 2010 from the station 2000 at certain intervals (e.g., 1.6 seconds) via wireless communication (e.g., infrared communication).

[0193] In operation S1570, when the second voltage value of the second charging terminal 2010 is received, the cleaning robot 1000 can obtain the heat value of the charging terminal.

[0194] For example, the first processor 1001 of the cleaning robot 1000 can detect the first voltage value v2 of the first charging terminal 1010, obtain the charging current value I_chg and the discharging current value I_leak of the battery 1050 from the battery 1050, receive the second voltage value v1 of the second charging terminal 2010 from the station 2000, and calculate the heat value of the charging terminal by using the following equation.

[0195] The heat value at the charging end P = the voltage at the charging end V Charging current I =[v1-v2] [I_chg+I_leak] Operations S1530 and S1540 can be performed after operation S1550, after operation S1560, or after operation S1570. That is, when it is detected at any time during the charging of battery 1050 that the contact between the first charging terminal 1010 and the second charging terminal 2010 has been removed, the cleaning robot 1000 can perform a re-docking operation, so that the first charging terminal 1010 contacts the second charging terminal 2010 again.

[0196] Figure 17 This is a view used to describe the operation of the cleaning robot 1000 interoperating with the server 3000 according to embodiments of the present disclosure.

[0197] Reference Figure 17 In addition to the cleaning robot 1000 and station 2000, the cleaning system according to embodiments of this disclosure may also include a server 3000 and a user terminal 4000. (See also...) Figure 1 The cleaning robot 1000 and station 2000 have been described; therefore, the server 3000 and user terminal 4000 will now be described.

[0198] According to embodiments of this disclosure, server 3000 can be an apparatus for managing cleaning robot 1000. For example, server 3000 can be a home appliance management server. Server 3000 can manage user account information and information about home appliances connected to user accounts. For example, a user can create a user account by accessing server 3000 through user terminal 4000. User accounts can be identified by an ID and a password set by the user. Server 3000 can register station 2000 or cleaning robot 1000 in user accounts according to a predetermined process. For example, server 3000 can register station 2000 and cleaning robot 1000 by linking the identification information of station 2000 (e.g., serial number or MAC address) or the identification information of cleaning robot 1000 to the user account. When station 2000 or cleaning robot 1000 is registered with server 3000, server 3000 can manage the status of station 2000 or cleaning robot 1000 by periodically receiving status information from station 2000 or cleaning robot 1000.

[0199] Server 3000 may include a communication module capable of communicating with another server, cleaning robot 1000, external devices, or user terminal 4000; at least one processor capable of processing data received from another server, cleaning robot 1000, external devices, or user terminal 4000; and at least one memory capable of storing programs for processing data or processed data. Server 3000 may be implemented as any of various computing devices, such as workstations, clouds, data drives, or data stations. Server 3000 may be implemented as one or more servers based on functions, detailed configurations of functions, or physical or logical partitioning of data, and may send and receive data through communication between servers, and may process the sent and received data.

[0200] Server 3000 can receive information about the operation or status of cleaning robot 1000, or information about the user on user terminal 4000. It can process the received information using technologies such as artificial intelligence, and can send processing results or control commands to cleaning robot 1000 based on the processing results.

[0201] User terminal 4000 may be a device registered on server 3000 under the same account as station 2000 or cleaning robot 1000. User terminal 4000 may be carried by the user or placed in the user's home or office. Examples of user terminal 4000 may include, but are not limited to, smartphones, laptops, tablet PCs, digital cameras, e-book terminals, digital broadcasting terminals, personal digital assistants (PDAs), portable multimedia players (PMPs), wearable devices, and devices including displays. For ease of illustration, the following description will assume that user terminal 4000 is a smartphone.

[0202] According to embodiments of this disclosure, the user terminal 4000 can communicate with at least one of the server 3000, the cleaning robot 1000, or the station 2000. The user terminal 4000 can communicate directly with the cleaning robot 1000 or the station 2000 via short-range wireless communication, or indirectly with the cleaning robot 1000 or the station 2000 via the server 3000.

[0203] User terminal 4000 may include a communication module capable of communicating with external devices, a user interface through which user input is received or information is output to the user, at least one processor for controlling the operation of user terminal 4000, and at least one memory storing a program for controlling the operation of user terminal 4000.

