Robot cleaner and controlling method of robot cleaner

Abstract

The present invention relates to a robot vacuum cleaner and comprises a body that accommodates a battery and at least one motor inside, a driving unit that moves the body, and a wet cleaning unit that is positioned at the rear of the driving unit and wipes a floor surface. The body has the effect of preventing the liquid from spreading to the surroundings by driving backward toward the location where the liquid is present when liquid is present on the floor surface, and wiping away the liquid while collecting it.

Description

Technology Field

[0001] The present invention relates to a robot vacuum cleaner, a robot vacuum cleaner, and a control method for a robot vacuum cleaner, and more specifically, to a robot vacuum cleaner and a control method for a robot vacuum cleaner that wipes up liquid spilled on a floor surface. Background Technology

[0003] A vacuum cleaner is a device that performs cleaning by sucking up or wiping away dust or foreign matter from an area to be cleaned.

[0004] These vacuum cleaners can be classified into manual vacuum cleaners, which are operated by the user moving the vacuum cleaner themselves, and automatic vacuum cleaners, which operate by driving themselves.

[0005] Here, the robot vacuum cleaner autonomously navigates within the area to be cleaned and sucks up foreign substances such as dust from the floor. Additionally, the robot vacuum cleaner can automatically navigate and clean the cleaning area using obstacle sensors and other sensors, or it can be manually controlled to navigate and clean using a remote control wirelessly connected to the robot vacuum. The problem to be solved

[0008] The present invention was created to improve upon the problems of conventional robot vacuum cleaners and control methods for robot vacuum cleaners as described above, and aims to provide a robot vacuum cleaner and a control method for robot vacuum cleaner that wipes up liquid spilled on a floor surface so that the liquid does not spread to the surroundings during the cleaning process.

[0009] In addition, the purpose is to provide a robot vacuum cleaner and a control method for the robot vacuum cleaner that can prevent the floor surface from being contaminated by liquid adhering to the wheels as the robot vacuum cleaner moves. means of solving the problem

[0011] To achieve the above-mentioned purpose, the robot vacuum cleaner according to the present invention comprises: a body that accommodates a battery and at least one motor inside; a driving unit that moves the body; and a wet cleaning unit disposed at the rear of the driving unit and wipes a floor surface, wherein the body moves backward toward the location where the liquid is present when liquid is present on the floor surface.

[0012] At this time, the body can move forward and away from the location where the liquid is present.

[0013] In addition, the body can clean the location where the liquid is present by repeatedly moving backward and forward in parallel at a preset interval.

[0014] Meanwhile, when the body travels along a first direction and reaches the outer edge of the region where the liquid is present, it can travel along a second direction perpendicular to the first direction to the location where the liquid is present.

[0015] Meanwhile, the above body can start reverse driving from a plurality of points centered on the location where the liquid is present.

[0016] Meanwhile, the wet cleaning unit includes a pair of mops that wipe the floor surface by rotation; and the direction of rotation of the mops when wiping the floor surface while moving backward may be opposite to the direction of rotation of the mops when wiping the floor surface while moving forward.

[0017] Meanwhile, to achieve the above-mentioned purpose, the control method of a robot vacuum cleaner according to the present invention may include: a liquid detection step of detecting a liquid on a floor surface; a zone setting step of setting a zone in an area where the liquid exists after the liquid detection step; and a cleaning step of cleaning while driving in the area where the liquid exists.

[0018] At this time, the cleaning step includes a reverse cleaning step of driving backward over the area where the liquid is present.

[0019] Additionally, the cleaning step may include a forward driving step of driving forward after the reverse cleaning step.

[0020] Meanwhile, in the above cleaning step, when reaching the outer edge of the area where the liquid is present, the area where the liquid is present can be driven by reversing along a direction intersecting with the direction driven in the above reverse cleaning step.

[0021] Meanwhile, in the above-mentioned area setting step, an origin point may be set on the area where the liquid exists, and a circular target area centered on the origin point may be set.

