Robot vacuum cleaner and method for controlling a system comprising a robot vacuum cleaner

Abstract

The present invention relates to a method for controlling a robotic vacuum cleaner system comprising a robotic vacuum cleaner and a docking station. The method comprises a first heating step of heating water stored in the docking station, a supplying step of supplying the water heated in the docking station to the docked robotic vacuum cleaner, a cleaning step of the robotic vacuum cleaner cleaning a cleaning area, a second heating step of re-heating a portion of the water stored in the robotic vacuum cleaner when a contaminated area with a high floor contamination level is found during cleaning, and a hot water cleaning step of cleaning the contaminated area by using the re-heated water.

Description

Technical Field

[0001] This disclosure relates to a robot cleaner and a method for controlling a system including the robot cleaner. Background Technology

[0002] A robotic vacuum cleaner is a device that cleans floors by sucking up debris (such as dust) or by wiping it off. Recently, vacuum cleaners capable of performing mopping operations have been developed. Furthermore, robotic vacuum cleaners are devices that perform cleaning while moving autonomously.

[0003] As prior art (Korean Patent Application No. 10-1654014), a robotic vacuum cleaner capable of moving across a mop surface is known. In this prior art, the robotic vacuum cleaner includes a first rotating member and a second rotating member, which are fixed to a pair of mop surfaces arranged in a left-right direction. In the robotic vacuum cleaner according to this prior art, each of the first and second rotating members is detachably connected to the robot body.

[0004] The existing technology has the following problem: when cold water is used to clean the floor, it is difficult to clean it thoroughly when the floor is heavily soiled.

[0005] To address such issues, for example, robotic vacuum cleaners can perform not only dust removal but also steam / hot water cleaning. Therefore, a water tank and a heater are installed inside the robotic vacuum cleaner. The water tank holds water for generating steam, and the heater heats the water in the tank.

[0006] However, because robotic vacuum cleaners are powered by batteries installed within them rather than by an external power source, their runtime is reduced when using batteries to generate steam. Additionally, the addition of components for steam generation (such as a water tank and heater) increases the size of the robotic vacuum cleaner.

[0007] [Existing technical documents]

[0008] [Patent Literature]

[0009] Korean Patent Registration Application No. 10-1654014 (Registration Date: August 30, 2016) Summary of the Invention

[0010] Technical issues

[0011] The purpose of this disclosure is to reduce battery consumption and the size of the battery installed on the robot vacuum cleaner by using a docking station for heated water before the robot vacuum cleaner cleans the cleaning area and before the robot vacuum cleaner receives heated water.

[0012] Another objective of this disclosure is to reduce battery consumption in the robot vacuum cleaner and decrease the size of the battery installed on the robot vacuum cleaner by heating water at the docking station before cleaning the cleaning area and receiving the heated water in the cleaning area, and then performing cleaning with hot water or steam in heavily polluted areas by heating the water stored in the robot vacuum cleaner.

[0013] Technical solution

[0014] To achieve these objectives, this disclosure cleans the contaminated area by first heating the water in the docking station and then heating the water on the contaminated area.

[0015] Specifically, this disclosure relates to a method for controlling a robotic vacuum cleaner system having a robotic vacuum cleaner and a docking station, the method comprising: a first heating step of heating water stored in the docking station; a supply step of supplying the heated water in the docking station to the docked robotic vacuum cleaner; a cleaning step of cleaning a cleaned area by the robotic vacuum cleaner; a second heating step of reheating a portion of the water stored in the robotic vacuum cleaner when a contaminated area with a high level of floor contamination is detected during cleaning; and a hot water cleaning step of cleaning the contaminated area by using the reheated water.

[0016] The hot water cleaning process involves spraying reheated water onto the contaminated area, followed by a robotic vacuum cleaner using a wet mop to clean the contaminated area.

[0017] The hot water cleaning step involves providing reheated water to the robot vacuum cleaner's wet mop, and then cleaning the contaminated area using the wet mop.

[0018] In the second heating step, the contaminated areas are identified by analyzing images of the floor.

[0019] When the robotic vacuum cleaner is cleaning the area, the docking station does not heat water.

[0020] In addition, the present invention includes a water resupply step in which water is heated by a docking station when the robot vacuum cleaner is cleaning an area and docks the robot vacuum cleaner with the docking station to receive the heated water.

[0021] In addition, this disclosure also includes an input step for receiving a user's cleaning command, wherein when a hot water cleaning command is received in the input step, a first heating step, a supply step, a cleaning step, a second heating step, and a hot water cleaning step are executed.

[0022] Furthermore, the robotic vacuum cleaner according to embodiments of this disclosure includes: a main body; a hot water unit installed in the main body, which heats stored water to generate and spray hot water; a cleaning unit that cleans the floor; a drive unit that drives the main body; a sensing unit that detects the surrounding environment of the main body and the degree of floor contamination; a communication unit that communicates with a docking station; an input unit that receives user commands; and a controller that performs overall control of the robotic vacuum cleaner, wherein when a cleaning command is input through the input unit, the controller outputs a hot water generation command to the docking station, controls the robotic vacuum cleaner to clean the cleaning area by docking with the docking station and receiving hot water from the docking station, and when a contaminated area with a high level of floor contamination is detected during cleaning, the controller controls the robotic vacuum cleaner to heat the stored water and clean the contaminated area by using the heated water.

[0023] The controller identifies contaminated areas by analyzing images of the floor.

[0024] While the robotic vacuum cleaner is cleaning the area, the controller sends a command to the docking station to stop generating hot water.

[0025] When the water supply is insufficient during the cleaning process of the robotic vacuum cleaner, the controller sends a command to the docking station to generate hot water and controls the robotic vacuum cleaner to dock with the docking station to receive the heated water.

[0026] The cleaning department also includes wet mops, which clean the floor by rubbing against it.

[0027] The controller instructs the robotic vacuum cleaner to spray reheated water onto the contaminated area and then clean the contaminated area with a wet mop.

[0028] After providing reheated water to the wet mop, the controller instructs the robotic vacuum cleaner to clean the contaminated area using the wet mop.

[0029] According to another embodiment of the present invention, a method for controlling a robotic vacuum cleaner system having a robotic vacuum cleaner and a docking station, the method comprising: a first heating step of heating water stored in the docking station; a supply step of supplying the heated water in the docking station to the docked robotic vacuum cleaner; a cleaning step of cleaning a cleaned area by the robotic vacuum cleaner; a second heating step of reheating the water stored in the robotic vacuum cleaner when a contaminated area with a high level of floor contamination is detected during cleaning; and a hot water cleaning step of cleaning the contaminated area by using the reheated water.

[0030] Beneficial effects

[0031] According to this disclosure, the docking station heats water before the robotic vacuum cleaner cleans the cleaning area. The robotic vacuum cleaner receives the heated water to clean the area, thereby providing the advantages of reducing battery consumption and minimizing the size of the battery installed on the robotic vacuum cleaner. Furthermore, since the docking station only heats water when needed, it has the advantage of reducing the docking station's energy consumption.