[0204] The program (i.e., application) for controlling home appliances (e.g., cleaning robot 1000) may be stored in at least one memory of the user terminal 4000. The application may be sold while being installed on the user terminal 4000, or it may be downloaded and installed from an external server.

[0205] Users can generate user accounts by accessing server 3000 through an application installed on user terminal 4000, and can register cleaning robot 1000 or station 2000 by communicating with server 3000 based on the logged-in user account. For example, when cleaning robot 1000 is manipulated to access server 3000 according to a process guided by the application installed on user terminal 4000, server 3000 can register cleaning robot 1000 in the user account by registering the identification information of cleaning robot 1000 (e.g., MAC address serial number) in the user account.

[0206] Users can control the cleaning robot 1000 or station 2000 using an application installed on the user terminal 4000. For example, when a user logs into the user application using the application installed on the user terminal 4000, the cleaning robot 1000 registered in the user's account can be displayed, and when the user inputs control commands to the cleaning robot 1000, the control commands can be sent to the cleaning robot 1000 via the server 3000. The cleaning robot 1000 can operate according to the control commands received from the user terminal 4000 or the server 3000. For example, when the cleaning robot 1000 obtains the user's prior approval to operate according to the control commands from the server 3000 even without user input, the cleaning robot 1000 can operate according to the control commands received from the server 3000. The control commands received from the server 3000 may include, but are not limited to, control commands input by the user through the user terminal 4000 or control commands based on preset conditions.

[0207] According to embodiments of this disclosure, user terminal 4000 can execute a specific application (e.g., a home appliance management application) provided by server 3000 based on user input. In this case, user terminal 4000 can provide information about the status of cleaning robot 1000 or station 2000 through the application's execution window. Furthermore, user terminal 4000 can output notifications related to cleaning robot 1000 on the application's execution window. (See also...) Figure 18 The operation of the user terminal 4000 outputting notifications related to the cleaning robot 1000 is described in more detail.

[0208] Figure 18This is a view used to describe the operation of a cleaning robot 1000 outputting notifications through a user terminal 4000 according to an embodiment of the present disclosure.

[0209] According to embodiments of this disclosure, a cleaning robot 1000 can detect overheating by comparing the heat value of the charging terminal with a threshold heat value (overheating reference value) that serves as an overheating standard. For example, when the heat value of the charging terminal exceeds the overheating reference value, the cleaning robot 1000 can determine that the charging terminal is in an overheated state.

[0210] When overheating is detected, the cleaning robot 1000 can output a notification instructing it to re-dock via the user terminal 4000 before performing re-docking. For example, the cleaning robot 1000 can send a message to the user terminal 4000 instructing it to re-dock due to misalignment with station 2000. The cleaning robot 1000 can send the re-docking instruction to the user terminal 4000 via server 3000, or it can send it directly to the user terminal 4000 via wireless communication.

[0211] When the cleaning robot 1000 receives an instruction to re-dock due to misalignment with station 2000, the user terminal 4000 can display a notification message instructing the cleaning robot 1000 to re-dock on the execution window of the application used to manage home appliances. For example, the user terminal 4000 can output a notification message 1801 saying "Re-dock performed due to misalignment". The user can check why the cleaning robot 1000 re-docked by checking the notification message displayed on the application's execution window.

[0212] Figure 19 This is a view used to describe a cleaning system including a cordless rod cleaner 1000-1, which may generally be referred to as a cordless vacuum cleaner, according to an embodiment of the present disclosure.

[0213] The cleaning system according to embodiments of this disclosure may include a cordless pole cleaner 1000-1 instead of a cleaning robot 1000. Therefore, the cleaning system according to embodiments of this disclosure may include a cordless pole cleaner 1000-1 and a station 2000-1. Furthermore, in addition to the cordless pole cleaner 1000-1 and the station 2000-1, the cleaning system may also include a server 3000 or a user terminal 4000.