[0022] Meanwhile, in the above-mentioned area setting step, the target area can be divided based on the origin.

[0023] Therefore, in the above cleaning step, the liquid can be collected toward the above origin. Effects of the invention

[0025] As explained above, according to the robot vacuum cleaner and the control method of the robot vacuum cleaner of the present invention, when liquid is spilled on a floor surface, a predetermined origin point is set, and the liquid is collected at the origin point and wiped away, thereby preventing the liquid from spreading to the surroundings.

[0026] In addition, when cleaning liquid, the cleaning is performed while moving in reverse, so that the cloth positioned behind the wheel wipes the liquid before the wheel, thereby preventing the wheel from being contaminated by the liquid. Brief explanation of the drawing

[0028] FIG. 1 is a drawing for explaining a robot vacuum cleaner according to an embodiment of the present invention. Figure 2 is a side view of Figure 1. Figure 3 is a bottom view of Figure 1. Figure 4 is a rear view of Figure 1. FIG. 5 is a diagram illustrating the control of a robot vacuum cleaner according to an embodiment of the present invention. FIG. 6 is a flowchart illustrating a control method for a robot vacuum cleaner according to an embodiment of the present invention. FIGS. 7 to 22 are drawings illustrating a robot vacuum cleaner driving according to a control method of a robot vacuum cleaner according to an embodiment of the present invention. Specific details for implementing the invention

[0029] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings.

[0030] The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the present invention to specific embodiments, and should be interpreted to include all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0031] In describing the present invention, terms such as "first," "second," etc., may be used to describe various components, but said components may not be limited by said terms. Such terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0032] The term "and / or" may include a combination of multiple related listed items or any of the multiple related listed items.

[0033] When it is stated that one component is "connected" or "connected" to another component, it can be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it can be understood that there are no other components in between.

[0034] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. Singular expressions may include plural expressions unless the context clearly indicates otherwise.

[0035] In this application, terms such as “comprising” or “having” are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0036] Unless otherwise defined, all terms used herein, including technical or scientific terms, may have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries may be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and may not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0037] In addition, the following embodiments are provided to explain more completely to those with average knowledge in the industry, and the shapes and sizes of the elements in the drawings may be exaggerated for clearer explanation.

[0039] Meanwhile, FIGS. 1 to 4 disclose drawings for explaining a robot vacuum cleaner according to an embodiment of the present invention.

[0040] Referring to Figures 1 to 4, the structure of the robot vacuum cleaner (1) is described as follows.

[0041] The robot vacuum cleaner (1) can automatically clean the area to be cleaned by driving itself through the area to be cleaned and sucking up foreign substances such as dust from the floor.

[0042] A robot vacuum cleaner (1) according to an embodiment of the present invention is configured to be placed on a floor and move along the floor surface to clean the floor. Accordingly, the following description will define the up and down directions based on the state in which the robot vacuum cleaner (1) is placed on the floor.

[0043] And based on a pair of wheels (161), the side where the auxiliary wheel (111a), which will be described later, is positioned is designated as the front, and the side where the wet cleaner (140), which will be described later, is positioned is designated as the rear. Also, based on the perspective of looking at the auxiliary wheel (111a) from the wet cleaner (140), the left side is designated as the left and the right side is designated as the right.

[0044] The 'lowest part' of each component described in the embodiment of the present invention may be the part located lowest in each component when the robot vacuum cleaner (1) according to the embodiment of the present invention is placed on the floor for use, or the part closest to the floor.

[0045] A robot vacuum cleaner (1) according to an embodiment of the present invention comprises a body (110), a dust bin (120), a water tank (130), a wet cleaning unit (140), a dry cleaning unit (150), and a driving unit (160).

[0046] The body (110) can form the overall shape of the robot vacuum cleaner (1). Each part of the robot vacuum cleaner (1) can be combined with the body (110), and some parts of the robot vacuum cleaner (1) can be accommodated inside the body (110).