[0032] Furthermore, according to this disclosure, the docking station heats water before the robotic vacuum cleaner cleans the cleaning area, and the robotic vacuum cleaner, receiving the heated hot water, cleans the cleaning area. Then, by heating the water stored in the robotic vacuum cleaner, cleaning is performed in heavily contaminated areas with hot water or steam, thereby providing the advantage of efficiently cleaning the heavily contaminated areas while reducing the battery consumption of the robotic vacuum cleaner.

[0033] Furthermore, according to this disclosure, the robotic vacuum cleaner heats the water stored therein to clean heavily contaminated areas with hot water or steam, thereby performing cleaning operations according to the level of contamination in the area to be cleaned, which provides the advantage of reducing cleaning time while increasing cleaning efficiency. Attached Figure Description

[0034] Figure 1 This is a perspective view showing a robotic vacuum cleaner system constituting a robotic vacuum cleaner system according to an embodiment of the present disclosure.

[0035] Figure 2 This is a perspective view showing the internal configuration of a robotic vacuum cleaner system according to an embodiment of the present disclosure.

[0036] Figure 3 This is a bottom perspective view of a robotic vacuum cleaner constituting a robotic vacuum cleaner system according to an embodiment of the present disclosure.

[0037] Figure 4 This is a perspective view of a docking station constituting a robotic vacuum cleaner system according to one embodiment of the present disclosure.

[0038] Figure 5 This is a cross-sectional view illustrating the heating unit and hot water unit constituting an embodiment of the robotic vacuum cleaner system according to the present disclosure.

[0039] Figure 6 This is a view illustrating the docking configuration of the hot water unit and the steam unit in a robotic vacuum cleaner system according to an embodiment of the present disclosure.

[0040] Figure 7 This is a block diagram illustrating the control system of a robotic vacuum cleaner system according to an embodiment of the present disclosure.

[0041] Figure 8 This is a flowchart illustrating the basic configuration of a control method for a robotic vacuum cleaner system according to embodiments of the present disclosure. Detailed Implementation

[0042] The expressions indicating directions such as "front (F) / back (R) / left (Le) / right (Ri) / up (U) / down (D)" described below are defined as shown in the accompanying drawings, but these are only for explaining the invention so that it can be clearly understood. It should be understood that each direction may be defined differently depending on the reference position.

[0043] Use terms such as "first," "second," "third," etc., before the terms. The numbering before the components mentioned below is only to avoid confusion between the components and has nothing to do with the order, importance, or hierarchy of the components. For example, it is also possible to implement an invention that includes only the second component and excludes the first component.

[0044] The singular form used in this article also includes the plural form, unless the context clearly indicates that it is the singular form.

[0045] The “mop” described below can be applied in various ways in terms of materials (such as fabric or paper materials) and can be used for repeated use by washing or can be disposable.

[0046] A robotic vacuum cleaner system according to an embodiment of the present disclosure includes: a hot water unit 400 that generates hot water and / or steam; a robotic vacuum cleaner 100 that travels through a cleaning area and performs cleaning; a water supply unit 300 that supplies water to the hot water unit 400; and a docking station 200 to which the robotic vacuum cleaner 100 can dock. The hot water unit 400 heats the water supplied from the water supply unit 300 to generate hot water and / or steam.

[0047] First, refer to Figures 1 to 3 The basic configuration of a robotic vacuum cleaner 100 constituting a robotic cleaning system according to an embodiment of the present disclosure will be described as an example.

[0048] Figure 1 This is a perspective view showing a robotic vacuum cleaner according to the present disclosure. Figure 2 This is a perspective view showing the internal configuration of a robotic vacuum cleaner according to the present disclosure. Figure 3 This is a bottom perspective view of the robotic vacuum cleaner according to the present disclosure.

[0049] Here, the vacuum cleaner body 110 forms the external shape of the robotic vacuum cleaner 100 and is constructed as a cylindrical shape with a relatively low height compared to its diameter, i.e., a flat cylindrical shape.

[0050] In addition, a suction device 120, a suction nozzle 130, and a dust collection section 140 connected to the suction nozzle 130 are provided inside the vacuum cleaner body 110.

[0051] A wet mop 115 that cleans the floor by rubbing against it can be attached to the bottom of the vacuum cleaner body 110. The wet mop 115, the suction device 120, and the nozzle 130 can be collectively referred to as the cleaning unit.

[0052] Meanwhile, a sensor (not shown) for detecting the distance to indoor walls or obstacles and a buffer (not shown) for cushioning the impact during collision are provided on the outer peripheral surface of the vacuum cleaner body 110. A left drive wheel 150 and a right drive wheel 160 for moving the robot vacuum cleaner 100 are respectively provided on the two lower sides of the vacuum cleaner body 110.

[0053] Camera 1822 is mounted on the front surface of vacuum cleaner body 110, and floor detection sensor 1821 is mounted on the lower front end of vacuum cleaner body 110.

[0054] Here, the left drive wheel 150 and the right drive wheel 160 are configured to rotate by the left wheel motor 151 and the right wheel motor 161, respectively, controlled by the vacuum cleaner controller 180. This allows the robotic vacuum cleaner 100 to autonomously change direction while cleaning the indoor space, driven by the left wheel motor 151 and the right wheel motor 161. The left drive wheel 150 and the right drive wheel 160, as well as the left wheel motor 151 and the right wheel motor 161, can be collectively referred to as the drive unit.

[0055] In addition, at least one auxiliary wheel 170 is provided at the bottom of the vacuum cleaner body 110 to minimize friction between the robotic vacuum cleaner 100 and the floor while guiding the movement of the robotic vacuum cleaner 100.

[0056] To describe the internal configuration of the robotic vacuum cleaner 100 in more detail, a vacuum cleaner controller 180 is provided at the front of the vacuum cleaner body 110. The vacuum cleaner controller is equipped with various electrical components that control the operation of the robotic vacuum cleaner 100, and a dust collection unit 140 is detachably provided in a dust collection device mounting part 140a provided at the rear of the suction device 120.

[0057] In addition, a suction nozzle 130 is provided on the lower side of the dust collection section to suck in air along with foreign objects on the floor.

[0058] Here, the suction device 120 is mounted at an angle between the battery 190 and the dust collection section 140, and is configured to include a motor (not shown) electrically connected to the battery 190 and a fan (not shown) connected to the rotating shaft of the motor to force airflow.

[0059] Meanwhile, the nozzle 130 is exposed to the underside of the vacuum cleaner body 110 through an opening (not shown) formed on the bottom surface of the vacuum cleaner body 110, thereby contacting the floor surface of the room.

[0060] The hot water unit 400, steam outlet 450, and second connecting part 250 will be described in detail later; these parts have not yet been described.