[0214] The cordless stick cleaner 1000-1 may include a rechargeable battery 1050 and may be a vacuum cleaner that does not require a power cord to be connected to an outlet during cleaning. The user can move the cordless stick cleaner 1000-1 back and forth using a handle mounted on the cleaner body, causing the brush assembly (cleaner head) to suck up foreign objects (e.g., dust, hair, and debris) from the surface to be cleaned. The foreign objects sucked up from the surface to be cleaned by the brush assembly can be collected in a dust box in the cleaner body. The cordless stick cleaner 1000-1 may include a suction motor configured to create a vacuum within the cordless stick cleaner 1000-1. Hereinafter, for ease of illustration, the suction motor of the cordless stick cleaner 1000-1 is referred to as the first suction motor. The cordless stick cleaner 1000-1 may include a communication interface for performing communication with station 2000-1. For example, the cordless pole cleaner 1000-1 can send data to and receive data from station 2000-1 via a wireless personal area network (WPAN) (e.g., BLE).

[0215] Station 2000-1 can be a device for venting dust, charging batteries, or storing cordless pole cleaner 1000-1. According to embodiments of this disclosure, station 2000-1 can communicate with cordless pole cleaner 1000-1 or server 3000 via a network. For example, station 2000-1 can send and receive data to and from cordless pole cleaner 1000-1 via a short-range wireless network (Wireless Personal Area Network (WPAN)) without an access point (AP). Station 2000-1 can send and receive data to and from server 3000 via an AP that connects the local area network (LAN) to which station 2000-1 is connected to the wide area network (WAN) to which server 3000 is connected. For example, station 2000-1 can connect to cordless pole cleaner 1000-1 via Bluetooth Low Energy (BLE) communication and can connect to server 3000 via Wi-Fi™ (IEEE 802.11) communication, but the embodiments disclosed herein are not limited thereto.

[0216] Reference Figure 19In section 1910, a user can use the cordless stick cleaner 1000-1, which can then be mounted (docked) to station 2000-1. As the distance between the cordless stick cleaner 1000-1 and station 2000-1 decreases, the cordless stick cleaner 1000-1 and station 2000-1 can establish a short-range wireless communication channel and can send and receive data. When the cordless stick cleaner 1000-1 is mounted on station 2000-1, the cordless stick cleaner 1000-1 and station 2000-1 can be electrically coupled to each other via charging terminals. For example, the first charging terminal 1010 of the cordless stick cleaner 1000-1 and the second charging terminal 2010 of station 2000-1 can contact each other.

[0217] Reference Figure 19 In 1920, although the cordless stick cleaner 1000-1 docks at the station 2000-1 and the first charging terminal 1010 and the second charging terminal 2010 are electrically connected to each other, the charging terminals may overheat when the cordless stick cleaner 1000-1 and the station 2000-1 are not aligned or when there are foreign objects between the charging terminals. For example, when the cordless stick cleaner 1000-1 and the station 2000-1 are not properly aligned, the contact resistance between the first charging terminal 1010 of the cordless stick cleaner 1000-1 and the second charging terminal 2010 of the station 2000-1 may increase. In this case, when the battery 1050 of the cordless stick cleaner 1000-1 is charged, heat may be generated due to the abnormally high contact resistance, which may lead to damage to components around the charging terminals or damage to the charging terminals themselves.

[0218] Therefore, according to embodiments of this disclosure, the cordless stick cleaner 1000-1 can calculate the heat value of the charging terminal by applying a charging terminal voltage and current detection algorithm, and can perform overheat prevention operations when the heat value of the charging terminal exceeds a threshold heat value as an overheating standard. For example, when contact between the first charging terminal 1010 and the second charging terminal 2010 is detected, the cordless stick cleaner 1000-1 can send a charging command to the station 2000-1 via wireless communication (e.g., BLE communication). When voltage is supplied from the station 2000-1 to the cordless stick cleaner 1000-1 according to the charging command, the cordless stick cleaner 1000-1 can obtain the heat value between the first charging terminal 1010 and the second charging terminal 2010. For example, the cordless rod cleaner 1000-1 can detect the first voltage value v2 of the first charging terminal 1010 through the first voltage detection circuit 1100, obtain the charging current value I_chg and the discharging current value I_leak of the battery 1050 from the battery 1050, receive the second voltage value v1 of the second charging terminal 2010 obtained through the second voltage detection circuit 2100 from the station 2000-1, and calculate the heat value of the charging terminal by using the following equation.