[0047] Specifically, the body (110) may be equipped with parts of the robot vacuum cleaner (1) in its internal space. For example, the body (110) may accommodate a battery and at least one motor in its internal space.

[0048] In an embodiment of the present invention, the body (110) may be formed in a shape in which the width (or diameter) in the horizontal direction (in the direction parallel to X and Y) is greater than the height in the vertical direction (in the direction parallel to Z). Such a body (110) helps the robot vacuum cleaner (1) form a stable structure and can provide a structure advantageous for avoiding obstacles while the robot vacuum cleaner (1) moves (drives).

[0049] When viewed from above or below, the body (110) can be made in various shapes, such as circular, elliptical, or square.

[0050] The body (110) can be configured by dividing it into a lower body and an upper body, and the lower body and the upper body can be combined to form a space inside.

[0051] The lower body can be combined with the upper body to form a space capable of accommodating a battery, at least one sensor, and at least one motor inside.

[0052] In the lower body, an intake part (111) into which air is introduced and a hole for accommodating a pair of wheels (161) may be formed.

[0053] The suction part (111) may be a passage through which dust from the bottom surface is introduced. Additionally, the suction part (111) may be in communication with a suction passage (not shown) formed inside the body (110), and the suction passage may be in communication with the internal space of the dust container (120).

[0054] Meanwhile, the lower body may be further provided with an exhaust passage. One side of the exhaust passage may be in communication with the internal space of the dust bin (120), and the other side may be in communication with the exhaust port. At this time, a filter may be placed in the exhaust port.

[0055] With this configuration, air introduced through the intake section (111) flows into the dust bin (120) through the intake path and can be discharged to the exhaust port through the exhaust path.

[0056] The suction part (111) can rotatably accommodate an agitator (151) of a dry cleaning part (150) to be described later. With this configuration, dust around the suction part (111) can be guided into the suction part (111) by the rotation of the agitator (151), and the efficiency of sucking dust can be increased.

[0057] The upper body can form the upper exterior of the robot vacuum cleaner (1). Although not illustrated, the upper body may be equipped with a display.

[0058] Although not illustrated, the robot vacuum cleaner (1) of the present invention may include a bumper. The bumper is formed to be attached along the edge of the body (110) and to move relative to the body (110).

[0059] The bumper may be attached along a portion of the edge of the body (110) or along the entire edge of the body (110). At least one elastic member (not shown) may be provided between the bumper and the body (110). With this configuration, when the bumper comes into contact with an obstacle or the like and moves relative to the center of the body (110), the bumper can return to its original position by the restoring force of the elastic member (not shown), and can absorb or disperse the impact applied to the bumper, thereby preventing and reducing the transmission of impact to the body (110).

[0060] The auxiliary wheel (111a) is provided on the lower side of the body (110) and can roll on the floor surface (surface to be cleaned). The auxiliary wheel (111a) can support the body (110) on the floor surface together with a pair of wheels (161). With this configuration, the auxiliary wheel (111a) can guide the movement of the robot vacuum cleaner (1) while minimizing friction between the robot vacuum cleaner (1) and the floor surface.

[0062] The dustbin (120) may be equipped to suck in external dust and air and store dust.

[0063] The dust container (120) can store dust that enters through the suction path. The dust container (120) may have a dust inlet that communicates with the suction path, an internal space for storing dust, and an air outlet for discharging air.

[0064] The dustbin (120) may be provided inside the body (110). At this time, the dustbin (120) may be fixedly connected to the body (110) or, depending on the embodiment, may be provided so as to be detachable.

[0065] Meanwhile, in the present invention, a dust discharge channel may be formed in the dust bin (120). The dust discharge channel may connect the internal space of the dust bin (120) with the external space of the robot vacuum cleaner (1). With such a configuration, when dust is collected through the robot vacuum cleaner station (100), the dust inside the dust bin (120) can be removed.

