Cleaning robot

Abstract

Cleaning robots, comprehensive: a driving device; a cleaning device; an arm; a first sensor; a second sensor; a motor located inside the cleaning robot and configured to drive the arm; and at least one processor, where at least one processor is configured to: while moving along a route, controlling the driving device and the cleaning device so that they clean, Detecting an obstacle at a first location on the route using the first sensor, Based on determining that the detected obstacle is a first obstacle that is movable, control the motor so that the arm extends from the cleaning robot to move the first obstacle to a second location, Controlling the extended arm to lift the first obstacle, Control to move the first obstacle, which was lifted using the arm, to the second location, and Based on the fact that the first obstacle was moved to the second location, controlling the driving device and the cleaning device to move the cleaning robot to the first location and clean it, and where at least one processor is further configured to: during the lifting of the first obstacle by the arm, based on determining that the first obstacle cannot be moved due to the weight of the first obstacle, steering the driving device to avoid the obstacle, and Based on determining that the first obstacle is movable and detecting an environmental structure or obstacle that could collide with the arm, using the second sensor, control the arm so that it does not collide with the environmental structure or obstacle.

Description

[TECHNICAL AREA]

[0001] The disclosure concerns a cleaning robot that vacuums up foreign substances such as dirt and dust, etc., that are located on a surface to be cleaned. [STATE OF THE ART]

[0002] An autonomous robot is a device that performs a specific task while moving around a designated area without user intervention. A robot can perform significant autonomous driving functions, and this can be implemented in various ways. For example, a robot can follow a specific route using a map that defines a cleaning area, or it can navigate independently using a sensor that detects its surroundings.

[0003] A cleaning robot is a device that cleans a surface by moving around a designated area without user intervention. The cleaning robot can be used at home to remove dust or to mop surfaces. Dust can refer to (floor) dust, stains, powder, debris, and other dust particles that can be collected by a vacuum cleaner or an automatic or semi-automatic cleaning device.

[0004] If a toy, towel, cable, etc., is located in a cleaning area, these objects can become obstacles that hinder the cleaning robot's movement. Therefore, it is inconvenient to remove obstacles before operating the cleaning robot so that they do not impede its operation. [REVELATION][TECHNICAL SOLUTION]

[0005] The disclosure was developed to address the aforementioned need, and its purpose is to provide a cleaning robot that performs cleaning while removing obstacles along its route. The present invention relates to an object as defined in the claims. Additionally, a method is disclosed that is useful for describing the invention but is not part of the claims.

[0006] A cleaning robot according to an embodiment of the disclosure comprises a driving device, an obstacle removal device for removing an obstacle on a driving route, a memory that stores a map of a cleaning area and an obstacle category, and a processor that controls the driving device, wherein the processor is configured to navigate the cleaning robot by making the cleaning robot drive in the cleaning area, wherein, while the cleaning robot is driving in the cleaning area, the processor can control the obstacle removal device to perform a movement corresponding to the obstacle category of the obstacle, wherein the obstacle can be detected by a sensor.

[0007] Based on identifying that the obstacle is of a first type, the processor can control the obstacle removal device to grasp the obstacle by suction and move it away from the route, and based on identifying that the obstacle is of a second type, it can control the obstacle removal device to push the obstacle and move it away from the route.

[0008] Based on the fact that the weight of the obstacle exceeds a threshold torque of the obstacle removal device, the processor can control the drive mechanism so that the cleaning robot avoids the obstacle.

[0009] The obstacle removal device can include an arm device in an upper part of a main body of the cleaning robot, wherein the arm device is rotatable in a left and a right direction relative to the cleaning robot in order to move the obstacle, and the processor can control a first motor that drives the arm device, wherein the first motor is configured to extend the arm device from the obstacle removal device, and control a second motor that drives the obstacle removal device, wherein the second motor can rotate the obstacle removal device in a left or right direction relative to the cleaning robot.

[0010] The obstacle removal device may include a suction device that provides suction power to a head part of the arm device, and the processor may control the suction device to grasp the obstacle with the head part by means of the suction power.

[0011] A cleaning robot according to an embodiment of the disclosure may include a main body having an opening, a drive device that moves the main body, a suction blower motor provided on the main body, wherein the suction blower motor can suck up foreign matter through the opening, and an obstacle removal device provided in an upper part of the main body, wherein the obstacle removal device can remove an obstacle on a travel route.

[0012] The obstacle removal device may include a base connected in such a way that it is rotatable in a left and right direction relative to the main body, an arm device configured to slide on the base, a rotating device configured to rotate the base in a left and right direction, a sliding device configured to move the arm device in a straight direction, and a second suction device configured to provide suction for the arm device.

[0013] The arm device may include a movable part configured to move along an upper surface of the base, an arm articulated to the movable part and having a head section provided at a front end of the arm, a tilting device configured to tilt the head section in one direction up and down, and the arm may include a bending part to tilt the head section up or down according to an operation of the tilting device.

[0014] The obstacle removal device may further include a guide part which includes a horizontal guide section that moves the movable part and the arm in a horizontal direction, and an inclined guide section that moves the arm downwards in a direction.

[0015] The tilting device may include a motor, a tilting belt which is driven to rotate in a forward or reverse direction according to a driving direction of the motor, a first operating element and a second operating element which are connected to the tilting belt and move in opposite directions to each other when the tilting belt is driven to rotate in the forward or reverse direction, a first wire of which a first end is connected to the first operating element and a second end is connected to the head part, and a second wire of which a first end is connected to the second slider and a second end is connected to the head part.

[0016] The bent part of the arm can include a variety of connecting elements linked by a chain method.

[0017] The head section can be connected to a vacuum suction pump via a suction tube that is arranged along the inside of the arm.

[0018] The obstacle removal device may also include a foreign material collection container located between the suction pipe and the vacuum suction pump.

[0019] An obstacle detection sensor can be located in the headboard.

[0020] At least one proximity sensor can be located in the headboard.

[0021] A method for controlling a cleaning robot may include the following steps: while driving in a cleaning area contained in a map, identifying an obstacle type on a driving route of the cleaning area based on information captured by a sensor, and controlling an obstacle removal device to move the obstacle to a location outside the driving route, according to the obstacle type.

[0022] The step of identifying the obstacle type may include the step of comparing a captured image with obstacles contained in an obstacle category stored in memory and determining the obstacle type.

[0023] The step of controlling the obstacle removal device can include the step of grasping the obstacle by suction force, the suction force being based on the type of obstacle, and moving the obstacle away from the route of travel.

[0024] The step of controlling the obstacle removal device may include the step of moving the obstacle, based on the type of obstacle, by pushing it away from the route.

[0025] The method for controlling a cleaning robot may further include the step of the cleaning robot avoiding the obstacle based on the weight of the obstacle exceeding a threshold torque of the obstacle removal device.

[0026] A cleaning robot according to one embodiment of the disclosure can clean while actively removing obstacles such as clothing or toys, etc., that are located in a cleaning area, thus preventing a reduction of the cleaning area due to such obstacles and eliminating the inconvenience of a user having to organize obstacles located in a cleaning area before cleaning.