[0061] Next, refer to Figure 4 The basic configuration of the docking station 200 constituting a robotic vacuum cleaner system according to an embodiment of the present disclosure will be described as an example.

[0062] Figure 4 It is a perspective view of docking station 200 as disclosed herein.

[0063] The docking station 200 can be configured to include: a station body 210 having a receiving unit 215 for receiving the robotic vacuum cleaner 100; a station controller (not shown) for controlling the operating state of the docking station 200; a guide plate 220 for guiding the robotic vacuum cleaner 100 to the receiving unit 215; a charging terminal 240 for charging the battery 190 of the robotic vacuum cleaner 100; a water supply unit 300 for delivering hot water to the hot water unit 400 of the robotic vacuum cleaner 100; and a second communication unit 250 having wireless communication capabilities.

[0064] The station body 210 has a receiving part 215, which is provided with a shape corresponding to the shape of the robotic vacuum cleaner 100 and allows the robotic vacuum cleaner 100 to be connected to the docking station 200. In contrast to the robotic vacuum cleaner 100, which is generally provided in a flat cylindrical shape, the receiving part 215 has a concave shape with a certain curvature.

[0065] The station controller is located within the station body 210, and various electrical components that control the operation of the docking station 200 are housed therein. Here, control signals can be transmitted between the docking station 200 and the robotic vacuum cleaner 100 via the second communication unit 250 and the first communication unit 184, which will be described later. Therefore, the operation of the docking station 200 can also be controlled by the vacuum cleaner controller 180 without the need for a separate station controller.

[0066] However, for ease of explanation, the robotic vacuum cleaner system according to the embodiments of this disclosure will be described based on the following assumption: that the docking station 200 has a separate station controller.

[0067] The guide plate 220 is located at the lower part of the receiving part 215 and is configured to protrude forward toward the docking station 200.

[0068] In addition, the guide plate has an inclined surface with a certain degree of tilt to make it easy for the robot vacuum cleaner 100 to enter the receiving part 215.

[0069] Additionally, the guide plate 220 includes a support portion 222 for supporting the left drive wheel 150 and the right drive wheel 160 received within the receiving portion 215, so that the robotic vacuum cleaner 100 does not move when docked within the receiving portion 215. Here, the support portion 222 is a groove recessed into the guide plate 220, and preferably the support portion 222 is formed in a shape corresponding to the shape of the left drive wheel 150 and the right drive wheel 160 of the robotic vacuum cleaner 100.

[0070] As described above, by forming grooves with shapes corresponding to the shapes of the left drive wheel 150 and right drive wheel 160 of the robotic vacuum cleaner 100, it is possible to prevent the left drive wheel 150 and right drive wheel 160 of the robotic vacuum cleaner 100 from slipping off when the robotic vacuum cleaner 100 docks with the docking station 200. Therefore, for stable connection, it is not necessary to continuously supply power to the left drive wheel 150 and right drive wheel 160 of the robotic vacuum cleaner 100 to apply a separate force in the direction of docking with the docking station 200.

[0071] The cable section 230 is disposed on the rear surface of the station body 210 and provides power to the docking station 200. The cable section 230 is provided to be stored in a retracted state inside the docking station 200 and is adjustable in length, so that the user can pull out and use the cable section 230 when necessary.

[0072] Meanwhile, the docking station 200 can also serve as a charging device for the robotic vacuum cleaner 100. To perform the charging function, the docking station 200 also includes a charging terminal 240. The charging terminal 240 is located on one side of the station body 210, serves to charge the battery 190 of the robotic vacuum cleaner 100, and is configured to correspond in shape to the charging port located on one side of the robotic vacuum cleaner 100.

[0073] To charge the battery 190 of the robotic vacuum cleaner 100, the rear surface of the robotic vacuum cleaner 100 must be inserted into the receiving part 215, and when the insertion of the robotic vacuum cleaner 100 and the receiving part 215 is completed, the charging port and the charging terminal 240 simultaneously come into contact. Therefore, the battery 190 of the robotic vacuum cleaner 100 is in a state where it can be charged by the docking station 200.

[0074] Next, we will refer to Figure 5 and Figure 6 A robotic vacuum cleaner system according to embodiments of the present disclosure is described.

[0075] Figure 5This is a cross-sectional view illustrating the water supply unit 300 and the hot water unit 400 constituting a robotic vacuum cleaner system according to an embodiment of the present disclosure. Figure 6 This is a view illustrating the docking configuration of the water supply unit 300 and the hot water unit 400 in a robotic vacuum cleaner system according to an embodiment of the present disclosure.

[0076] In order for the robotic vacuum cleaner 100 to perform steam cleaning, it is necessary to provide a configuration such as a water tank containing water and a heater capable of heating the water contained in the water tank within the robotic vacuum cleaner 100.

[0077] However, due to factors such as the increased weight caused by the installation of the water tank and heater, and the operation of the heater, the battery power consumption increases, thereby reducing the usage time of the robotic vacuum cleaner 100. Therefore, countermeasures need to be considered.

[0078] To address this problem, a robotic vacuum cleaner system according to an embodiment of the present disclosure may include a hot water unit 400 disposed in a robotic vacuum cleaner 100 and a water supply unit 300 disposed in a docking station 200 to supply water to the hot water unit 400.

[0079] Here, water for generating hot water and / or steam is supplied from water supply unit 300 to hot water unit 400. For ease of explanation, the specific configuration of water supply unit 300 will be described first according to the water flow, and then the specific configuration of hot water unit 400 will be described.

[0080] The water supply unit 300 is installed inside the station body 110 to supply water to the hot water unit 400, and is connected to the hot water unit 400 to supply water to the hot water unit 400 when the robot vacuum cleaner 100 is docked to the docking station 200.

[0081] More specifically, considering the smooth connection between the water supply unit 300 and the hot water unit 400, the water supply unit 300 is preferably disposed on the upper part of the receiving part 215 of the robot vacuum cleaner 100 to be docked, so as to be opposite to the upper surface of the robot vacuum cleaner 100.

[0082] Additionally, the water supply unit 300 can deliver water received from the outside (e.g., water connected to and received from a faucet) to the hot water unit 400, or it can provide internal storage space to supply water contained therein to the hot water unit 400.

[0083] Here, the water supply unit 300 can supply hot or warm water to the hot water unit 400 to minimize the power required for the hot water unit 400 to generate hot water and / or steam, and can generate warm water and supply it to the hot water unit 400.

[0084] That is, preferably, the temperature of the hot water supplied from the water supply unit 300 is lower than the temperature of the hot water generated by the hot water unit 400. This can be defined as warm water.

[0085] For ease of explanation, the following description will be based on the following assumption: the water supply unit 300 directly generates hot water and delivers the generated hot water to the hot water unit 400.