[0219] The heat value at the charging end P = the voltage at the charging end V Charging current I =[v1-v2] [I_chg+I_leak] When the heat value at the charging end exceeds the threshold heat value (overheating reference value) used as an overheat standard, the cordless stick cleaner 1000-1 can send a notification to the user to reconnect the cordless stick cleaner 1000-1. The cordless stick cleaner 1000-1 can send the notification via a display or user terminal 4000. (Refer to...) Figure 20 A more detailed description of the operation of the cordless stick cleaner 1000-1 output notification.

[0220] Figure 20 This is a view used to describe the operation of the cordless rod cleaner 1000-1 outputting notifications according to an embodiment of the present disclosure.

[0221] Reference Figure 20 In 2011, when the heat value at the charging end exceeds the overheat reference value, the cordless stick cleaner 1000-1 can output a notification 2001 to the display of the cordless stick cleaner 1000-1. For example, the cordless stick cleaner 1000-1 can output a notification 2001 such as "Please check charging status" on the display. In this case, the user can check the notification 2001 output on the display, detach the cordless stick cleaner 1000-1 from the station 2000-1, and then place the cordless stick cleaner 1000-1 on the station 2000-1 by aligning the charging end.

[0222] Reference Figure 20 In 2012, when the heat value of the charging terminal exceeds the overheating reference value, the cordless stick cleaner 1000-1 can send information indicating that the charging terminal is in an overheating state to station 2000-1. When station 2000-1 receives the information indicating that the charging terminal is in an overheating state from the cordless stick cleaner 1000-1, station 2000-1 can send the information indicating that the charging terminal is in an overheating state to server 3000. In this case, server 3000 can send the information indicating that the charging terminal is in an overheating state to user terminal 4000. Therefore, when the user executes the application on user terminal 4000, user terminal 4000 can output a notification such as "Please check charging status" 2002 on the application's execution window.

[0223] The cordless pole cleaner 1000-1 or station 2000-1 can send information indicating that the charging end is overheating to the user terminal 4000 via device-to-device (D2D) communication instead of via server 3000.

[0224] According to embodiments of this disclosure, a cleaning robot 1000 may be provided, which detects overheating by using the heat value between a first charging terminal 1010 and a second charging terminal 2010 and performs a re-dating operation when the charging terminal is in an overheating state to prevent damage to components or fire.

[0225] According to embodiments of this disclosure, a cleaning robot 1000 may include: a battery 1050, charged with a voltage supplied from a station 2000; a first charging terminal 1010 for charging the battery 1050 that powers the cleaning robot 1000; a first voltage detection circuit 1100 for detecting the voltage of the first charging terminal 1010; a first communication interface 1080 for communicating with the station 2000; a memory 1002 for storing one or more instructions; and at least one processor. The at least one processor may execute one or more instructions to detect contact between the first charging terminal 1010 of the cleaning robot 1000 and the second charging terminal 2010 of the station 2000, based on the cleaning robot 1000 docking at the station 2000. Based on the detected contact between the first charging terminal 1010 and the second charging terminal 2010, the at least one processor may send a charging command to the station 2000 via the first communication interface 1080. At least one processor can obtain the calorific value between the first charging terminal 1010 and the second charging terminal 2010 based on the voltage supplied from station 2000 to cleaning robot 1000 according to a charging command. At least one processor can perform a re-docking operation after cleaning robot 1000 moves a predetermined distance away from station 2000, based on the determination that the obtained calorific value exceeds a threshold calorific value as an overheating standard.

[0226] According to embodiments of this disclosure, at least one processor may, based on determining that the obtained calorific value exceeds a threshold calorific value, output an instruction to perform a reconnection notification via a speaker or a user terminal 4000 connected via a server 3000.

[0227] According to embodiments of this disclosure, at least one processor may determine that the first charging terminal 1010 of the cleaning robot 1000 and the second charging terminal 2010 of the station 2000 are in contact with each other based on determining that the voltage value detected by the first voltage detection circuit 1100 is equal to or greater than a first threshold voltage value.

[0228] According to embodiments of the present disclosure, at least one processor can obtain the heat value between the first charging terminal 1010 and the second charging terminal 2010 based on the voltage value between the first charging terminal 1010 and the second charging terminal 2010, the discharge current value of the battery 1050, and the charging current value of the battery 1050.

