Robot cleaner and method of controlling thereof

Abstract

Disclosed are a robot cleaner and a control method thereof. The control method includes start of the robot cleaner wet cleaning a cleaning space, obtaining a map of the cleaning space by the sensor unit, detecting type of a cleaning surface by the floor detecting device, storing the map with marked types of the cleaning surface in the processor, for instance zones with tiled floor or stone floor, continuing mission of cleaning the cleaning space till the wet cleaning is finished, and then if a docking station is not available for the robot cleaner, the robot cleaner moves to the tiled floor or other water resistant surface, based on the stored in the processor information about type of the cleaned surface, alternatively, when the tiled floor or other water resistant surface is not available for the robot cleaner then, the robot cleaner stops water supply to mopping the mop pad and drives through the cleaning surface until the battery runs out or user intervention, and finally stop / waiting for user input.

Description

[0001] The present invention relates to a robot cleaner and control method thereof, and more particularly to a robot cleaner configured to automatically vacuuming or / and mopping a cleaning space while traveling about the cleaning space, and a method for controlling the same.

[0002] A robot cleaner is an apparatus that automatically cleans a region to be cleaned by vacuuming impurities, such as dust, etc., from a floor while autonomously traveling about a cleaning space without user intervention. Since a conventional robot cleaner does not store information regarding the cleaning space in advance, the robot cleaner has been designed to generate a map of the cleaning space while moving in the cleaning space. In order to generate the map of the cleaning space as described above, the conventional robot cleaner requires a plurality of sensors configured to collect environmental information of the cleaning space and a processor configured to generate the map.

[0003] However, recently robot cleaners equipped with a moistened mop pad to complete cleaning the floor by wiping the floor are becoming more and more popular. They are often called a robot vacuum and mop clean. Usually, the moistened mop pad of the robot cleaner is in constant contact with a floor when cleaning, also after the cleaning is finished. When the robot cleaner is working, the moisture from the mop pad is distributed evenly on the cleaned floor so, it will evaporate quickly, so moisture is not a problem. The problem occurs when the robot stops on the floor for some reason, for example because the robot cleaner will not reach the charging station before the battery runs out, which causes fluid to accumulate on part of the floor. Especially for a wooden floor, the floor will be damaged in severe cases, which will cause inconvenience to users. Therefore, it is necessary to improve a control method of the robot cleaner.

[0004] The document EP4049576A1 discloses a control method and a controller for a cleaning robot including: obtaining a remaining power or a charging instruction of the cleaning robot; and controlling liquid discharge of a liquid container of the cleaning robot according to the remaining power or the charging instruction. When the liquid container stops discharging liquid, the cleaning robot is controlled to stop working or to charge after running for a preset time. The control method of controlling residual moisture of a mop pad of the cleaning robot when the cleaning robot is charged can effectively avoid damage to a ground caused by the residual moisture on the mop pad when the cleaning robot is charging.

[0005] The document EP3482669A1 discloses a wet cleaning apparatus that has a cleaning element for mechanically wet cleaning an area to be cleaned and a device section that supports the wet cleaning apparatus relative to the area. The wet cleaning apparatus comprises a displacement device that is designed for automatically causing a displacement of the cleaning element relative to the device section or vice versa in dependence on a state of motion and / or an error status of the wet cleaning apparatus such that the cleaning element can be displaced from an operating position, in which it is lowered onto the area, into a distant position, in which it is lifted off the area. A detection device is assigned to the displacement device and is designed for distinguishing between a standstill of the wet cleaning apparatus and a motion of the wet cleaning apparatus.

[0006] Known robot cleaners provided with a moistened mop pad have the disadvantage that the cleaning element usually remains in contact with the area to be cleaned. When the cleaning process is interrupted or completed, an excessively long exposure of the area to be cleaned to the cleaning agent may lead to damages to the area. It is particularly possible that a wet cleaning element lies on the area to be cleaned for a prolonged period of time and thereby causes the area to swell. This swelling risk particularly applies if the area consists of a wood floor or other not moisture-resistant materials. On the other hand, the robot cleaners described in the cited prior art documents have the disadvantage that the robot cleaner can stuck on the cleaned surface because will not be able to reach the charging station or include a complicated and expensive mechanism adapted to create a gap between the floor and the moistened mop pad by lifting the robot cleaner or the mop above the floor. Moreover, utilization of additional complicated mechanisms for lifting may reduce the overall reliability of the device.