[0086] The water supply unit 300 can be configured to include a first water tank 310, a first heater 320 and a discharge section 330 to generate hot water and supply the hot water to the hot water unit 400.

[0087] The first water tank 310 contains water, and insulating material 312 can be inserted and disposed on the outer wall of the first water tank 310 to improve insulation performance.

[0088] The first heater 320 is installed inside the first water tank 310 and can heat the water contained in the first water tank 310. Here, it is preferable that the first heater 320 heats the water to a set temperature, such as about 60°C or higher, so as to minimize the power consumption from the battery 190 required for steam generation.

[0089] For this purpose, a temperature sensor 314 can be installed on one side of the first water tank 310. This temperature sensor measures the water temperature and transmits it to the station controller. Therefore, the station controller can control the operation of the first heater 320 to heat the water contained in the first water tank 310 to a set temperature.

[0090] The discharge section 330 is installed in communication with the first water tank 310 and can discharge hot water to the outside of the docking station 200.

[0091] like Figure 5 As shown, the discharge section 330 has an upper end that communicates with the lower end of the first water tank 310 and extends downward. In addition, the discharge section 330 penetrates the upper surface of the receiving section 215 and protrudes into the internal space of the receiving section 215, so that the lower end of the discharge section can be connected to the inlet section 420 of the robotic vacuum cleaner 100 described later.

[0092] Detailed explanations regarding the connection between the discharge section 330 and the inlet section 420, as well as the hot water delivery process, will be provided later.

[0093] In addition, the water supply unit 300 is provided on the discharge section 330, and may also include a switch member 340, which selectively opens the discharge section 330 only when the discharge section 330 and the inlet section 420 are connected.

[0094] like Figure 5As shown, the switch member 340 is installed at the lower end of the discharge section 330, and the discharge section 330 is opened only when it contacts the upper end of the inlet section 420 when the inlet section 420 and the discharge section 330 are connected. Furthermore, the discharge section 330 is closed when the connection between the inlet section 420 and the discharge section 330 is released.

[0095] By providing the switch component 340 in this way, hot water can be discharged to the outside of the docking station 200 only when the discharge section 330 and the inlet section 420 are connected, thereby preventing hot water leakage.

[0096] In addition, the water supply unit 300 may also include a guide member 350, which is installed on the outer peripheral surface of the lower end of the discharge section 330 to guide the inlet section 420 to the discharge section 330.

[0097] like Figure 5 As shown, the guide member 350 is attached to the outer peripheral surface of the lower end of the discharge portion 330, and may have a shape in which the diameter increases from the top to the bottom. Furthermore, the guide member 350 may be made of an elastic material to prevent damage to the inlet portion 420 when the inlet portion 420 and the discharge portion 330 are connected.

[0098] By providing the guide member 350 in this way, when the discharge section 330 and the inlet section 420 are connected, the inlet section 420 can be guided to the discharge section 330, thereby minimizing failures and damage caused by improper installation.

[0099] Next, the hot water unit 400 can be configured to include a second water tank 410, an inlet 420, a second heater 430, a steam flow path 440, and a steam outlet 450 to generate steam and / or hot water using warm water supplied from the water supply unit 300, and to supply the generated steam and / or hot water to the outside of the robotic vacuum cleaner 100.

[0100] Here, as Figure 5 As shown, the hot water unit 400 is preferably located at the rear of the vacuum cleaner body 110 to ensure a smooth connection with the water supply unit 300, but is not limited thereto.

[0101] The second water tank 410 is installed at the lower rear of the vacuum cleaner body 110, and hot water flowing in through the inlet 420 is guided and received in it.

[0102] Here, insulating material 412 can be inserted and placed on the outer wall surface of the second water tank 410 to improve thermal insulation performance.

[0103] The inlet 420 can be connected to the outlet 330 to allow hot water to flow in from the outlet 330, and in particular, the inlet 420 can be configured to be of adjustable length.

[0104] refer to Figure 5 and Figure 6 The lower end of the inlet 420 can communicate with the second water tank 410, and its upper end can penetrate one side of the upper surface of the vacuum cleaner body 110 and connect to the discharge section 330.

[0105] Here, when the inlet 420 is not connected to the outlet 330, it is preferable that the inlet 420 is not exposed to the outside of the robotic vacuum cleaner 100. For this purpose, the inlet 420 may have a structure with adjustable length.

[0106] refer to Figure 5 The inlet 420 can be configured to include: a first inlet 422, which is fixedly installed to communicate with the upper surface of the second water tank 410; a second inlet 424, which is installed to be slidably movable within the first inlet 422 and is capable of being connected to the discharge section 330; and a drive device 426 that slides the second inlet 424.

[0107] Here, the drive device 426 is installed on one side of the second inlet 424 to transmit driving force to the second inlet 424, and the rotation direction can be changed clockwise or counterclockwise. Therefore, the second inlet 424 can slide up or down by the drive device 426.

[0108] When the second inlet 424 moves upward, the second inlet 424 and the discharge part 330 are as follows: Figure 6 As shown in the diagram, the second inlet 424 and the switch member 340 are in contact with each other, thereby allowing the outlet 330 to be opened. Therefore, the hot water generated in the first water tank 310 can be sequentially transported to the second water tank 410 through the outlet 330 and the inlet 420.

[0109] When the second inlet 424 moves downward, the connection between the second inlet 424 and the discharge 330 is released, and the switch member 340 can close the discharge 330.

[0110] Because the inlet 420 is provided in this manner, the robotic vacuum cleaner 100 can receive water from the docking station 200 at any time in the robotic vacuum cleaner system according to an embodiment of the present disclosure, thereby reducing the volume of the second water tank 410.

[0111] As a result, the size and weight of the robotic vacuum cleaner 100 can be reduced, thereby making more efficient use of the internal space of the robotic vacuum cleaner 100 and reducing the amount of power consumed during operation, thereby increasing the usage time of the vacuum cleaner.

[0112] At the same time, such as Figure 5As shown, a pump 428 that provides pumping power can be installed on the inlet 420 to quickly supply hot water from the water supply unit 300 to the hot water unit 400.

[0113] The second heater 430 can be installed inside the second water tank 410, such as Figure 5 As shown, it can heat the water contained in the second water tank 410 to generate steam and / or hot water.

[0114] Here, when the second heater 410 generates steam, the temperature and pressure of the first water tank 310 increase. Therefore, when a certain amount or more of steam is generated, it is preferable to discharge the generated steam to the outside of the first water tank 310.

[0115] For this purpose, the second water tank 410 may be equipped with a discharge valve 414 for selectively discharging steam to the outside of the second water tank 410, a temperature sensor 416 for detecting the temperature of the steam, and a pressure sensor for detecting the pressure of the steam.