[0229] According to embodiments of this disclosure, at least one processor can measure a first voltage value of a first charging terminal 1010 via a first voltage detection circuit 1100. At least one processor can receive information from station 2000 regarding a second voltage value of a second charging terminal 2010. At least one processor can obtain the difference between the first voltage value of the first charging terminal 1010 and the second voltage value of the second charging terminal 2010 as the voltage value between the first charging terminal 1010 and the second charging terminal 2010.

[0230] According to embodiments of this disclosure, at least one processor may send a signal to station 2000 requesting a second voltage value for the second charging terminal 2010 based on determining, after sending a charging command, that the voltage value detected by the first voltage detection circuit 1100 is equal to or greater than a second threshold voltage value. At least one processor may also receive information from station 2000 regarding the second voltage value of the second charging terminal 2010.

[0231] According to an embodiment of this disclosure, the second threshold voltage value may be greater than the first threshold voltage value used to detect the contact between the first charging terminal 1010 and the second charging terminal 2010.

[0232] According to embodiments of this disclosure, at least one processor may send a signal to station 2000 at predetermined time intervals to request a second voltage value from second charging terminal 2010.

[0233] According to embodiments of this disclosure, the heat value between the first charging terminal and the second charging terminal may vary depending on the state of charge of the battery 1050.

[0234] According to embodiments of this disclosure, at least one processor can obtain a first current value detected by a current detection circuit after docking but before charging begins as the discharge current value of the battery 1050. At least one processor can obtain a second current value detected by a current detection circuit after charging begins as the charging current value of the battery 1050.

[0235] According to embodiments of the present disclosure, when a current detection circuit is included in the battery 1050, at least one processor can obtain the charging current value and the discharging current value of the battery 1050 from the battery 1050.

[0236] According to embodiments of this disclosure, at least one processor may send a charging command to station 2000 via wireless communication at predetermined time intervals based on determining that the obtained calorific value is equal to or lower than a threshold calorific value.

[0237] According to embodiments of this disclosure, a cordless vacuum cleaner, such as the cordless stick cleaner 1000-1, can be configured to dock at station 2000-1. The cordless vacuum cleaner may include: a first charging terminal configured to charge a battery powering the cordless vacuum cleaner; a first voltage detection circuit configured to detect the voltage at the first charging terminal; a first communication interface configured to communicate with station 2000-1; a memory configured to store one or more instructions; and at least one processor configured to execute one or more instructions to perform multiple operations. The operation includes: based on the cordless vacuum cleaner being docked at station 2000-1, detecting the contact between the first charging terminal of the cordless vacuum cleaner and the second charging terminal of station 2000-1 through a first voltage detection circuit; based on the detected contact between the first charging terminal and the second charging terminal, sending a charging command to station 2000-1 through a first communication interface; based on the voltage supplied from station 2000-1 to the cordless vacuum cleaner according to the charging command, obtaining the heat value between the first charging terminal and the second charging terminal; and based on determining that the obtained heat value exceeds a threshold heat value used as an overheating standard, performing an overheating prevention operation.

[0238] According to embodiments of this disclosure, an overheat detection method for a cleaning robot 1000, including a battery 1050 charged using voltage supplied from station 2000, may include: based on the cleaning robot 1000 docking at station 2000, detecting contact between a first charging terminal 1010 of the cleaning robot 1000 and a second charging terminal 2010 of station 2000 via a first voltage detection circuit 1100; based on the detected contact between the first charging terminal 1010 and the second charging terminal 2010, sending a charging command to station 2000 via a first communication interface 1080 of the cleaning robot 1000; based on the voltage supplied from station 2000 to charge the battery 1050 of the cleaning robot 1000 according to the charging command, obtaining a heat value between the first charging terminal 1010 and the second charging terminal 2010; and based on determining that the obtained heat value exceeds a threshold heat value as an overheating standard, performing a re-docking operation after the cleaning robot 1000 moves a predetermined distance away from station 2000.

[0239] According to embodiments of this disclosure, the overheat detection method for the cleaning robot 1000 may include: based on determining that the obtained calorific value exceeds a threshold calorific value, outputting a notification to perform a re-docking instruction via a speaker or a user terminal 4000 connected via a server 3000.