[0027] Furthermore, according to one embodiment of the disclosure, a cleaning robot can easily clean a corner area that is difficult for the cleaning robot to access by using an arm device to remove obstacles, thereby improving cleaning efficiency. [DESCRIPTION OF THE FIGURES] Fig. Figure 1 is a perspective view showing a cleaning robot according to one embodiment of the disclosure; Fig. Figure 2 is a floor view showing a cleaning robot according to one embodiment of the disclosure; Fig. 3 is a block diagram that schematically shows a configuration of a cleaning robot according to an embodiment of the disclosure; Fig. Figure 4 is a side view showing the interior of an obstacle removal device according to one embodiment of the disclosure; Fig. Figure 5 is a top view showing the interior of an obstacle removal device according to one embodiment of the disclosure; Fig. 6 and Fig. Figure 7 are perspective views showing the interior of an obstacle removal device according to one embodiment of the disclosure; Fig. Figure 8 is an enlarged view showing a tilting device of an obstacle removal device according to an embodiment of the disclosure; Fig. 9 and Fig. Figures 10 are illustrations showing a tilting process of an arm of an obstacle removal device according to an embodiment of the disclosure; Fig. 11 and Fig. Figures 12 are illustrations showing an embodiment of an arm of an obstacle removal device according to an embodiment of the disclosure; Fig. 13 is a flowchart that schematically shows a control procedure of a cleaning robot; Fig. 14 is a flowchart that shows in detail a control procedure of a cleaning robot; Fig. Figure 15 is a representation showing processes in which a cleaning robot according to one embodiment of the disclosure adsorbs an obstacle and moves the obstacle to another location; Fig. Figure 16 is a representation showing a state in which a cleaning robot according to an embodiment of the disclosure has adsorbed an obstacle on a head part; Fig. Figure 17 is a representation showing processes in which a cleaning robot, according to one embodiment of the disclosure, pushes an obstacle and moves the obstacle to another location; and Fig. Figure 18 is a block diagram showing a detailed configuration of a cleaning robot according to an embodiment of the disclosure. [EXECUTION OF THE INVENTION]

[0028] Various modifications can be made to the embodiments of the disclosure, and there can be different types of embodiments. Accordingly, specific embodiments are illustrated in the figures, and the embodiments are described in detail in the detailed description. However, it should be noted that the various embodiments are not intended to limit the scope of protection of the disclosure to a specific embodiment, but rather they should be interpreted as including various modifications, equivalents, and / or alternatives of the embodiments of the disclosure. With regard to the detailed description of the figures, similar components may also be identified by similar reference numerals.

[0029] If, in describing the revelation, it is determined that a detailed explanation of related known functions or features could unnecessarily obscure the core of the revelation, the detailed explanation is omitted.

[0030] Furthermore, the embodiments described below can be modified in various ways, and the scope of protection of the technical idea of ​​the disclosure is not limited to the embodiments described below. Rather, these embodiments serve to make the disclosure sufficient and complete and to fully convey the technical idea of ​​the disclosure to the person skilled in the art.

[0031] The terms used in the disclosure serve only to explain specific embodiments and are not intended to limit the scope of protection afforded by the disclosure. Furthermore, singular expressions also include plural expressions unless they are clearly defined differently in the context.

[0032] In the revelation, expressions such as "have", "may have", "contain" and "may include" denote the presence of such features (e.g., elements such as numbers, functions, processes and components) and do not exclude the presence of additional features.

[0033] In the revelation, the expressions “A or B”, “at least one of A and / or B”, or “one or more of A and / or B”, and the like, can include all possible combinations of the listed elements. For example, “A or B”, “at least one of A and B”, or “at least one of A or B” can refer to any of the following: (1) including at least one A, (2) including at least one B, or (3) including at least one A and at least one B.

[0034] The terms “first,” “second,” and the like, used in Revelation, can describe various elements regardless of any order or degree of importance. Furthermore, such terms are used only to distinguish one element from another and are not intended to limit the elements.

[0035] Meanwhile, the description in the revelation that an element (e.g., a first element) is "(operational or communicative) coupled with" or "connected with" another element (e.g., a second element) should be interpreted to include both the case where one element is directly coupled with the other element and the case where one element is coupled with the other element via yet another element (e.g., a third element).

[0036] In contrast, the description that an element (e.g., a first element) is "directly coupled" or "directly connected" to another element (e.g., a second element) can be interpreted to mean that no other element (e.g., a third element) exists between the one element and the other element.

[0037] The expression “configured for” used in the disclosure can be used interchangeably with other expressions, such as “suitable for”, “capable of”, “designed for”, “adapted for”, “made for”, and “capable of”. However, the expression “configured for” does not necessarily mean that a device is “specifically designed for” in terms of hardware.

[0038] Instead, the phrase "a device configured for" can, in some circumstances, mean that the device is "capable" of performing an operation in conjunction with another device or component. For example, the phrase "a processor configured (or set) to perform A, B, and C" can refer to a dedicated processor (e.g., an embedded processor) for performing the relevant operations, or to a general-purpose processor (e.g., a CPU or application processor) capable of performing the relevant operations by executing one or more software programs stored on a storage device.

[0039] In the embodiments, a "module" or "part" can perform at least one function or operation and can be implemented as hardware, software, or a combination of both. Furthermore, a plurality of "modules" or "parts" can be integrated into at least one module and implemented as at least one processor, with the exception of one "module" or "part" that must be implemented as specific hardware.

[0040] Meanwhile, various elements and areas were represented schematically in the figures. Accordingly, the technical idea of ​​the revelation is not limited by the relative sizes or distances depicted in the accompanying figures.

[0041] The embodiments according to the disclosure are described in detail below with reference to the accompanying figures, so that a person skilled in the art in the field to which the disclosure belongs can easily carry out the disclosure.

[0042] Fig. Figure 1 is a perspective view showing a cleaning robot according to an embodiment of the disclosure, and Fig. Figure 2 is a floor view showing a cleaning robot according to one embodiment of the disclosure.

[0043] With reference to Fig. 1. The cleaning robot 100 can perform a cleaning cycle while moving within a cleaning area. This cleaning area can include various locations that the cleaning robot 100 can access, such as a house, an office, a hotel, a factory, a shop, etc.

[0044] The cleaning process of the cleaning robot 100 can refer to the process of the cleaning robot 100 vacuuming up foreign substances such as dirt, dust, etc., that are located on a surface to be cleaned. The cleaning robot 100 may include a cleaning device for vacuuming up foreign substances.

[0045] The cleaning robot 100 can include a cleaning main body 101 and an obstacle removal device 200, which is rotatably arranged in the upper part of the cleaning main body 101.

[0046] The main cleaning body 101 can include a first housing 103, which forms the outer surface. A window 104 for some sensors, which are described below, can be coupled to the outer circumference of the first housing 103. The window 104 can be made of a transparent material through which light emitted by a sensor can pass.

[0047] With reference to Fig. 2. The cleaning device can include a brush 151, which is rotatably mounted on an opening 105 formed on the lower surface of the cleaning robot 100. The cleaning device can vacuum up foreign matter from a surface to be cleaned by generating suction through a suction fan motor 155. The brush 151 can then rotate and draw foreign matter that cannot be easily collected by the suction force towards the opening 105. The foreign matter vacuumed up through the opening 105 can be collected in a foreign matter collection container 153 provided on the cleaning robot 100.

[0048] The driving device 110 (see Fig. 2 and Fig. 3) The drive mechanism 110 can include a pair of main wheels 111, 112, arranged to rotate on the left and right sides of the main cleaning body 101, respectively; a pair of front auxiliary wheels 113, 114, each located on the front of the pair of main wheels 111, 112; and a pair of rear auxiliary wheels 115, 116, each located on the rear of the pair of main wheels 111, 112. The drive mechanism 110 can also include a drive motor (not shown) that rotates the pair of main wheels 111, 112 forward or backward. The drive motor can be controlled by the processor 140.

[0049] Fig. Figure 3 is a block diagram that schematically shows a configuration of a cleaning robot according to an embodiment of the disclosure.

[0050] With reference to Fig. 3. The cleaning robot 100 can include a drive device 110, a sensor 120, a memory 130, a processor 140 and an obstacle removal device 200.

[0051] The drive device 110 can be controlled by the processor 140 and move the cleaning robot 100 in a cleaning area.

[0052] The sensor 120 can be used with a LiDAR sensor 121 (see Fig. 4), a camera 122 (see Fig. 4) and an encoder 123 (see Fig. 18) include. The Sensor 120 may also include a depth sensor, an IR stereo sensor, etc.