[0116] A discharge valve 414 is disposed on one side of the second water tank 410 and can be selectively connected to the steam flow path 440 described later to discharge steam into the steam flow path 440. In particular, the discharge valve 414 is preferably formed at a distance from the inlet 420 to prevent steam from flowing backward into the inlet 420, but is not limited thereto.

[0117] As another example, a second heater 430 is installed in a steam flow path 440 to heat the water passing through the steam flow path 440.

[0118] Temperature sensor 416 and pressure sensor 418 are mounted adjacent to the steam discharge valve 414. The temperature and pressure measured by temperature sensor 416 and pressure sensor 418 within the second water tank 410 are transmitted to vacuum cleaner controller 180. Vacuum cleaner controller 180 can selectively open discharge valve 414 based on the temperature and pressure transmitted from temperature sensor 416 and pressure sensor 418 to determine whether steam is generated and the amount of steam generated.

[0119] Therefore, when a certain amount or more of steam is generated in the first water tank 310, the discharge valve 414 opens, and the steam is discharged into the steam flow path 440. Here, the steam flow path 440 extends from the discharge valve 414 to the steam outlet 450, which is formed by opening in a slit shape on the bottom surface of the robotic vacuum cleaner 100 (see...). Figure 3 ).

[0120] In addition, such as Figure 5 As shown, a steam nozzle 460 for spraying steam can be installed on a steam outlet 450.

[0121] Therefore, the steam or hot water discharged into the steam flow path 440 is sprayed onto the surface to be cleaned through the steam nozzle 460, so that the robotic vacuum cleaner 100 can perform steam cleaning or hot water cleaning functions.

[0122] Figure 7 This is a block diagram illustrating the control system of a robotic vacuum cleaner system according to an embodiment of the present disclosure. Reference will now be made to... Figure 7 Describes the transmission of control signals between the robotic vacuum cleaner and docking station 200.

[0123] As described above, the robotic vacuum cleaner system according to an embodiment of the present invention includes a robotic vacuum cleaner 100 receiving water supplied from a docking station 200. Therefore, it is necessary to provide a structure in which the robotic vacuum cleaner 100 and the docking station 200 can exchange control signals with each other.

[0124] Therefore, such as Figure 7 As shown, the robotic vacuum cleaner 100 also includes a vacuum cleaner controller 180 for controlling the operating state and a first communication unit 184 with wireless communication function and connected to the vacuum cleaner controller 180.

[0125] In addition, such as Figure 7 As shown, docking station 200 may also include a station controller for controlling the operating status, and a second communication unit 250 with wireless communication function and connected to the station controller.

[0126] Furthermore, the robotic vacuum cleaner system according to embodiments of this disclosure may also include a remote controller 500 for remotely controlling the robotic vacuum cleaner 100 and the docking station 200.

[0127] The robotic vacuum cleaner 100 and the docking station 200 can exchange hot water generation signals, water shortage signals, return signals and steam cleaning completion signals through the first communication unit 184 and the second communication unit 250.

[0128] When the steam or hot water cleaning function is selected in the robotic vacuum cleaner 100, a hot water generation signal is a control signal transmitted from the first communication unit 184 to the second communication unit 250 to generate hot water in the water supply unit 300. Then, the hot water generation signal transmitted to the second communication unit 250 is again input to the station controller connected to the second communication unit 250. Therefore, the station controller activates the water supply unit 300.

[0129] Here, the steam cleaning function can be selected via the remote control 500 of the robot vacuum cleaner 100, or it can be automatically selected by the robot vacuum cleaner 100 according to the condition of the surface to be cleaned.

[0130] The robotic vacuum cleaner 100 may also include a foreign object detection sensor (not shown) mounted on the bottom surface of the vacuum cleaner body 110 to automatically identify the state of the surface (floor) to be cleaned, thereby detecting the state of the surface to be cleaned. Therefore, the vacuum cleaner controller 180 receives the state of the surface to be cleaned from the foreign object detection sensor and automatically selects the steam cleaning function when the amount of foreign object is equal to or greater than a certain amount.

[0131] In this way, when a hot water generation signal is transmitted from the first communication unit 184 to the second communication unit 250, the first heater 320 can generate hot water by heating the water contained in the first water tank 310 to a set temperature.

[0132] Next, the return signal is the signal that causes the robotic vacuum cleaner 100 to return to docking station 200 to deliver the hot water generated in water supply unit 300 to hot water unit 400. Here, it is important to note at what point in time the return signal is transmitted to the first communication unit 184.

[0133] First, when the water in the first water tank 310 is heated to a set temperature, the second communication unit 250 can transmit a return signal to the first communication unit 184. In this case, the waiting time that the robotic vacuum cleaner 100 must wait when docking with the docking station 200 is minimized, thus having the advantage of performing as much dust removal and other tasks as possible before receiving hot water.

[0134] Secondly, the second communication unit 250 can transmit a return signal to the first communication unit 184 before the hot water is heated to the set temperature. In this case, since water can be supplied to the robot vacuum cleaner 100 immediately when the water is heated to the set temperature, it has the advantage of being able to start steam cleaning as quickly as possible.

[0135] The hot water contained in the second water tank 410 may be consumed and may be insufficient compared to the appropriate amount. In this case, the robotic vacuum cleaner 100 can return to the docking station 200, so that the hot water unit 400 can be supplied with hot water again.

[0136] The robotic vacuum cleaner 100 also includes a sensing unit 182 that detects various information related to the operation or status of the robotic vacuum cleaner 100 or external conditions.

[0137] The sensing unit 182 may include obstacle detection sensors that detect external obstacles spaced apart from the robotic vacuum cleaner 100. Multiple obstacle detection sensors may be provided. The obstacle detection sensors include sensors for detecting obstacles located in front. The obstacle detection sensors also include sensors for detecting obstacles located on the left or right. The obstacle detection sensors may be mounted on the main body 110. The obstacle detection sensors may include infrared sensors, ultrasonic sensors, RF sensors, geomagnetic sensors, and position-sensitive device (PSD) sensors.

[0138] The sensing unit 182 may include a position signal sensor that determines its position by receiving an identification signal from an external source. For example, the position signal sensor may be a UWB sensor using an ultra-wideband (UWB) signal. The controller can determine the position of the robotic vacuum cleaner 100 based on the signal received from the position signal sensor.

[0139] The identification signal from the outside is transmitted by a signal generator such as a beacon positioned externally. Multiple signal generators can exist, and each of these generators can be located at multiple positions spaced apart from each other. The position signal sensor is capable of receiving the identification signals transmitted from the signal generators positioned at different locations.

[0140] The sensing unit 182 may include a floor detection sensor 1821 that detects the presence of a ditch on the floor or the distance to the floor. The floor detection sensor 1821 can detect whether there is a ditch in front of and / or behind the robotic vacuum cleaner 100. The floor detection sensor 1821 detects the distance to the floor, and if the distance to the floor is greater than a preset distance, the controller determines that it is a ditch and controls the execution of corresponding operations.