[0240] According to embodiments of this disclosure, detecting contact between the first charging terminal 1010 of the cleaning robot 1000 and the second charging terminal 2010 of the station 2000 may include: determining that the first charging terminal 1010 of the cleaning robot 1000 and the second charging terminal 2010 of the station 2000 are in contact with each other based on determining that the voltage value detected by the first voltage detection circuit 1100 is equal to or greater than a first threshold voltage value.

[0241] According to embodiments of this disclosure, obtaining the heat value between the first charging terminal 1010 and the second charging terminal 2010 may include: obtaining the heat value between the first charging terminal 1010 and the second charging terminal 2010 based on the voltage value between the first charging terminal 1010 and the second charging terminal 2010, the discharge current value of the battery 1050, and the charging current value of the battery 1050.

[0242] According to embodiments of this disclosure, obtaining the heat value between the first charging terminal 1010 and the second charging terminal 2010 may include: measuring a first voltage value of the first charging terminal 1010 through a first voltage detection circuit 1100; receiving information about a second voltage value of the second charging terminal 2010 from a slave station 2000; and obtaining the difference between the first voltage value of the first charging terminal 1010 and the second voltage value of the second charging terminal 2010 as the voltage value between the first charging terminal 1010 and the second charging terminal 2010.

[0243] According to embodiments of this disclosure, receiving information about a second voltage value of the second charging terminal 2010 may include: sending a signal to the station 2000 requesting a second voltage value of the second charging terminal 2010 based on determining, after sending a charging command, that the voltage value detected by the first voltage detection circuit 1100 is equal to or greater than a second threshold voltage value; and receiving information from the station 2000 about the second voltage value of the second charging terminal 2010. According to embodiments of this disclosure, the second threshold voltage value may be greater than a first threshold voltage value used to detect contact between the first charging terminal 1010 and the second charging terminal 2010.

[0244] According to embodiments of this disclosure, sending a signal for requesting a second voltage value of the second charging terminal 2010 may include: sending a signal for requesting a second voltage value of the second charging terminal 2010 to the station 2000 at predetermined time intervals.

[0245] According to embodiments of this disclosure, the overheat detection method for the cleaning robot 1000 may include: obtaining a first current value detected by a current detection circuit after docking but before charging begins as the discharge current value of the battery 1050; and obtaining a second current value detected by a current detection circuit after charging begins as the charging current value of the battery 1050.

[0246] Machine-readable storage media may be provided as non-transitory storage media. Here, "non-transitory" means that the storage medium does not include signals (e.g., electromagnetic waves) and is tangible, but does not distinguish whether the data is stored in the storage medium semi-permanently or temporarily. For example, a "non-transitory storage medium" may include a buffer for temporarily storing data.

[0247] According to embodiments of this disclosure, methods according to various embodiments of this disclosure may be provided in a computer program product. The computer program product may be a product purchasable between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., an optical disc read-only memory (CD-ROM) or a Universal Serial Bus (USB) flash drive), or distributed via an app store (e.g., downloaded or uploaded), or distributed directly or online between two user devices (e.g., smartphones). When distributed online, at least a portion of the computer program product (e.g., a downloadable application) may be temporarily generated or at least 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).

Claims

1. A cleaning robot (1000) configured to dock at a station (2000), said cleaning robot (1000) comprising: The first charging terminal (1010) is configured to charge the battery that powers the cleaning robot; The first voltage detection circuit (1100) is configured to detect the voltage of the first charging terminal; The first communication interface (1080) is configured to communicate with the station; The memory (1002) is configured to store one or more instructions; as well as At least one processor is configured to execute the one or more instructions to perform a plurality of operations, the plurality of operations including: Based on the fact that the cleaning robot is docked at the station, the contact between the first charging terminal of the cleaning robot and the second charging terminal of the station is detected by the first voltage detection circuit. Based on the detection of contact between the first charging terminal and the second charging terminal, a charging command is sent to the station through the first communication interface; Based on the voltage supplied to the cleaning robot from the station according to the charging command, the calorific value between the first charging terminal and the second charging terminal is obtained; and Based on the determination that the obtained calorific value exceeds the threshold calorific value used as a superheat standard, a re-docking operation is performed after the cleaning robot moves a predetermined distance away from the station.