[0053] The LiDAR sensor 121 can be configured to transmit a laser light while rotating 360 degrees and detect the distance between the cleaning robot 100 and an object in its environment (e.g., an obstacle on the surface to be cleaned). For example, if the laser light is reflected and received by an object around the cleaning robot 100, the LiDAR sensor can detect the distance to the object based on the time at which the laser light was received, or by measuring the change in the phase of the received laser light.

[0054] Camera 122 is a component for capturing one or more obstacle images around the cleaning robot 100. Camera 122 can be implemented as an RGB camera, a 3D camera, etc. The RGB camera uses a charge-coupled device (CCD) as a color sensor to convert light into a charge and detect ambient color. The 3D camera can be implemented as a time-of-flight (TOF) camera, incorporating a time-of-flight (TOF) sensor and infrared light. The 3D camera can also include an IR stereo sensor.

[0055] The encoder 123 can, for example, be a rotary encoder that measures a rotational angle displacement. The encoder 123 can be coupled to the shaft of a rotary drive motor 220 or directly connected (see Fig. 6), which rotates the obstacle removal device 200 to the left or right, and receives a rotational force from the axis and transmits the force to the processor 140.

[0056] Memory 130 can contain a map corresponding to a cleaning area, generated by processor 140 based on data acquired by sensor 120.

[0057] Memory 130 can store a category for obstacles that the cleaning robot 100 can remove automatically while cleaning. This obstacle category can consist of data classifying obstacle images for each shape. These obstacle images could include, for example, images of a glass product, a cable, a doll, a toy, a book, pet excrement, etc.

[0058] In the obstacle category, obstacles made of a hard material whose shape cannot be changed, or of a fragile material, such as a glass product, a book, etc., can be classified as obstacles that can be moved by lifting. In the obstacle category, obstacles that have a shape that can be easily changed when an external force is applied, or a shape or material that is difficult to adsorb by suction, such as a cable, a doll, a toy, etc., can also be classified as obstacles that can be moved by pushing. Furthermore, obstacles of a shape that cannot be moved, such as..., if the weight of the excrement of a pet or an obstacle exceeds a threshold torque of the rotary drive motor 220, which rotates the obstacle removal device 200 to the left or right, they are classified as obstacles that should be avoided without being moved.

[0059] Memory 130 can contain a program for performing movements that correspond to the shapes classified in the obstacle category. These movements can include, for example, lifting an obstacle from the surface to be cleaned and moving it to another location, pushing an obstacle and moving it to another location, avoiding an obstacle without moving it, and so on.

[0060] Processor 140 can generate a map for a cleaning area. Processor 140 can then store the generated map in memory 130.

[0061] To generate a map, the processor 140 can, for example, define a location (e.g., a coordinate) from which the cleaning robot 100 begins its journey and a rotation angle of the cleaning robot 100 as a reference location and reference rotation angle, respectively. To generate a map, the processor 140 can then acquire the location (e.g., the coordinate) of the cleaning robot 100 and the rotation angle (e.g., the rotation angle reflected by the location of the cleaning robot 100) using a simultaneous localization and mapping (SLAM) algorithm. This algorithm uses the distance between the cleaning robot 100 and an environmental object, as well as the rotation angle and the distance traveled by the cleaning robot 100 during its journey, as inputs to the SLAM algorithm.In this case, the processor 140 can detect the distance between the cleaning robot 100 and the surrounding object using the LiDAR sensor 121. The processor 140 can then calculate the rotation angle of the cleaning robot 100 based on its angular velocity, detected by the gyroscope, and the robot's movement distance based on the number of wheel rotations, detected by an encoder. The encoder used to detect the number of wheel rotations is different from the encoder 123 mentioned above.

[0062] Subsequently, as the cleaning robot 100 moves from the reference location to the detected location, the processor 140 can identify the location (e.g. the coordinate) of an obstacle from the reference location to the detected location based on the distance between the cleaning robot 100 and the environmental object detected by the LiDAR sensor.

[0063] The processor 140 can repeatedly perform the aforementioned process while the cleaning robot 100 moves within a room and generate a map corresponding to the room in which the cleaning robot 100 is located. However, the disclosure is not limited to this embodiment, and the processor 140 can also generate a map using various known methods.

[0064] The processor 140 can control the drive device 110 so that it drives in a cleaning area contained in a map, based on the information captured by the sensor 120.

[0065] Here, the cleaning area can be any of a variety of areas, each of which is defined on a map. This means the Cleaning Robot 100 can perform cleaning in any of these areas. Specifically, the Cleaning Robot 100 can perform cleaning while moving within one area, and once cleaning is complete, it can move to another area and perform cleaning there as well.

[0066] In this case, the processor 140 can use the SLAM algorithm to generate a map that corresponds to the room in which the cleaning robot 100 is located.

[0067] For example, the processor 140 can detect the location and rotation angle of the cleaning robot 100 on a map using the SLAM algorithm. This involves using the distance between the cleaning robot 100 and the surrounding object, as well as the rotation angle and movement distance of the cleaning robot 100, as inputs to the SLAM algorithm. The processor 140 can then control the drive unit 110 so that the cleaning robot 100 moves into the cleaning area on the map based on its detected location and rotation angle.

[0068] Based on the map, the location and rotation angle of the cleaning robot 100 on the map and the distance between the cleaning robot 100 and the surrounding object, which is detected by the LiDAR sensor 121, the processor 140 can detect an obstacle around the cleaning robot 100.

[0069] The processor 140 can compare an obstacle image captured by the camera 122 on the travel route with obstacle images contained in the obstacle category stored in memory 130 and control the obstacle removal device 200 to perform a movement to remove the obstacle according to the comparison result. If it is determined that the obstacle image belongs to the classification of obstacles that cannot be moved, the processor 140 can control the travel device 110 so that the cleaning robot 100 avoids the obstacle.

[0070] If, during the execution of a movement to remove the obstacle (e.g., a movement to move the obstacle away from the cleaning robot's path, such as moving the obstacle to a different location), it is determined that an output signal differs from an operating signal of the rotary drive motor 220 input by the encoder 123, or that no operating signal has been input, the processor 140 can determine that the weight of the obstacle exceeds the threshold torque of the rotary drive motor 220 and recognize the situation as an emergency. In this case, the processor 140 can stop the operation of the rotary drive motor 220 and reset its axis of rotation to its initial position.

[0071] In the event that, based on a signal input via the encoder 123, it is determined that the rotary axis of the rotary drive motor 220 cannot return to the starting position, the processor 140 can issue a warning message and a warning tone indicating the deactivated operating state of the obstacle removal device 200.

[0072] The obstacle removal device 200 of the cleaning robot 100 is described in detail below according to an embodiment of the disclosure with reference to the attached figures.

[0073] Fig. Figure 4 is a side view showing the interior of an obstacle removal device according to an embodiment of the disclosure, Fig. Figure 5 is a top view showing the interior of an obstacle removal device according to one embodiment of the disclosure, and Fig. Figure 6 is a perspective view showing the interior of an obstacle removal device according to an embodiment of the disclosure.

[0074] The obstacle removal device 200 according to one embodiment of the disclosure can be arranged such that it is rotatable to the left or right in the upper part of the main cleaning body 101. This movement can also be described as a rotation to the left or right. The obstacle removal device 200 can detect an obstacle present on the travel path (an obstacle not included in the map data of the cleaning area) while the cleaning robot 100 is traveling in the cleaning area and cleaning the surface to be cleaned, and move the obstacle to another location (e.g., away from the travel path to a location that does not obstruct the travel of the cleaning robot 100) and continue cleaning.

[0075] The obstacle removal device 200 can include a second housing 201, which forms the outer surface. A through-hole 203 can be formed on a circumferential surface of the second housing 201, allowing an arm 240 to be extended (see Fig. 1).