[0007] The present invention is defined by the features of the claims. Accordingly, the present invention is directed to a robot cleaner and a control method thereof that substantially obviate one or more problems due to limitations and disadvantages of the related art.

[0008] The objective of the present invention is to provide a robot vacuum and mop cleaner and a method of controlling of the robot vacuum and mop cleaner that effectively avoid damage to the floor caused by residual moisture on the mop pad when the robot cleaner cannot reach a docking station. The present invention has advantages of simple implementation to the robot cleaner and convenient use.

[0009] To achieve these objects and other advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, that provided a robot vacuum and mop cleaner having a body provided with a mop pad and comprising a sensor unit for preparing a map of a cleaning space. Furtherly, the robot comprises a processor with w memory for storing and processing an operational data including images, a floor detecting device provided on one side of the bottom surface of the body to detect a type of a cleaning surface to be cleaned and sending a floor type detection signal to the processor, a transmitting-receiving unit communicated with the processor for transmitting data from the robot cleaner to an external device and receiving data from the external device. The external device can be for instance a smartphone or a tablet communicated with the transmitting-receiving unit via wireless connection as a Bluetooth or WiFi connection.

[0010] Preferable the robot cleaner has a camera attached to the robot cleaner perpendicular to the cleaning surface and adapted to create an image of the cleaning surface and the processor is adapted to recognize the type of the cleaning surface based on the image created by a camera. Therefore an information related to the type of the floor obtained from a floor detecting device can be verified by the processor with regards to the type of the floor obtained from the camera processed by the processor and vice versa.

[0011] In another embodiment of the present invention the robot cleaner is adapted to receive the map of the cleaning space from the external device having a camera (for instance a smartphone or a tablet, that typically having a camera and a processor) wherein the external device is adapted to prepare the map of the cleaning space based on an image of the cleaning space and an image of the cleaning surface created by the camera. Therefore, even before cleaning, it is possible to prepare the map and send it to the robot by using the wireless connection as the Bluetooth or WiFi connection.

[0012] In another aspect of the present invention a method of controlling a robot vacuum and mop cleaner of the present invention, comprises start wet cleaning the cleaning space, obtaining a map of the cleaning space by the sensor unit, detecting type of a cleaning surface by the floor detecting device, storing the map with marked types of the cleaning surface in the processor, for instance zones with tiled floor, continuing mission of cleaning the cleaning space, till the wet cleaning is finished.

[0013] The method further comprises moving the robot cleaned to the tiled floor or other water resistant surface, based on the stored in the processor information about type of the cleaned surface, when the docking station is not available for the robot cleaner. Then the robot cleaner stops / waiting for user input. Alternatively, when the tiled floor or other water resistant surface for instance a stoned floor is not available for the robot cleaner then, the robot cleaner stops water supply to mopping the mop pad and drives through the cleaning surface until the battery runs out or user intervention. Then the robot cleaner stops / waiting for user input, for instance for charging or moving to the docking station.

[0014] In another embodiment of the present invention, there is provided a method of controlling a robot vacuum and mop cleaner which comprises following steps: start wet cleaning the cleaning space, obtaining a map of the cleaning space by the sensor unit, taking an image of the cleaning surface by the camera in real time and sending to the processor, recognition the type of the cleaning surface by the processor in real time, storing the map with marked types of the cleaning surface in the processor, for instance zones with tiled floor, continuing mission of cleaning the cleaning space, till the wet cleaning is finished, and then when the docking station is not available for the robot cleaner, the robot cleaner moves to the tiled floor or other water resistant surface, based on the stored in the processor information about type of the cleaned surface. Alternatively, when the tiled floor or other water resistant surface for instance a stoned floor is not available for the robot cleaner then, the robot cleaner stops water supply to mopping the mop pad and drives through the cleaning surface until the battery runs out or user intervention. Then the robot cleaner stops / waiting for user input, for instance for charging or moving to the docking station.