[0141] As an example, the floor detection sensor 1821 may include an optical sensor, which may include a laser sensor or an infrared sensor. The floor detection sensor 1821 may include a light emitting portion (not shown) that emits light toward the floor and a light receiving portion (not shown) that receives light reflected from the floor. The floor detection sensor 1821 can measure distance by the time difference of the light returning to the light receiving portion.

[0142] Furthermore, the floor detection sensor 1821 can detect the amount of light reflected from the floor. Specifically, the light receiving unit can measure the amount of reflected light, illuminance, etc., and obtain the reflectivity compared to the light emitted from the light emitting unit. The floor detection sensor 1821 detects the amount of light reflected from the floor and provides the controller with a means to detect the material of the floor and the level of contamination on the floor.

[0143] The sensing unit 182 may include an optical flow sensor (not shown) for detecting the amount of movement of a floor-based image-based mobile robot.

[0144] The sensing unit 182 may include a camera 1822 for detecting external images. The camera 1822 may be mounted on the main body 110. The camera 1822 may acquire forward and upward image information of the robotic vacuum cleaner at certain time intervals.

[0145] The sensing unit 182 may include a 3D sensor that detects 3D position information of the external environment. The 3D sensor acquires upward image information at specific time periods.

[0146] As an example, a 3D sensor may include an illumination portion (not shown) that illuminates infrared light and a 3D depth camera (not shown) that detects infrared light reflected from an external object. The illumination portion may illuminate infrared light in a pattern. The 3D camera may be an IR camera or an RGB-depth camera. The 3D sensor may be implemented using a time-of-flight (TOF) method.

[0147] As another example, a 3D sensor may include two or more cameras and may be implemented in a stereoscopic manner by combining two or more images acquired from two or more cameras to generate three-dimensional coordinate information.

[0148] The sensing unit 182 may include a tilt information acquisition unit (not shown) that acquires tilt information about the bottom of the body. For example, the tilt information acquisition unit may include a gyroscope sensor. The tilt information acquisition unit may include a processing module (not shown) that converts the detection signal from the gyroscope sensor into tilt information. The processing module is part of a controller and may be implemented as an algorithm or program. As another example, the tilt information acquisition unit may include a magnetic field sensor and acquire tilt information based on the detection information of the Earth's magnetic field.

[0149] Here, the floor refers to the horizontal plane, which means a plane perpendicular to the direction of gravity. A gyroscope sensor acquires information about the subject's rotational angular velocity about the horizontal plane. Specifically, the gyroscope sensor detects the rotational angular velocities around the X and Y axes, which are parallel to the horizontal plane and orthogonal to each other. The processing module calculates the rotational angular velocity about the horizontal plane by synthesizing the rotational angular velocity about the X-axis (roll) and the rotational angular velocity about the Y-axis (pitch). By integrating the rotational angular velocity, the tilt value can be calculated.

[0150] The gyroscope sensor can detect a set reference direction. The tilt information acquisition unit can acquire tilt information based on the reference direction.

[0151] The gyroscope sensor can have gyroscope sensing capabilities for three mutually orthogonal axes in a spatial coordinate system. The information collected from the gyroscope sensor can be roll, pitch, and yaw information. The processing module can calculate the orientation angle of the robotic vacuum cleaner 100 by integrating the roll angular velocity, pitch angular velocity, and yaw angular velocity.

[0152] Preferably, the gyroscope sensor can be mounted on the main body. The sensing unit 182 may include a magnetic field sensor for detecting magnetic fields. The magnetic field sensor may be equipped with magnetic field sensing functionality for three mutually orthogonal axes of a spatial coordinate system. The magnetic field sensor can measure the orientation angle (azimuth angle). The magnetic field sensor may be implemented as a standalone sensor or as part of the functionality of an IMU sensor, which will be described later.

[0153] The sensing unit 182 may include an accelerometer mounted in the main body to detect the acceleration of the robotic vacuum cleaner 100. The accelerometer may have acceleration sensing capabilities for three mutually orthogonal axes in a spatial coordinate system. The accelerometer may be implemented as a standalone sensor or as part of the functionality of an IMU sensor, which will be described later.

[0154] The robotic vacuum cleaner 100 may include an inertial sensor unit (IMU) (not shown). Based on information from the inertial sensor unit, the robotic vacuum cleaner 100 can stabilize its driving motion. The inertial sensor unit (IMU) may have the functions of a gyroscope sensor, a magnetic field sensor, and an accelerometer.

[0155] The robotic vacuum cleaner 100 includes an input section 181 through which various user commands can be input. The input section 181 may include buttons, a dial pad, a touchscreen display, etc. The input section 181 may include a microphone (not shown) for voice recognition. The input section 16 may include a power switch (not shown) for inputting power.

[0156] When a cleaning command, hot water cleaning command, or steam cleaning command is input through the input section, the vacuum cleaner controller 180 controls the robot vacuum cleaner to output a hot water generation command to the docking station 200, dock with the docking station 200, receive hot water from the docking station 200, and clean the cleaning area.

[0157] If a contaminated area with a high level of floor contamination is detected during cleaning, the vacuum cleaner controller 180 controls the robotic vacuum cleaner to heat stored water and clean the contaminated area using the heated water. A high level of floor contamination means that the floor contamination level exceeds a predetermined threshold.

[0158] That is, when a contaminated area with a high level of floor contamination is detected during cleaning, the vacuum cleaner controller 180 can control the robotic vacuum cleaner to operate the second heater 430 to heat at least a portion of the stored water, spray steam or hot water onto the contaminated area through the steam outlet 450, and pass through the contaminated area sprayed with steam.

[0159] While the robotic vacuum cleaner is cleaning the cleaning area, the vacuum cleaner controller 180 can send a command to the docking station 200 to stop the generation of hot water. Specifically, the vacuum cleaner controller 180 can send a command to the docking station 200 to turn off the first heater 320 of the docking station 200 while the robotic vacuum cleaner is cleaning the cleaning area.

[0160] Various methods can be used to determine whether an area is contaminated by a robotic vacuum cleaner. For example, the vacuum cleaner controller 180 can determine a contaminated area by analyzing an image of the floor.

[0161] Specifically, the vacuum cleaner controller 180 can determine whether a specific area is a contaminated area by analyzing an image of the floor in front of the vacuum cleaner body acquired by the camera 1822, or by analyzing an image of the floor in front of the vacuum cleaner body acquired by the floor detection sensor 1821.

[0162] The level of contamination can be measured by comparing images of the floor in front of the vacuum cleaner body acquired by camera 1822 and images of the floor in front of the vacuum cleaner body acquired by floor detection sensor 1821 with a stored reference floor image, in order to comprehensively determine differences in color, brightness, and texture. When the level of contamination exceeds a certain standard, it can be identified as a contaminated area.