[0076] With reference to Fig. 4, Fig. 6 and Fig. 8 The obstacle removal device 200 can include a base 210, a rotating device 4200, an arm device 4100, a sliding device 6000 and a tilting device 8000.

[0077] The base 210 can be arranged so that it can be rotated to the left or right in the upper part of the main cleaning body 101 by the rotary device 4200. The arm device 4100, the sliding device 6000, and the tilting device 8000 can be arranged on the upper surface of the base 210.

[0078] The rotating device 4200 can drive the base 210 to rotate to the left or right. In this case, the arm device 4100 can perform a movement to remove an obstacle from the travel path while rotating to the left or right together with the base 210 as the base 210 rotates. The rotation angle θ (see Fig. 5) The angle of the arm device 4100 can be an angle in degrees by which an obstacle can be moved to a different location from the travel path, so that the cleaning robot 100 can travel without obstructing its route, e.g., 90 degrees, without being limited to this. The rotation angle θ of the arm device 4100 can be, for example, 180 degrees, 270 degrees, or 360 degrees.

[0079] The rotary device 4200 can be arranged on the lower side of the base 210. The rotary device 4200 can include a rotary drive motor 220, a first pulley 221, a second pulley 223, and a first drive belt 225.

[0080] The rotary drive motor 220 can be attached to a part of the main cleaning body 101. The rotary drive motor 220 can be a servo motor that can rotate forwards or backwards.

[0081] The first pulley 221 can be connected to the axis of rotation of the rotary drive motor 220 and transmit a rotational force to the second pulley 223 via the first drive belt 225.

[0082] The second pulley 223 can be connected to the axis of rotation located on the main cleaning body 101. The second pulley 223 can be connected to the lower surface of the base 210 by means of a plurality of mounting holes. When the second pulley 223 is driven to rotate forward or backward centered around the axis of rotation A1 of the second pulley 223, the base 210 can rotate forward or backward together with the second pulley 223 accordingly.

[0083] The arm device 4100 can include a moving part 230 and an arm 240.

[0084] The movable part 230 can move forward or backward in a straight line from the upper surface of the base 210 by means of the sliding device 6000. In this case, the movable part 230 can be connected to the arm device 4100.

[0085] The arm 240 can include a straight part 241, a bent part 242 and a head part 243.

[0086] The bent section 242 can be arranged at the front end of the straight section 241. The rear end of the straight section 241 can be connected via a hinge axis 233 to a bracket 231 installed on the movable section 230. Accordingly, the straight section 241 can assume not only a horizontal position (e.g., a position that runs essentially parallel to the base 210, see Figure 2). Fig. 4), but also a downward tilted posture based on the hinge axis 233 (see Fig. 9).

[0087] The bending part 242 can be arranged at the front end of the straight part 241 and include a first connecting element 242a and a second connecting element 242b, which are connected by a chain mechanism so that they can be bent towards the top or the bottom by the tilting device 8000.

[0088] The first connecting element 242a can be pivotally connected to the front end of the straight part 241. The second connecting element 242b can be pivotally connected to the first connecting element 242a or to the head part 243.

[0089] In a non-restrictive example, the bent part 242 consists of two connecting elements 242a, 242b. As another example, the bent part 242 can include three or more connecting elements linked by a chain mechanism. In this case, the overall length and weight of the arm 240 can be increased due to the increased number of connecting elements. Accordingly, the number of connecting elements can be configured to allow for smooth movement to remove an obstruction without significantly affecting the tilting action of the head section 243. If three or more connecting elements are included, they can also be made of a material that is lightweight and stiff, thus minimizing their weight.

[0090] An adsorption nozzle 244 can be arranged at the front end of the head section 243. The adsorption nozzle 244 can adsorb an obstacle by means of a vacuum, i.e., the adsorption nozzle 244 can grasp the obstacle by means of suction. The adsorption nozzle 244 can be made of a flexible material so that it adheres easily to the surface of an obstacle. The vacuum supplied to the adsorption nozzle 244 can be provided by a vacuum suction pump 250. A second suction device 4000 includes the vacuum suction pump 250 and the adsorption nozzle 244.

[0091] With reference to Fig. 5 The adsorption nozzle 244 can be connected to the vacuum suction pump 250 via the first to third suction pipes 253, 257, 259.

[0092] The first suction tube 253 can connect the vacuum suction pump 250 and an additional foreign material collection container 255. The first suction tube 253 can be attached to a support 251. The second suction tube 257 can be connected to the additional foreign material collection container 255. The third suction tube 259 can be arranged along the inner sides of the straight section 241 and the bent section 242 of the arm 240. The third suction tube 259 can connect the second suction tube 257 and the adsorption nozzle 244. In this case, the second suction tube 257 can be made of a flexible material so that the bent section 242 can bend easily during the tilting process.

[0093] The disclosure shows an additional foreign matter collection container 255 on the obstacle removal device 200, enabling the cleaning robot 100 to collect hard-to-reach foreign matter in a corner using the arm 240. The adsorption nozzle 244 can be used to selectively move an obstacle and to vacuum up dust from a surface to be cleaned. A dust filter can be arranged on the inside of the additional foreign matter collection container 255 to prevent any foreign matter (e.g., dust) collected therein from entering the vacuum suction pump 250.

[0094] Meanwhile, an additional camera for obstacle detection can be arranged in the head section 243. If an additional camera is installed in the head section 243, its weight can increase, and consequently, so can the load on the motor 270 of the tilting device 8000. To minimize the influence of the increased weight of the head section 243 on the tilting process, a small RGB camera can be used. Furthermore, a number of proximity sensors can be arranged in the head section 243 so that, during a sliding or tilting operation of the arm 240, the head section 243 can avoid a collision with a nearby structure or obstacle. The proximity sensors can detect the structure or obstacle and adjust the movement of the head section 243 to avoid the collision.

[0095] With reference to Fig. 5 and Fig. 6. The sliding device 6000 can move the arm device 4100 forwards or backwards in a straight direction. Furthermore, the sliding device 6000 can include a sliding drive motor 260, a second drive belt 261, a first drive roller 263, a first guide rail 265a, a second guide rail 265b, and a third guide rail 268.

[0096] The sliding drive motor 260 can be attached to a part of the moving part 230. The sliding drive motor 260 can be a servo motor that can rotate forwards or backwards.

[0097] The opposite ends of the second drive belt 261 can be fastened through mounting holes 262a, 262b (see Fig. 4) be attached, which are located at the rear end and at the front end of the lower surface of the base 210.

[0098] The first drive roller 263 can be rotatably supported by a bracket 263, which is installed on the moving part 230. The first drive roller 263 can be connected to the axis of rotation of the sliding drive motor 260 and rotate forwards or backwards together with the axis of rotation.

[0099] The movable part 230 and the articulated arm 240 connected to it can move forward along the first to third guide rails 265a, 265b, 268 (e.g., movement towards the front of the cleaning robot 100 or towards the front of the base 210) when the first drive roller 263 rotates forward. In this case, the arm 240 can protrude further from the main cleaning body 101 (see Fig. 9).

[0100] If, on the other hand, the first drive roller 263 rotates in the opposite direction, the arm 240 can move backwards along the first to third guide rails 265a, 265b, 268. In this case, the arm 240 can return to its original position (see Fig. 4).

[0101] The first guide rail 265a and the second guide rail 265b can be arranged parallel at a distance on the upper surface of the base 210.

[0102] The first guide rail 265a can include a straight section G1 and an inclined section G2 adjoining the straight section G1. A pair of first guide rollers 267a, rotatably connected to one side of the arm 240, can be slidably coupled to the first guide rail 265a. The pair of first guide rollers 267a can slide along the straight section G1 and the inclined section G2 of the first guide rail 265a.

[0103] As the pair of first guide rollers 267a slides along the straight section G1 of the first guide rail 265a, the movable part 230 and the arm 240 can move essentially parallel to the upper surface of the base 210.