[0015] In another embodiment of the invention, there is provided a method of controlling a robot vacuum and mop cleaner, the method which comprises: obtaining a map of the cleaning space the map with marked types of the cleaning surface by the external device, sending the map from the external device to the processor via the transmitting-receiving unit, start wet cleaning the cleaning space, continuing mission of cleaning the cleaning space, till the wet cleaning is finished, and then when the docking station is not available for the robot cleaner, the robot cleaner moves to the tiled floor or other water resistant surface, based on the stored in the processor information about type of the cleaned surface. Alternatively, when the tiled floor or other water resistant surface for instance a stoned floor is not available for the robot cleaner then, the robot cleaner stops water supply to mopping the mop pad and drives through the cleaning surface until the battery runs out or user intervention. Then the robot cleaner stops / waiting for user input, for instance for charging or moving to the docking station.

[0016] Advantageously the method of controlling the robot cleaner allowing to reach safe place for parking the robot cleaner having moistened mop pad, for instance on the tiled floor when the docking station is not available, or forcing the robot cleaner to the constant motion for drying the mop pads if the docking station and the water resistant floor is not available. This is possible because the processor of the robot cleaner is provided with the map of cleaning space with marked moisture-resistant floor. The map is created by the sensor unit and the detecting device for detecting the floor type, in particular for the identification of moisture-resistant floor coverings for instance a tiled floor or a stoned floor. Another possibility is that the map of cleaning space with marked moisture-resistant floor is transferred from the external device to the robot cleaner. Thereby preventing non-water-resistant flooring (for example wooden floor) from damage.

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principle of the invention.

[0018] In the drawings: Fig. 1 is a perspective view illustrating a robot cleaner, Fig. 2 is a perspective view illustrating a cleaning space in accordance with one embodiment of the present invention, Fig. 3 presents the algorithm for preventing floor damage.

[0019] Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

[0020] Herein, sizes or shapes of elements shown in the drawings may be exaggerated for clarity and convenience of description. Further, terms specifically defined in consideration of the configuration and functions of the present invention may be varied according to the intention of a user or an operator or usual practice. The definitions of these terms should be determined based on the whole content of this specification.

[0021] Referring to the drawings Figs.1 - 3 a robot cleaner 1 in accordance with one of the preferred embodiment of the present invention comprises a body 2 provided with a moistened mop pad 5 and comprising a sensor unit 4 for preparing a map of a cleaning space 10, a processor 7 with w memory for storing and processing an operational data, a floor detecting device 8 provided on one side of the bottom surface of the body 2 to detect a type of a cleaning surface 3 to be cleaned and sending a floor type detection signal to the processor 7, a transmitting-receiving unit 9 communicated with the processor 7 for transmitting data from the robot cleaner 1 to an external device 11 and receiving data from the external device 11. The external device 11 is a smartphone or a tablet, communicated with the robot 1 by transmitting-receiving unit 9 via a WIFI connection and / or a Bluetooth connection. The movement of the robot cleaner 1 is ensured by wheels 6. The external device 11 is provided with the camera 13. The robot cleaner also comprises a camera 12 attached to the robot cleaner 1 perpendicular to the cleaning surface 3 and adapted to create an image of the cleaning surface 3. The processor 7 is adapted to recognize the type of the cleaning surface 3 based on the image created by a camera 12. The transmitting-receiving unit 9 is adapted to receive the map of the cleaning space 10 from the external device 11 having a camera 13, wherein the external device 11 is adapted to prepare the map of the cleaning space 10 based on an image of the cleaning space 10 and an image of the cleaning surface 3 created by the camera 13. This can be done before the robot vacuum cleaner 1 starts cleaning. The map of the cleaning space 10 is being obtained also by the sensor unit 4 during cleaning the cleaning space 10 and also with marked type of a cleaning surface 3 detected by the floor detecting device 8. Then, the map with marked types of the cleaning surface 3 is stored in the processor 7, for instance there are marked zones with tiled floor. The user can choose which map will be used by the robot cleaner or it is chosen automatically based on the stored by user preferences. The robot cleaner 1 continues mission of cleaning the cleaning space 10, until scheduled wet cleaning is completed, when the cleaning is completed and the docking station 14 is not available for the robot cleaner 1, for example because of a closed door, the robot cleaner 1 moves to the tiled floor or other water resistant surface, based on the stored in the processor 7 the map with information about type of the cleaned surface 3. When the tiled floor is reached, then the robot cleaner stops / waiting for user input, for instance for charging. Alternatively, when the tiled floor or other water resistant surface for instance stoned floor is not available for the robot cleaner 1 then, the robot cleaner 1 stops water supply to the mop pad 5 and drives through the cleaning surface 3 for drying the mop pad 5, until the battery runs out or user intervention. Then the robot cleaner stops / waiting for user input, for instance for charging or moving to the docking station 14 by a user.