[0163] When the water supply is insufficient during the cleaning process of the robotic vacuum cleaner, the vacuum cleaner controller 180 can transmit a hot water generation command to the docking station 200 and control the robotic vacuum cleaner to dock with the docking station 200 to be supplied with heated water. At this time, the docking station 200, having transmitted the hot water generation command, turns on the first heater 320.

[0164] The above describes a robotic vacuum cleaner system according to embodiments of the present disclosure. The following will refer to... Figure 8 Figure 9 illustrates a method for controlling a robotic vacuum cleaner system according to an embodiment of the present disclosure.

[0165] Figure 8 This is a flowchart illustrating the basic configuration of a control method for a robotic vacuum cleaner system according to an embodiment of the present disclosure.

[0166] Herein, descriptions that are repeated in the description of the robotic vacuum cleaner system according to the above embodiments of this disclosure will be omitted or briefly mentioned, and the same reference numerals will be used for the same parts.

[0167] refer to Figure 8 The control method of the robotic vacuum cleaner system according to the embodiments of the present disclosure includes: a first heating step (S20) for heating water stored in docking station 200; a supply step (S30) for supplying water stored in docking station 200 to the docked robotic vacuum cleaner; a cleaning step (S40) for cleaning the cleaning area by the robotic vacuum cleaner; a second heating step (S50, S60) for reheating part or all of the water stored in the robotic vacuum cleaner when a contaminated area with a high level of floor contamination is detected during cleaning; and a hot water cleaning step (S70) for cleaning the contaminated area by using the reheated water.

[0168] The following describes in more detail a control method for a robotic vacuum cleaner system according to embodiments of the present disclosure.

[0169] First, the step of receiving a cleaning command from the user is performed (S10). The cleaning command from the user may include various types of cleaning commands, and in this embodiment, hot water cleaning or steam cleaning may be performed.

[0170] When a hot water cleaning command is received in the input step, the first heating step, the supply step, the cleaning step, the second heating step, and the hot water cleaning step can be executed.

[0171] The steam cleaning function can be executed by inputting the steam cleaning function into the robot vacuum cleaner through the input section, or it can be executed automatically according to the condition of the surface to be cleaned.

[0172] Simultaneously, the water supply unit 300 can generate hot water and supply it to the hot water unit 400 (S20). In this case, when a cleaning command is input, the robotic vacuum cleaner 100 can transmit a hot water generation signal to the docking station 200.

[0173] The water supply unit 300 of docking station 200 can heat the water received from the outside through the first heater 320, and then supply the heated water to the hot water unit 400 of robot vacuum cleaner 100.

[0174] That is, the robotic vacuum cleaner 100 and the docking station 200 are respectively equipped with a first communication unit 184 and a second communication unit 250 with wireless communication capabilities. When a cleaning command is input, the first communication unit 184 transmits a hot water generation signal to the second communication unit 250.

[0175] When a hot water generation signal is transmitted to the second communication unit 250, the water supply unit 300 is operated by the station controller and begins to generate hot water. If the water volume in the water supply unit 300 is less than the appropriate amount, the station controller stops the operation of the water supply unit 300 and outputs a water shortage signal, which is transmitted to the vacuum cleaner controller 180 via the second communication unit 250 and the first communication unit 184.

[0176] The vacuum cleaner controller 180 receives a water shortage signal and can notify the user of the status that steam cleaning cannot be performed due to water shortage through at least one of the display unit and the alarm unit.

[0177] Next, the step of determining whether the robotic vacuum cleaner 100 needs to be docked to the docking station 200 is performed.

[0178] Since hot water is supplied to the hot water unit 400 when the robotic vacuum cleaner 100 is docked to the docking station 200, it is necessary to determine whether the robotic vacuum cleaner 100 is docked to the docking station 200. This can be determined by sensors installed in the docking station 200.

[0179] Therefore, when a cleaning command is entered, if the robotic vacuum cleaner 100 does not dock with the docking station 200, the robotic vacuum cleaner 100 can be moved to the docking station 200 and docked with it.

[0180] The first communication unit 184 of the docking station 200 can transmit a return signal to the second communication unit 250 of the robot vacuum cleaner 100 to guide the docking of the robot vacuum cleaner 100.

[0181] Next, the step of determining whether the hot water generated by the water supply unit 300 is equal to or higher than the set temperature is performed.

[0182] Temperature is measured by a temperature sensor 416 located on one side of the water supply unit 300 to determine whether the hot water is equal to or higher than the set temperature.

[0183] Therefore, if the hot water generated by the water supply unit 300 is lower than the set temperature, the step of heating the hot water to the set temperature can be further performed.

[0184] Next, the step of supplying hot water to the hot water unit 400 through the water supply unit 300 is performed (S30).

[0185] In the step of supplying hot water to the hot water unit 400, the length of the inlet 420 of the hot water unit 400 is extended and connected to the outlet 330 of the water supply unit 300, thereby supplying hot water from the water supply unit 300 to the hot water unit 400.

[0186] Next, the cleaning area is cleaned using a robotic vacuum cleaner (S40).

[0187] The robotic vacuum cleaner cleans the floor while moving through the cleaning area. As it moves through the cleaning area, the robotic vacuum cleaner performs general cleaning operations. That is, when moving through the cleaning area, the robotic vacuum cleaner can clean the cleaning area by simply operating the suction device 120 without using the water stored in the robotic vacuum cleaner. Alternatively, when moving through the cleaning area, the robotic vacuum cleaner can perform wet cleaning operations by supplying hot water stored in the robotic vacuum cleaner to the wet mop 115 without reheating the hot water.

[0188] Next, while the robotic vacuum cleaner is moving, it determines whether the floor in front of it is a contaminated area with a high level of floor contamination (S50). As described above, the vacuum cleaner controller 180 determines the contaminated area by analyzing an image of the floor.

[0189] Next, if the robotic vacuum cleaner detects a contaminated area while cleaning, it reheats at least a portion of the water stored in the robotic vacuum cleaner (S60). Preferably, the temperature of the water reheated by the robotic vacuum cleaner is higher than the temperature of the initially heated water at the docking station 200.

[0190] When the robot vacuum cleaner determines that the floor in front of it is a contaminated area, it stores this information in a map and operates the second heater 430 to heat all or part of the stored water.

[0191] Next, a hot water cleaning step (S70) is performed to clean the contaminated area using reheated water.

[0192] The hot water cleaning step refers to the robotic vacuum cleaner cleaning a contaminated area by using reheated water. For example, the hot water cleaning step may include: spraying reheated water onto the contaminated area using the robotic vacuum cleaner, and then cleaning the contaminated area using a wet mop 115 using the robotic vacuum cleaner.

[0193] As another example, the hot water cleaning step may include: using a robotic vacuum cleaner to spray steam onto the contaminated area with reheated water, and then using a robotic vacuum cleaner to clean the contaminated area with a suction device 120.