[0104] While the pair of first guide rollers 267a slides along the inclined section G2 of the first guide rail 265a, the arm 240, whose rear end is articulated to the movable part 230, can move to be inclined downwards in one direction. In this case, the movable part 230, unlike the arm 240, can move substantially parallel to the upper surface of the base 210.

[0105] The second guide rail 265b can be designed in an identical form to the first guide rail 265a and a pair of second guide rollers 267b, rotatably connected to the other side of the arm 240, can be slidably coupled to the second guide rail 256b.

[0106] As described above, the adsorption nozzle 244 of the head section 243 can easily adsorb an obstacle present on a surface to be cleaned and collect foreign matter present in a corner of a cleaning area by providing an inclined section in the first and second guide rails 265a, 265b.

[0107] The third guide rail 268 can be attached to the upper surface of the base 210 and can be arranged parallel to the first and second guide rails 265a, 265b. A sliding block can be arranged on the lower surface of the movable part 230, which is slidably connected to the third guide rail 268.

[0108] Fig. Figure 7 is a perspective view showing the interior of an obstacle removal device according to one embodiment of the disclosure, and Fig. Figure 8 is an enlarged view showing a tilting device of an obstacle removal device according to an embodiment of the disclosure.

[0109] With reference to Fig. 7 and Fig. 8 The tilting device 8000 can include a tilting drive motor 270, a third drive belt 271, a second drive roller 273, a pair of passive rollers 274a, 274b, a first holding block 275a, a second holding block 275b, a first wire 277a and a second wire 277b.

[0110] The tilting drive motor 270 can be attached to a part of the moving part 230. The tilting drive motor 270 can be a servo motor that can rotate forwards and backwards.

[0111] The third drive belt 271 can be loop-shaped, and one side of it can be connected to the second drive roller 273, while the other side can be connected to the pair of passive rollers 274a, 274b. The third drive belt 271 can be arranged parallel to the direction of arrangement of the second drive belt 261 (see Fig. 6).

[0112] The first retaining block 275a and the second retaining block 275b can be connected to corresponding points on the third drive belt 271. For example, the first retaining block 275a is connected to the upper part of the third drive belt 271 and the second retaining block 275b is connected to the lower part of the third drive belt 271.

[0113] The first retaining block 275a and the second retaining block 275b can move simultaneously in opposite directions relative to each other when the third drive belt 271 rotates. For example, when the third drive belt 271 rotates forward, the first retaining block 275a moves forward (e.g., moving towards the front of the cleaning robot 100 or towards the front of the base 210) and the second retaining block 275b moves backward. When the third drive belt 271 rotates backward, the first retaining block 275a moves backward and the second retaining block 275b moves forward.

[0114] One end of the first wire 277a can be connected to the first retaining block 275a, and the other end can be connected to the upper end of the rear section of the headpiece. One end of the second wire 277b can be connected to the second retaining block 275b, and the other end can be connected to the upper end of the rear section of the headpiece.

[0115] The first and second wires 277a, 277b can be driven in opposite directions to each other together with the first and second holding blocks 275a, 275b when the third drive belt 271 rotates.

[0116] In some embodiments, the arm 240 is caused to release the object by means of a drive method using the first and second wire 277a, 277b for a tilting operation of the head part 243.

[0117] The tilting angle of the head section 243 can be adjusted by driving the first and second wires 277a, 277b. In this context, a process in which the head section 243 of the arm 240 is tilted by the tilting device 8000 (e.g., a downward tilting process, an upward tilting process) is described with reference to the figures.

[0118] Fig. 9 and Fig. Figure 10 are illustrations showing a tilting process of an arm of an obstacle removal device according to an embodiment of the disclosure.

[0119] With reference to Fig. 9 The arm device 4100 can move forward by a specific distance through the drive of the sliding device 6000. In this case, the arm 240 can be arranged so that it is inclined downwards when the pair of first and second guide rollers 267a, 267b moves towards the inclined section G2 of the first and second guide rail 265a, 265b.

[0120] When the tilting drive motor 270 of the tilting device 8000 is driven to a forward rotation, the head section 243 can be tilted downwards by a first tilting angle α1.

[0121] For example, when the tilting drive motor 270 is driven to a forward rotation, the third drive belt 271 rotates forward and the first retaining block 275a moves forward, while simultaneously the second retaining block 275b moves backward. Accordingly, the second wire 277b pulls the lower end of the rear section of the head 243 to the side of the cleaning robot 100, and the first wire 277a releases the upper end of the rear section of the head 243.

[0122] Through the operation of the tilting device 8000 described above, the bending section 242 of the arm 240 is bent downwards and the adsorption head 243 of the head section 243 can be tilted approximately in the direction of the surface 1 to be cleaned. In this case, the downward tilting angle α1 of the head section 243 can be the angle between the central axis A2 of the arm 240 and the central axis A3 of the head section 243.

[0123] When the head 243 is tilted downwards, the cleaning robot 100 can adsorb (grab) an obstacle located on a surface to be cleaned through the adsorption nozzle 244, and as a further application, the cleaning robot 100 can collect a foreign substance located in a corner that is difficult for the cleaning robot 100 to access.

[0124] With reference to Fig. 10 The head section 243 can be tilted upwards by a second tilting angle α2 if the tilting drive motor 270 of the tilting device 8000 is driven to a reverse rotation while the arm 240 is tilted downwards.

[0125] For example, the third drive belt 271 rotates backwards in accordance with a drive of the tilting drive motor 270, and the first retaining block 275a moves backwards, while the second retaining block 275b moves forwards simultaneously. Accordingly, the first wire 277a pulls the upper end of the rear section of the head 243 to the side of the cleaning robot 100, and the second wire 277b releases the lower end of the rear section of the head 243.

[0126] Through the operation of the tilting device 8000 described above, the bending section 242 of the arm 240 is bent upwards and the adsorption nozzle 244 of the head 243 can be tilted to maintain an approximately parallel position to the surface 1 to be cleaned. In this case, the second tilting angle α2 of the head 243 can be the angle between the central axis A2 of the arm 240 and the central axis A3 of the head 243.

[0127] If the obstacle removal device 200 is rotated while the head section 243 is tilted upwards, the cleaning robot 100 can push the obstacle towards the arm 240 and remove the obstacle from the route, for example to another location.

[0128] The bent section 242 of the arm 240 can be constructed in different ways, without being limited to the structure described above. One embodiment of the bent section of the arm is described below with reference to the figures.

[0129] Fig. 11 and Fig. Figure 12 are illustrations showing an embodiment of an arm of an obstacle removal device according to an embodiment of the disclosure.

[0130] The in Fig. 11 and Fig. The arm 340 shown in Figure 12 can include a straight part, a bent part and a head part like the arm 240 mentioned above, but the structure of the bent part can be different from the structure of the bent part of the arm 240 mentioned above.

[0131] With reference to Fig. 11 The bent part of the arm 340 can include a plurality of connecting elements 342 which are slidably inserted into the outer circumferential surface of the suction pipe 341.

[0132] In this case, the suction tube 341 is a component corresponding to the third suction tube 259 of the aforementioned arm 240, and it can be made of an elastic silicone material. The head section is located at the front end of the suction tube 341, which is Fig. 11 and Fig. However, number 12 is not shown.

[0133] The plurality of connecting elements 342 can each include a first fastening part 343a, which is attached to the first wire 377a, and a second fastening part 343b, which is attached to the second wire 377b.

[0134] The rear end of an elastic element 345 in the form of a bellows can be attached to the area around the through-hole 203 of the second housing 201, and its front end can be attached to the rear end of the suction head. If the arm 340 is as shown in Fig. 12 protrudes towards the front of the cleaning robot, the length of the elastic element 345 is extended, and it can be prevented that the straight part and the bent part of the arm 340 are visible to the outside.