[0022] It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope of the invention. Thus, it is intended that the present invention covers the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.List of reference signs

[0023] 1robot vacuum and mop cleaner 2body 3cleaning surface 4sensor unit 5mop pad 6drive wheel 7processor 8detecting device 9transmitting-receiving unit 10cleaning space 11external device 12camera 13camera 14docking station

Claims

1. A robot vacuum and mop cleaner (1) having a body (2) provided with a mop pad (5) and comprising a sensor unit (4) for preparing a map of a cleaning space (10), a processor (7) with w memory for storing and processing an operational data, a floor detecting device (8) provided on one side of the bottom surface of the body (2) to detect a type of a cleaning surface (3) to be cleaned and sending a floor type detection signal to the processor (7), a transmitting-receiving unit (9) communicated with the processor (7) for transmitting data from the robot cleaner (1) to an external device (11) and receiving data from the external device (11).

2. The robot cleaner according to claim 1, characterized in that it comprises a camera (12) attached to the robot cleaner (1) perpendicular to the cleaning surface (3) and adapted to create an image of the cleaning surface (3), and in that the processor (7) is adapted to recognize the type of the cleaning surface (3) based on the image created by a camera (12).

3. The robot cleaner according to claim 1 or 2, characterized in that the transmitting-receiving unit (9) is adapted to receive the map of the cleaning space (10) from the external device (11) having a camera (13), wherein the external device (11) is adapted to prepare the map of the cleaning space (10) based on an image of the cleaning space (10) and an image of the cleaning surface (3) created by the camera (13).

4. A method of controlling a robot vacuum and mop cleaner (1) according to claim 1, the method comprising: - start wet cleaning the cleaning space (10), - obtaining a map of the cleaning space (10) by the sensor unit (4), - detecting type of a cleaning surface (3) by the floor detecting device (8), - storing the map with marked types of the cleaning surface (3) in the processor (7), - continuing mission of cleaning the cleaning space (10), till the wet cleaning is finished, and then - when the docking station (14) is not available for the robot cleaner (1), the robot cleaner (1) moves to the tiled floor or other water resistant surface, based on the stored in the processor (7) information about type of the cleaned surface (3), - alternatively, when the tiled floor or other water resistant surface is not available for the robot cleaner (1) then, the robot cleaner (1) stops water supply to mopping the mop pad (5) and drives through the cleaning surface (3) until the battery runs out or user intervention. - stop / waiting for user input.

5. A method of controlling a robot vacuum and mop cleaner (1) according to claim 2, the method comprising: - start wet cleaning the cleaning space (10), - obtaining a map of the cleaning space (10) by the sensor unit (4), - taking an image of the cleaning surface (3) by the camera (12) in real time and sending to the processor (7), - recognition the type of the cleaning surface by the processor (7) in real time, - storing the map with marked types of the cleaning surface (3) in the processor (7), - continuing mission of cleaning the cleaning space (10), till the wet cleaning is finished, and then - when the docking station (14) is not available for the robot cleaner (1), the robot cleaner (1) moves to the tiled floor or other water resistant surface, based on the stored in the processor (7) information about type of the cleaned surface (3), - alternatively, when the tiled floor or other water resistant is not available for the robot cleaner (1) then, the robot cleaner (1) stops water supply to mopping the mop pad (5) and drives through the cleaning surface (3) until the battery runs out or user intervention. - stop / waiting for user input.

6. A method of controlling a robot vacuum and mop cleaner (1) according to claim 3, the method comprising: - obtaining a map of the cleaning space (10) the map with marked types of the cleaning surface (3) by the external device (11), - sending the map from the external device (11) to the processor (7) via the transmitting-receiving unit (9), - start wet cleaning the cleaning space (10), - continuing mission of cleaning the cleaning space (10), till the wet cleaning is finished, and then - when the docking station (14) is not available for the robot cleaner (1), the robot cleaner (1) moves to the tiled floor or other water resistant surface, based on the stored in the processor (7) information about type of the cleaned surface (3), - alternatively, when the tiled floor or other water resistant surface is not available for the robot cleaner (1) then, the robot cleaner (1) stops water supply to mopping the mop pad (5) and drives through the cleaning surface (3) until the battery runs out or user intervention. - stop / waiting for user input.

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