[0194] As another example, the hot water cleaning step may include: providing reheated water to the wet mop of the robotic vacuum cleaner, and then cleaning the contaminated area by using the wet mop.

[0195] When it is determined that the floor in front of the robotic vacuum cleaner is not a contaminated area, the robotic vacuum cleaner can store this in a map and clean the floor in front of the robotic vacuum cleaner by using the stored water without activating the second heater 430.

[0196] When steam is generated from the hot water unit 400, the robotic vacuum cleaner 100 performs steam cleaning by spraying steam onto the surface to be cleaned while passing through the cleaning area. At this time, the hot water supplied from the water supply unit 300 may be discharged and become insufficient.

[0197] Therefore, the vacuum cleaner controller 180 can also perform the function of determining whether the amount of hot water contained in the second water tank 410 is appropriate by using a load sensor (not shown) installed in the second water tank 410 (S80).

[0198] The docking station 200 can heat water, and the robotic vacuum cleaner can dock with the docking station 200 to perform the water resupply step (S90, 20, 30) of receiving heated water.

[0199] When the hot water in the hot water unit 400 is insufficient in cases where additional steam generation is required, the robotic vacuum cleaner 100 can return to the docking station 200 (S90) to receive hot water again.

[0200] Therefore, the water supply unit 300 can remain in operation until cleaning is completed, thereby immediately supplying hot water to the hot water unit 400.

[0201] Here, the water supply unit 300 can continuously heat the hot water to maintain the hot water at the set temperature until the steam cleaning completion signal is received, thereby immediately resupplying hot water to the hot water unit 400 without additional heating time.

[0202] According to the robotic vacuum cleaner system and control method of this disclosure with such configuration, the robotic vacuum cleaner can repeatedly receive water for steam generation from the docking station 200, thereby reducing the volume of the water tank installed in the robotic vacuum cleaner. Therefore, since the overall volume and weight of the robotic vacuum cleaner can be reduced, a thinner design of the robotic vacuum cleaner can be achieved, and battery power consumption can be reduced.

[0203] In addition, since the robotic vacuum cleaner can receive hot water heated to a set temperature from the docking station 200 to generate steam, the power consumption required to generate steam can be reduced.

[0204] Furthermore, since the docking station 200 continuously generates hot water heated to the set temperature until the steam cleaning is complete, the robotic vacuum cleaner can immediately resupply hot water without additional heating time.

[0205] In addition, when the water in the docking station 200 is insufficient to supply the robot vacuum cleaner, an alarm unit installed in the robot vacuum cleaner can warn that steam cleaning cannot be performed due to lack of water, thereby improving user convenience.

[0206] The above-described robotic vacuum cleaner system and its control method are not limited to the configuration and method of the above embodiments, but can selectively combine all or part of the embodiments to allow for various modifications.

Claims

1. A method for controlling a robotic vacuum cleaner system, the robotic vacuum cleaner system comprising a robotic vacuum cleaner and a docking station, the method comprising: The first heating step heats the water stored in the docking station; The supply step involves supplying heated water from the docking station to the docking robot vacuum cleaner; The cleaning step involves cleaning the cleaning area using the robotic vacuum cleaner. A second heating step involves reheating a portion of the water stored in the robotic vacuum cleaner when a contaminated area with a high level of floor contamination is detected during cleaning; and A hot water cleaning step, wherein the contaminated area is cleaned by using reheated water.

2. The method according to claim 1, wherein, The hot water cleaning step includes spraying the reheated water onto the contaminated area, and then having the robotic vacuum cleaner perform wet mopping cleaning on the contaminated area.

3. The method according to claim 1, wherein, The hot water cleaning step includes: providing the reheated water to the wet mop of the robotic vacuum cleaner, and then cleaning the contaminated area by using the wet mop.

4. The method according to claim 1, wherein, In the second heating step, the contaminated area is determined by analyzing images of the floor.

5. The method according to claim 1, wherein, The docking station does not heat the water while the robotic vacuum cleaner is cleaning the cleaning area.

6. The method according to claim 1, further comprising a water resupply step, wherein when water is insufficient during the cleaning of the cleaning area by the robotic vacuum cleaner, the water is heated through the docking station, and the robotic vacuum cleaner is docked with the docking station to receive the heated water.

7. The method according to claim 1, further comprising the step of receiving a user's cleaning command input. in, When a hot water cleaning command is received in the input step, the first heating step, the supply step, the cleaning step, the second heating step, and the hot water cleaning step are executed.

8. A robotic vacuum cleaner, the robotic vacuum cleaner comprising: main body; A hot water unit is installed in the main body and heats the stored water to generate and spray hot water; The cleaning department cleans the floor; The driving unit drives the main body; A sensing unit that detects the surrounding environment of the subject and the degree of floor contamination; as well as The communication unit communicates with the docking station; Input section, which receives user commands; as well as The controller performs overall control of the robotic vacuum cleaner. When a cleaning command is input through the input unit, the controller outputs a hot water generation command to the docking station. The robotic vacuum cleaner is controlled to clean the cleaning area by docking with the docking station and receiving hot water from the docking station. When a contaminated area with a high level of floor contamination is detected during cleaning, the robotic vacuum cleaner is controlled to heat the stored water and clean the contaminated area using the heated water.

9. The robotic vacuum cleaner according to claim 8, wherein, The controller determines the contaminated area by analyzing images of the floor.

10. The robotic vacuum cleaner according to claim 8, wherein, While the robotic vacuum cleaner is cleaning the cleaning area, the controller transmits a command to the docking station to stop the generation of hot water.

11. The robotic vacuum cleaner according to claim 10, wherein, When the robot vacuum cleaner runs out of water while cleaning the area, the controller sends a command to the docking station to generate hot water and controls the robot vacuum cleaner to dock with the docking station to receive the heated water.

12. The robotic vacuum cleaner according to claim 8, wherein, The cleaning unit also includes a wet mop, which cleans the floor by rubbing against it.

13. The robotic vacuum cleaner according to claim 12, wherein, After the controller sprays reheated water onto the contaminated area, it controls the robotic vacuum cleaner to clean the contaminated area using the wet mop.

14. The robotic vacuum cleaner according to claim 12, wherein, After providing reheated water to the wet mop, the controller instructs the robotic vacuum cleaner to clean the contaminated area using the wet mop.

15. A method for controlling a robotic vacuum cleaner system, the robotic vacuum cleaner system comprising a robotic vacuum cleaner and a docking station, the method comprising: The first heating step heats the water stored in the docking station; The supply step involves supplying heated water from the docking station to the docking robot vacuum cleaner; The cleaning step involves cleaning the cleaning area using the robotic vacuum cleaner. The second heating step involves reheating the water stored in the robotic vacuum cleaner when a contaminated area with a high level of floor contamination is detected during cleaning. as well as A hot water cleaning step, wherein the contaminated area is cleaned by using reheated water.

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