[0135] In this case, the suction tube 341 can maintain a shape in which the rear end part is wrapped around the inside of the obstacle removal device 200, and when the arm 340 extends towards the front of the cleaning robot, the wrapped shape can be unwound so that the arm 340 moves together with the head part.

[0136] The arm 340 can perform a tilting operation to the upper or lower side of the headboard by being bent to the upper or lower side according to the operation of the tilting device 8000.

[0137] The following describes a control procedure for the cleaning robot 100 with reference to the attached figures.

[0138] Fig. Figure 13 is a flowchart that schematically shows a control procedure of a cleaning robot.

[0139] The cleaning robot 100 can identify the type of obstacle on the cleaning area's route based on information captured by the sensor 120 in the cleaning area (1301, see Fig. 13).

[0140] Then the cleaning robot 100 can control the obstacle removal device 200 and move the obstacle to a location outside the travel path by means of a movement corresponding to the type of obstacle (1302, see Fig. 13).

[0141] Accordingly, according to one embodiment of the disclosure, the cleaning robot can continuously perform cleaning while removing obstacles itself, even if a user does not remove any obstacles beforehand that impede the movement of the cleaning robot, such as a toy, a towel, a cable, etc., which are placed in the cleaning area.

[0142] The control procedure of a cleaning robot is described in detail below with reference to the figures.

[0143] Fig. Figure 14 is a flowchart that shows in detail a control procedure of a cleaning robot.

[0144] The Cleaning Robot 100 can map a cleaning area while moving through it before cleaning and save the map to its memory 130. Mapping can be performed after removing movable obstacles (e.g., light objects like toys, cables, towels, etc.) and excluding fixed obstacles (e.g., heavy objects like cabinets, televisions, refrigerators, kitchen tables, etc.) from the cleaning area.

[0145] The cleaning robot 100 navigates within the cleaning area (1401) based on the map corresponding to the cleaning area. In this case, the cleaning robot 100 can, while navigating within the cleaning area (1401, see Fig. 14) Collect foreign matter on a surface to be cleaned using the cleaning device 150.

[0146] The cleaning robot 100 can detect an obstacle present on its route during operation using sensor 120 (1402, see Fig. 14).

[0147] During the cleaning robot 100's operation, the processor 140 can analyze the information received via the sensor 120 and record details about the type, size, location, and distance of the obstacle. This information can then be used to determine whether the cleaning robot 100 should move around or navigate around the obstacle.

[0148] The detected obstacle can be captured as an image by sensor 120 and stored in memory 130. Processor 140 recognizes the shape of the obstacle detected by sensor 120 (1403, see Fig. 14). In this case, sensor 120 can be an RGB camera that can capture the image of the obstacle.

[0149] The processor 140 compares the captured image of the obstacle with the obstacle shapes in the obstacle category stored in memory 130 and determines whether the image corresponds to one of the classifications (1404, see Fig. 14).

[0150] If the captured image of the obstacle falls into the obstacle category, the processor 140 controls the obstacle removal device 200 and performs a movement according to the classification (1405, see Fig. 14).

[0151] Here, in a program stored in memory 130, movements can be defined for each classification within the obstacle category. These movements can include, for example, lifting an obstacle from the surface to be cleaned and moving it to another location, pushing an obstacle and moving it to another location, or avoiding an obstacle without moving it.

[0152] With reference to Fig. 15 and Fig. For example, paragraph 16 describes a case in which a movement to remove an obstacle is the movement in which an obstacle is lifted from the surface to be cleaned and moved to another location.

[0153] Fig. Figure 15 is a representation showing processes in which a cleaning robot, according to one embodiment of the disclosure, adsorbs (grasps) an obstacle and moves the obstacle to another location, and Fig. Figure 16 is a representation showing a state in which a cleaning robot according to one embodiment grasps an obstacle on a head part.

[0154] The processor 140 controls the sliding device 6000 so that the arm device 4100 moves forward (see (a) in Fig. 15).

[0155] If the pair of first and second leadership roles 267a, 267b (see Fig. 6) when moved to the inclined section G2 of the first and second guide rails 265a, 265b, the arm 240, which is articulated to the movable part 230, can be arranged so that it is inclined downwards (see Fig. 16). In this state, the processor 140 controls the tilting device 8000 so that the head section 243 is tilted downwards in the direction of the obstacle 400.

[0156] The processor 140 controls the vacuum suction pump 250 so that the obstacle 400 is gripped at the adsorption nozzle 244 (see (b) in Fig. 15) The processor 140 controls the sliding device 6000 so that the arm device 4100 moves backwards by a specific distance to allow the obstacle 400 to be lifted from the surface to be cleaned. In this state, the processor 140 controls the rotary device 4200 so that the obstacle 400, gripped at the adsorption nozzle 244, can be moved from the path of the cleaning robot 100 to another location (e.g., a location that does not obstruct the movement of the cleaning robot 100) (see (c) in Fig. 15).

[0157] The processor 140 controls the sliding device 6000 so that the arm device 4100 moves backward by a specific distance, allowing the obstacle 400 to be placed on the surface to be cleaned. Once the obstacle 400 is placed on the surface to be cleaned, the processor 140 blocks the vacuum supplied to the adsorption nozzle 244, thereby controlling the vacuum suction pump 250 so that the obstacle 400 is separated from the adsorption nozzle 244.

[0158] Processor 140 controls the sliding device 6000 so that the arm device 4100 moves backward. Processor 140 controls the rotary device 4200 so that the arm device 4100 moves to its starting position (see (d) in Fig. 15), and then controls the driving device 110 to move along the driving route from which the obstacle 400 was removed (1407, see Fig. 14).

[0159] Meanwhile, if the captured image of the obstacle does not fall into the obstacle category (e.g., if the processor 140 determines that pet excrement, etc., cannot be moved to the obstacle removal device 200), the processor 140 performs a movement to avoid the obstacle without performing a movement to remove the obstacle (1406, see Fig. 14).

[0160] The movement to avoid the obstacle can consist, for example, of the cleaning robot driving in the vicinity of the obstacle so far that it does not touch or collide with the obstacle, and of the cleaning robot moving to the route that continues alongside the area occupied by the obstacle.

[0161] After the cleaning robot 100 has avoided the obstacle, the processor 140 controls the driving device 110 to move the cleaning robot 100 along the driving route.

[0162] With reference to Fig. 17 Meanwhile, a case is explained in which a movement to remove an obstacle falls under a movement to push the obstacle and move it to another location.

[0163] Fig. Figure 17 is a representation showing processes in which a cleaning robot, according to one embodiment of the disclosure, pushes an obstacle and moves it to another location.

[0164] The processor 140 controls the drive mechanism 110 to move the cleaning robot to the distance at which the obstacle 400 can be pushed towards the arm 240, and to stop the cleaning robot (see (a) in Fig. 17).

[0165] The processor 140 controls the rotary device 4200 to rotate the obstacle removal device 200 to the left by a specific angle, so that one side of the obstacle 400 can be pushed towards the arm 240 (see (b) in Fig. 17).

[0166] The processor 140 controls the sliding device 6000 so that the arm device 4100 moves forward (see (c) in Fig. 17).

[0167] When the pair of first and second guide rollers 267a, 267b moves towards the inclined section G2 of the first and second guide rails 265a, 265b, the arm 240, which is articulated to the movable part 230, can be positioned so that it is inclined downwards. In this state, the processor 140 controls the tilting device 8000 so that the head section 243 is tilted upwards (see Fig. 10).

[0168] In this state, the processor 140 controls the rotary device 4200 to rotate the obstacle removal device 200 by a specific angle to the right and move the obstacle 400 towards the arm 240, thereby moving the obstacle 400 from the path of the cleaning robot 100 to another location (e.g., a location that does not obstruct the movement of the cleaning robot 100) (see (d) in Fig. 17).