[0066] Meanwhile, a dust outlet (121) communicating with the dust discharge path may be formed in the dust container (120) according to an embodiment of the present invention. For example, the dust outlet (121) may be formed on one side of the rear of the outer surface (or outer circumference) of the body (110). For another example, the dust outlet (121) may be formed on the outer surface of the dust container (120).

[0067] In addition, the robot vacuum cleaner (1) according to an embodiment of the present invention may be provided with a dust bin door (122) capable of selectively opening and closing the dust discharge port (121). Specifically, the dust bin door (122) may be coupled to the body (110) and positioned to block the dust discharge port (121). For example, the dust bin door (122) may be formed of a rubber or resin material and configured to be flip-floppy, so that one side may be fixedly coupled to the body (110).

[0069] The water container (130) is formed in the shape of a container having an internal space for storing a liquid such as water. The water container (130) is placed inside the body (110), and may be fixedly connected to the body (110) or detachably connected to the body (110).

[0070] The water tank (130) includes a supply unit (131) and a nozzle (not shown). The supply unit (131) may be provided to supply a liquid, such as water, from the outside. For example, the supply unit (131) may have an inlet formed on the rear side of the outer surface (or outer circumference) of the body (110) and may be connected to a storage space inside the water tank (130) through a water supply hose.

[0071] At this time, the supply unit (131) may be positioned on the opposite side of the left and right direction of the robot vacuum cleaner (1) in relation to the dust outlet (121). For example, if the dust outlet (121) is positioned on the rear left side of the body (110), the supply unit (131) may be positioned on the rear right side of the body (110).

[0072] Meanwhile, the nozzle (not shown) is formed in the shape of a tube or pipe and is connected to the water tank (130) so that the liquid inside the water tank (130) can flow through it. One end of the nozzle (not shown) is connected to the water tank (130), and the other end is positioned above each of a pair of rotating plates (141), thereby allowing the liquid inside the water tank (130) to be supplied to each of a pair of rags (142).

[0073] That is, the nozzle (not shown) may be formed in a shape where one tube is branched into two, and in this case, one of the branched ends may be located on the upper side of the left rotating plate, and the other branched end may be located on the upper side of the right rotating plate.

[0074] Meanwhile, the water tank (130) is equipped with a water pump (132) to allow water inside the water tank (130) to flow to a nozzle (not shown). Therefore, when the water pump (132) of the water tank (130) is operated, the liquid stored inside the water tank (130) can be discharged to a wet cleaning unit (140) through a nozzle (not shown).

[0075] A water pump (132) may be provided to control the amount of liquid (water) supplied to a mop (142) during a cleaning operation of a robot vacuum cleaner (1) according to a control signal from a control unit (190). The control unit (190) may control the driving time of a motor that drives the water pump (132) to control the amount of water supplied.

[0076] The wet cleaning unit (140) includes a rotating plate (141) and a mop (142).

[0077] The rotating plate (141) may be provided as a pair including a left rotating plate (141a) and a right rotating plate (141b), and the mop (142) may be provided as a pair including a left mop (142a) and a right mop (142b).

[0078] The rotating plate (141) can be rotatably positioned on the bottom surface of the body (110), and the mop (142) can be attached to the lower side.

[0079] The rotating plate (141) is formed to have a predetermined area and is formed in the shape of a flat plate or a flat frame. This rotating plate (141) is generally laid horizontally, and accordingly, is formed in a shape where the width (or diameter) in the horizontal direction is sufficiently larger than the height in the vertical direction. The rotating plate (141) attached to the body (110) may be parallel to the bottom surface (B) or may be inclined with respect to the bottom surface (B). The rotating plate (141) may be formed in the shape of a circular plate, the bottom surface of the rotating plate (141) may generally be circular, and the rotating plate (141) may be formed in a rotationally symmetrical shape overall.

[0080] A pair of rotating plates (141) can be symmetrical to each other.

[0081] The mop (142) can be attached to the lower side of the rotating plate (141) so as to face the bottom surface (B).