2. The cleaning robot according to claim 1, wherein, The at least one processor is also configured to execute the one or more instructions to perform the following operation: based on determining that the obtained calorific value exceeds the threshold calorific value, outputting a notification indicating to perform re-docking via the speaker of the cleaning robot or via a user terminal (4000) connected to the server (3000).

3. The cleaning robot according to claim 1, wherein, The at least one processor is further configured to execute the one or more instructions to perform the following operation: based on determining that the voltage value detected by the first voltage detection circuit is equal to or greater than a first threshold voltage value, determining that the first charging terminal of the cleaning robot and the second charging terminal of the station are in contact with each other.

4. The cleaning robot according to claim 1, wherein, The at least one processor is further configured to execute the one or more instructions to perform the following operation: obtaining the heat value between the first charging terminal and the second charging terminal by multiplying the voltage value between the first charging terminal and the second charging terminal by the sum of the discharge current value and the charging current value of the battery.

5. The cleaning robot according to claim 4, wherein, The at least one processor is also configured to execute the one or more instructions to perform the following operations: The first voltage value of the first charging terminal is measured by the first voltage detection circuit; Receive information about the second voltage value of the second charging terminal from the station; as well as The difference between the first voltage value of the first charging terminal and the second voltage value of the second charging terminal is obtained as the voltage value between the first charging terminal and the second charging terminal.

6. The cleaning robot according to claim 5, wherein, The at least one processor is also configured to execute the one or more instructions to perform the following operations: Based on the determination that the voltage value detected by the first voltage detection circuit is equal to or greater than the second threshold voltage value after sending the charging command, a signal is sent to the station to request the second voltage value of the second charging terminal; as well as Receive information about the second voltage value of the second charging terminal from the station.

7. The cleaning robot according to claim 6, wherein, The second threshold voltage value is greater than the first threshold voltage value used to detect the contact between the first charging terminal and the second charging terminal.

8. The cleaning robot according to claim 6, wherein, The at least one processor is also configured to execute the one or more instructions to perform the following operation: send a signal to the station at predetermined time intervals to request a second voltage value for the second charging terminal.

9. The cleaning robot according to claim 4, wherein, The heat value between the first charging terminal and the second charging terminal varies depending on the charging state of the battery.

10. The cleaning robot according to claim 4, wherein, The at least one processor is also configured to execute the one or more instructions to perform the following operations: The first current value detected by the current detection circuit after docking and before charging begins is obtained as the discharge current value of the battery. as well as The second current value detected by the current detection circuit after charging begins is obtained as the charging current value of the battery.

11. The cleaning robot according to claim 10, wherein, The at least one processor is further configured to execute the one or more instructions to perform the following operations: when a current detection circuit is included in the battery, obtaining a charging current value and a discharging current value of the battery from the battery.

12. The cleaning robot according to claim 1, wherein, The at least one processor is also configured to execute the one or more instructions to perform the following operation: based on determining that the obtained calorific value is equal to or lower than the threshold calorific value, to send a charging command to the station via wireless communication at predetermined time intervals.

13. An overheat detection method for a cleaning robot at a station, the overheat detection method comprising: Based on the fact that the cleaning robot is docked at the station, the contact between the first charging terminal of the cleaning robot and the second charging terminal of the station is detected by the first voltage detection circuit of the cleaning robot (S610). Based on the detection of contact between the first charging terminal and the second charging terminal, a charging command is sent to the station through the first communication interface of the cleaning robot (S620). Based on the voltage supplied from the station to charge the battery of the cleaning robot according to the charging command, the heat value between the first charging terminal and the second charging terminal is obtained (S630). as well as Based on the determination that the obtained calorific value exceeds the threshold calorific value used as a superheat standard, a re-docking operation is performed after the cleaning robot moves a predetermined distance away from the station (S650).

14. The overheat detection method according to claim 13, further comprising: Based on the determination that the obtained calorific value exceeds the threshold calorific value, a notification to perform re-docking is output through the speaker of the cleaning robot or through a user terminal connected to the server.

15. The overheat detection method according to claim 13, wherein, Detecting the contact between the first charging terminal of the cleaning robot and the second charging terminal of the station includes: determining that the first charging terminal of the cleaning robot and the second charging terminal of the station are in contact with each other based on determining that the voltage value detected by the first voltage detection circuit is equal to or greater than a first threshold voltage value.

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