[0169] The processor 140 controls the sliding device 6000 so that the arm device 4100 moves backwards by a specific distance. The processor 140 controls the rotary device 4200 so that the arm device 4100 moves into its starting position, and then controls the travel device 110 to move along the travel path from which the obstacle 400 was removed (see (e) in Fig. 17).

[0170] Meanwhile, if the cleaning robot 100 performs a movement to move the obstacle 400 by lifting or moving the obstacle 400 by pushing, an emergency situation may occur in which the obstacle 400 cannot be moved to a location outside the travel route due to the weight of the obstacle 400.

[0171] For example, after the processor 140 has driven the rotary drive motor 220 to perform a movement to move the obstacle 400 by lifting or moving the obstacle 400 by pushing, and if it is determined that a signal from the encoder 123 (see Fig. 18) If the received operating signal of the rotary drive motor 220 differs from an output signal, or if no operating signal has been entered, the processor 140 can determine that the weight of the obstacle 400 exceeds the threshold torque of the rotary drive motor 220, and recognize the situation as an emergency situation.

[0172] The processor 140 can control the drive device 110 so that it performs a movement in which the cleaning robot 100 avoids the obstacle 400.

[0173] In this case, the processor 140 can stop the operation of the rotary drive motor 220 and then reset the rotary axis of the rotary drive motor 220 to its initial position. If, based on a signal input via the encoder 123, it is determined that the rotary axis of the rotary drive motor 220 cannot return to its initial position, the processor 140 can issue a warning message and a warning tone indicating the deactivated operating state of the output unit 180 (see Fig. 18) specify the obstacle removal device 200.

[0174] As in Fig. As shown in Figure 18, the cleaning robot 100 can include not only the drive mechanism 110, the sensor 120, the memory 130, the processor 140, and the obstacle removal device 200, but can also include a cleaning device 150, a communication part 160, an input part 170, and an output part 180, etc. These components are, however, only examples, and in the implementation of the disclosure, it is understood that new components can be added or some components can be omitted. Meanwhile, in the description of Fig. 18 overlapping explanations of Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12, Fig. 13, Fig. 14, Fig. 15, Fig. 16, Fig. 17 to Fig. 18 omitted.

[0175] The sensor 120 can include a LiDAR sensor 121, a camera 122, an encoder 123, a 3D sensor 124 and a gyro sensor 125.

[0176] The LiDAR sensor 121 can emit a laser while rotating 360 degrees, detecting the distance between the cleaning robot 100 and an environmental object and providing the detected information to the processor 140.

[0177] The camera can photograph the area around the cleaning robot 100 and capture at least one obstacle image for the robot's surroundings, then provide this image to the processor 140. The captured image may depict a new obstacle that was not included in the initial mapping of the cleaning area (e.g., a glass product, a book, a cable, a doll, a toy, pet excrement, etc.).

[0178] The encoder 123 can detect an operating signal from the rotary drive motor 220, which rotates the obstacle removal device 200 to the left or right when a movement to remove an obstacle is performed, and provide the detected information to the processor 140. In addition, the encoder 123 can detect the number of revolutions of the wheels installed on the left and right sides of the main body of the cleaning robot 100, respectively, and provide the detected information to the processor 140.

[0179] The 3D sensor 124 can detect the distance between the cleaning robot 100 and an environmental object and provide the detected information to the processor 140.

[0180] The gyro sensor 125 can detect the angular velocity of the cleaning robot 100 and provide the detected information to the processor 140.

[0181] The cleaning device 150 can vacuum up foreign matter. For this purpose, the cleaning device 150 can include a brush 151, a foreign matter collection container 153, and a suction blower motor 155. In one embodiment, a vacuum device 2000 includes the brush 151, the foreign matter collection container 153, and the suction blower motor 155. In particular, the processor 140 can rotate the brush 151 to collect foreign matter and generate suction power via the suction blower motor 155 to vacuum up foreign matter from a surface to be cleaned, on which the cleaning robot 100 is moving. The processor 140 can control the cleaning device 150 to perform a cleaning process while the cleaning robot 100 moves within the cleaning area. The vacuumed foreign matter can then be collected in the foreign matter collection container 153. Depending on the embodiment, the cleaning device 150 can also include a cloth for cleaning a floor.

[0182] The communication module 160 can include a circuit and communicate with an external device. The processor 140 can receive various types of data or information from an external device connected via the communication module 160 and also transmit various types of data or information to the external device.

[0183] In particular, the processor 140 can transmit data relating to the cleaning robot 100 to a server via the communication module 160. When a control signal for the cleaning robot 100 is then received from the server via the communication module 160, the processor 140 can control the operation of the cleaning robot 100 based on the received control signal. For example, the processor 140 can control the operations that the cleaning robot 100 performs while moving through a cleaning area (e.g., wall cleaning, obstacle cleaning, whether a cleaning tool should be used, etc.) and adjust a movement to move an obstacle from its path to another location.

[0184] The input unit 170 can include a circuit and receive user instructions for setting or selecting various types of functions supported by the cleaning robot 100. For this purpose, the input unit 170 can include a variety of buttons and be implemented as a touchscreen, which can simultaneously perform the function of the display 181.

[0185] In this case, the processor 140 can control the operation of the cleaning robot 100 based on a user instruction entered via the input unit 170. For example, the processor 140 can control the cleaning robot 100 based on instructions to turn the cleaning robot 100 on and off, instructions to turn its functions on and off, etc., entered via the input unit 170. Furthermore, based on a user instruction entered via the input unit 170, the processor 140 can control the operations that the cleaning robot 100 performs while moving through a cleaning area (e.g., wall cleaning, obstacle cleaning, whether a cleaning tool should be used, etc.) and adjust the interval at which a zigzag movement can be performed.

[0186] The output section 180 can include a display 181 and a loudspeaker 182.

[0187] Various types of information can be displayed on the display 181. For this purpose, the display 181 can be implemented as a liquid crystal display (LCD), etc., and it can also be implemented as a touchscreen, which can simultaneously perform the function of the input unit 170.

[0188] In particular, the processor 140 can display information on the display 181 about the operations of the cleaning robot 100 (e.g., information such as the duration of the cleaning process, the current cleaning mode (i.e., the suction power), battery information, whether the cleaning robot 100 is charged, whether the dust container is full of dust, an error status, etc.), as well as a message indicating an emergency situation when removing an obstacle (e.g., if an obstacle could not be moved to another location due to the weight of the obstacle).

[0189] The speaker 182 can output audio. In particular, the processor 140 can output various notification tones or voice guidance messages regarding the operations of the cleaning robot 100 via the speaker 182. For example, if an obstacle cannot be moved due to its weight, even when the obstacle is removed from the cleaning path using the obstacle removal device 200, the processor 140 can control the speaker 182 to emit a sound indicating an emergency situation.

[0190] According to one embodiment, the methods disclosed herein can be provided while they are contained in a computer program product. A computer program product refers to a product that can be traded between a seller and a buyer. A computer program product can be distributed in the form of a machine-readable storage medium (e.g., compact disc read-only memory - CD-ROM) or it can be distributed directly between two user devices (e.g., smartphones) and it can be distributed online (e.g., by download or upload) via an application store (e.g., the Play Store™). In the case of online distribution, at least one section of a computer program product (e.g.,a downloadable app) is stored or temporarily generated, at least temporarily, in a machine-readable storage medium such as the manufacturer's server, the application storage server, and the relay server's storage.

[0191] Furthermore, each component (e.g., a module or a program) can consist of a single object or a plurality of objects, according to the various embodiments of the disclosure described above. Additionally, some subcomponents may be omitted from the aforementioned corresponding subcomponents, or other subcomponents may be included in addition in the various embodiments. Alternatively or additionally, some components (e.g., a module or a program) may be integrated as a single object and perform functions that were performed by each component prior to integration in an identical or similar manner.