[0082] The mop (142) is formed such that the bottom surface facing the floor has a predetermined area, and the mop (142) is formed in a flat shape. The mop (142) is formed such that the width (or diameter) in the horizontal direction is sufficiently larger than the height in the vertical direction. When the mop (142) is attached to the body (110), the bottom surface of the mop (142) may be parallel to the bottom surface (B) or may be inclined with respect to the bottom surface (B).

[0083] The bottom surface of the mop (142) can generally be circular, and the mop (142) can be formed in a rotationally symmetrical shape overall. Additionally, the mop (142) can be attached to the bottom surface of the rotating plate (141) and can be coupled to the rotating plate (141) to rotate together with the rotating plate (141).

[0084] Meanwhile, although not illustrated, the wet cleaning unit (140) may be equipped with a wet cleaning motor (143) that applies rotational force to a rotating plate (141). For example, the wet cleaning motor (143) may be equipped with a motor and at least one gear. Thus, when the wet cleaning motor (143) is operated, the rotating plate (141) and the mop (142) rotate to wipe and clean the floor surface. As an example, it is possible to provide a pair of wet cleaning motors (143) to control each of the pair of rotating plates (141). In this case, it is also possible to control the rotational speeds of the pair of rotating plates (141) differently. Alternatively, it is possible to use a single wet cleaning motor (143) and, through a gear, make the rotational directions of the pair of rotating plates (141) opposite to each other.

[0086] The dry cleaner (150) includes an agitator (151), an agitator motor (152), and a suction motor (153).

[0087] The agitator (151) is rotatably equipped with a plurality of brushes to guide external dust and air into the dust bin (120). At this time, the dry cleaner (150) is equipped with at least one gear to transmit power from the agitator motor (152) to the agitator (151).

[0088] The agitator motor (152) can generate rotational power for the agitator (151). Meanwhile, in addition to the separate agitator motor (152) installed according to the present embodiment to generate rotational power, it is also possible to receive rotational power from the driving motor (162) according to the embodiment, and it is also possible to receive rotational power from the wet cleaning motor (143) of the wet cleaning unit (140).

[0089] The suction motor (153) can generate a suction force capable of sucking in external dust and air through the suction section (111). For example, the suction motor (153) may be an electric motor. External dust and air can be drawn into the suction section (111) by the suction force generated by the suction motor (153), and after passing through the suction path, can reach the dust bin (120).

[0091] The driving unit (160) includes a wheel (161) and a driving motor (162).

[0092] The wheel (161) may be provided on the bottom surface of the body (110) and may be connected to a driving motor (162). At this time, the driving motor (162) may be coupled to the body (110).

[0093] The wheel (161) is provided on the body (110) and can roll on the bottom surface.

[0094] The wheel (161) may be composed of a first driving wheel and a second driving wheel. In this case, the first driving wheel may be formed identically to the second driving wheel, or may be formed symmetrically. For example, if the first driving wheel is located on the left side of the robot vacuum cleaner (1), the second driving wheel may be located on the right side of the robot vacuum cleaner (1), and in this case, the first driving wheel and the second driving wheel may be symmetrical to each other.

[0095] A driving drive unit (not shown) may be formed to include a driving motor (162) and a gear. At this time, the driving motor (162) is housed inside the body (110) and can provide power to the wheel (161). The driving motor (162) may include a first driving motor and a second driving motor.

[0096] The driving motor (162) may be an electric motor. Multiple gears are configured to mesh and rotate with each other, connecting the driving motor (162) and the wheel (161), and transmitting the rotational power of the driving motor (162) to the wheel (161). Thus, when the shaft of the driving motor (162) rotates, the wheel (161) can rotate.

[0097] With this configuration, when the driving motor (162) is operated, the wheel (161) rotates, and the body (110) can drive on the floor at a predetermined driving speed.

[0099] The battery (170) is coupled to the body (110) and configured to supply power to other components forming the robot vacuum cleaner (1). The battery (170) can supply power to at least one motor equipped in the robot vacuum cleaner (1). For example, the battery (170) can supply power to motors equipped in the wet cleaning unit (140), the dry cleaning unit (150), and the driving unit (160).