[0192] Furthermore, operations performed by a module, program, or other components according to the various implementations can be executed sequentially, in parallel, repeatedly, or heuristically. Or at least some of the operations can be performed in a different order, omitted, or additional operations can be added.

[0193] In addition to the foregoing explanations, the following aspects are also relevant to the present disclosure as part of the specification and should not be confused with the attached claims (which follow the specification):

[0194] Aspect 1: Cleaning robot, comprising: a driving device; an obstacle removal device for removing an obstacle on a driving route; a memory that stores a map of a cleaning area and an obstacle category; and a processor that controls the driving device, wherein the processor is configured to navigate the cleaning robot by making the cleaning robot drive in the cleaning area, wherein, while the cleaning robot is driving in the cleaning area, the processor is configured to control the obstacle removal device to perform a movement corresponding to the obstacle category of the obstacle, wherein the obstacle is detected by a sensor.

[0195] Aspect 2: Cleaning robot according to Aspect 1, wherein the processor is further configured to: based on identifying that the obstacle is of a first type, control the obstacle removal device to: grasp the obstacle by suction and move the obstacle away from the route, and based on identifying that the obstacle is of a second type, control the obstacle removal device to: push the obstacle and move the obstacle away from the route.

[0196] Aspect 3: Cleaning robot according to aspect 2, wherein the processor is further configured to control the drive device so that the cleaning robot avoids the obstacle, based on the fact that the weight of the obstacle exceeds a threshold torque of the obstacle removal device.

[0197] Aspect 4: Cleaning robot according to Aspect 1, wherein the obstacle removal device comprises an arm device in an upper part of a main body of the cleaning robot, wherein the arm device is configured to be rotatable in a left direction and in a right direction with respect to the cleaning robot in order to move the obstacle, and wherein the processor is further configured to: control a first motor that drives the arm device, wherein the first motor is configured to extend the arm device from the obstacle removal device, and control a second motor that drives the obstacle removal device, wherein the second motor is configured to rotate the obstacle removal device in a left direction or in a right direction with respect to the cleaning robot.

[0198] Aspect 5: Cleaning robot according to Aspect 4, wherein the obstacle removal device comprises a suction device which provides suction power for a head part of the arm device, and wherein the processor is further configured to control the suction device in order to grasp the obstacle with the head part by means of the suction power.

[0199] Aspect 6: Cleaning robot comprising: a main body including an opening; a drive device moving the main body; a suction blower motor provided on the main body; wherein the suction blower motor is configured to suck up foreign matter through the opening; and an obstacle removal device provided in an upper part of the main body, wherein the obstacle removal device is configured to remove an obstacle on a travel route.

[0200] Aspect 7: Cleaning robot according to aspect 6, wherein the obstacle removal device comprises: a base connected in such a way as to be rotatable in a left and a right direction with respect to the main body; an arm device configured to be able to slide on the base; a rotating device configured to rotate the base in a left and a right direction; a sliding device configured to move the arm device in a straight direction; and a second suction device configured to provide suction power to the arm device.

[0201] Aspect 8: Cleaning robot according to aspect 7, wherein the arm device comprises: a movable part configured to move along an upper surface of the base; an arm articulated to the movable part, wherein a head part is provided at a front end of the arm; a tilting device configured to tilt the head part upwards and downwards in one direction, and the arm includes a bending part to tilt the head part upwards or downwards according to an operation of the tilting device.

[0202] Aspect 9: Cleaning robot according to aspect 8, wherein the tilting device comprises: a motor; a tilting belt driven to rotate in a forward or reverse direction according to a drive direction of the motor; a first operating element and a second operating element connected to the tilting belt and moving in opposite directions to each other when the tilting belt is driven to rotate in the forward or reverse direction; a first wire of which a first end is connected to the first operating element and a second end is connected to the head; and a second wire of which a first end is connected to a slider and a second end is connected to the head.

[0203] Aspect 10: Cleaning robot according to aspect 8, wherein the bending part of the arm comprises a multitude of connecting elements linked by a chain method.

[0204] Aspect 11: Cleaning robot according to aspect 8, wherein the head part is connected to a vacuum suction pump via a suction tube arranged along the inside of the arm, and wherein the obstacle removal device further comprises a foreign matter collection container arranged between the suction tube and the vacuum suction pump.

[0205] Meanwhile, the term "part" or "module" used in the disclosure includes a unit consisting of hardware, software, or firmware, and can be used interchangeably with terms such as logic, logic block, component, or circuit. Furthermore, "a part" or "a module" can be a component consisting of an integrated body or minimal unit that performs one or more functions, or a portion thereof. For example, a module can consist of an application-specific integrated circuit (ASIC).

[0206] The various embodiments of the disclosure can also be implemented as software containing instructions stored in machine-readable storage media that can be read by machines (e.g., computers). Here, the machines refer to devices that can call up instructions stored in a storage medium and be operated according to the called-up instructions, and the devices can include the electronic device according to the aforementioned embodiments (e.g., electronic device 100).

[0207] When a processor executes an instruction, the processor can perform the function corresponding to the instruction itself or using other components under its control. An instruction can comprise code that is generated or executed by a compiler or an interpreter.

[0208] Although preferred embodiments of the disclosure have been shown and described, the disclosure is not limited to the aforementioned specific embodiments, and it is obvious that various modifications can be made by the average person skilled in the art in the technical field to which the disclosure belongs without departing from the core of the disclosure as claimed by the appended claims. Furthermore, it is intended that such modifications are not to be interpreted independently of the technical idea or perspective of the disclosure.

Claims

[1] Cleaning robots, comprehensive: a driving device; a cleaning device; an arm; a first sensor; a second sensor; a motor located inside the cleaning robot and configured to drive the arm; and at least one processor, where at least one processor is configured to: while moving along a route, controlling the driving device and the cleaning device so that they clean, Detecting an obstacle at a first location on the route using the first sensor, Based on determining that the detected obstacle is a first obstacle that is movable, control the motor so that the arm extends from the cleaning robot to move the first obstacle to a second location, Controlling the extended arm to lift the first obstacle, Control to move the first obstacle, which was lifted using the arm, to the second location, and Based on the fact that the first obstacle was moved to the second location, controlling the driving device and the cleaning device to move the cleaning robot to the first location and clean it, and where at least one processor is further configured to: during the lifting of the first obstacle by the arm, based on determining that the first obstacle cannot be moved due to the weight of the first obstacle, steering the driving device to avoid the obstacle, and Based on determining that the first obstacle is movable and detecting an environmental structure or obstacle that could collide with the arm, using the second sensor, control the arm so that it does not collide with the environmental structure or obstacle. [2] Cleaning robot according to claim 1, wherein the second location to which the first obstacle is moved is a location which does not impede the movement of the cleaning robot. [3] Cleaning robot according to claim 1, wherein the second location to which the first obstacle is moved is a location that is outside the route. [4] Cleaning robot according to claim 1, where at a front end part of the arm, at least one third sensor is arranged and at least one processor is used to detect the first obstacle. [5] Cleaning robot according to claim 4, wherein the first sensor and the at least one third sensor comprise: at least one from a LiDAR sensor, a camera, a depth sensor or an IR stereo sensor. [6] Cleaning robot according to claim 1, wherein the second sensor comprises: at least one proximity sensor. [7] Cleaning robot according to claim 1, wherein the at least one processor is further configured to: Determine whether the detected obstacle is movable, based on data that classifies moving obstacles. [8] Cleaning robot according to claim 1, wherein the at least one processor is further configured to: Determine whether the detected obstacle is movable, based on data that classifies obstacles by type or shape. [9] Cleaning robot according to claim 8, wherein the data comprises the following: Images for classifying a type of obstacle or for classifying a shape of the obstacle. [10] Cleaning robot according to claim 9, wherein the images comprise the following: at least one of a glass product, a cable, a doll, a toy, a book, pet feces or a towel.

Images