[0100] In addition, the battery (170) can supply power to the sensor unit (180) and the control unit (190).

[0101] The battery (170) can be charged by an external power source, and for this purpose, a charging terminal (171) for charging may be provided on one side of the body (110). For example, the charging terminal (171) may be positioned on the rear side of the outer surface of the body (110).

[0103] Meanwhile, FIG. 5 illustrates a configuration for controlling a robot vacuum cleaner (1) according to one embodiment of the present invention.

[0104] Referring to FIG. 5, a robot vacuum cleaner (1) according to one embodiment of the present invention further includes a sensor unit (180) and a control unit (190).

[0105] The sensor unit (180) may include at least one of an external signal detection sensor (181), a front detection sensor (182), a cliff sensor (183), a lower camera sensor (184), and an upper camera sensor (185).

[0106] The external signal detection sensor (181) can detect external signals of the robot vacuum cleaner. The external signal detection sensor (181) may be, for example, an infrared ray sensor, an ultrasonic sensor, a radio frequency sensor, etc. Through the external signal detection sensor (181), the distance to a robot vacuum cleaner station (not shown), a charging dock, or another robot vacuum cleaner can be detected, or information can be transmitted and received.

[0107] Meanwhile, the front detection sensor (182) is positioned on at least one side of the robot vacuum cleaner (1) to detect obstacles in front, and the front detection sensor (182) can detect objects, particularly obstacles, existing in the direction of movement of the robot vacuum cleaner (1) and transmit detection information to the control unit (190). That is, the front detection sensor (182) can detect protrusions, household items, furniture, walls, wall corners, etc. existing on the movement path of the robot vacuum cleaner (1) and transmit the information to the control unit (190).

[0108] The front sensing sensor (182) may be, for example, an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, etc., and the robot vacuum cleaner (1) may use one type of sensor as the front sensing sensor (182) or use two or more types of sensors together as needed.

[0109] For example, an ultrasonic sensor can generally be used to detect obstacles at a distance. The ultrasonic sensor is equipped with a transmitter and a receiver, and the control unit (190) can determine the presence of an obstacle by determining whether the ultrasonic waves emitted through the transmitter are reflected by an obstacle or the like and received by the receiver, and can calculate the distance to the obstacle using the ultrasonic radiation time and the ultrasonic reception time.

[0110] As another example, an infrared sensor can also detect obstacles located in front or on the side and transmit obstacle information to the control unit (190). That is, the infrared sensor detects protrusions, household items, furniture, walls, wall corners, etc. located on the movement path of the robot vacuum cleaner (1) and transmits the information to the control unit (190). Thus, the robot vacuum cleaner can move within a specific area without the main body colliding with obstacles.

[0111] Meanwhile, the cliff sensor (183) can detect obstacles on the floor supporting the body (110) by mainly using various types of light sensors.

[0112] That is, the cliff sensor (183) is located on the lower surface of the body (110) to detect obstacles on the floor surface, and the cliff sensor (183) may be an infrared sensor, an ultrasonic sensor, an RF sensor, a PSD (Position Sensitive Detector) sensor, etc., equipped with a light-emitting part and a light-receiving part like the obstacle detection sensor (182).

[0113] For example, one of the cliff sensors (183) may be installed at the front of the robot vacuum cleaner (1), and the other two cliff sensors (183) may be installed relatively at the rear.

[0114] For example, the cliff sensor (183) may be a PSD sensor, but may also be composed of multiple different types of sensors.

[0115] A PSD sensor is a type of infrared sensor that uses infrared light to measure distance by transmitting the light and measuring the angle of the infrared rays reflected back from an obstacle. In other words, the PSD sensor calculates the distance to an obstacle using a triangulation method.

[0116] The control unit (190) can detect a cliff and analyze its depth by measuring the infrared angle between the infrared emission signal emitted by the cliff sensor (183) toward the ground and the reflected signal received after being reflected by an obstacle.

[0117] Meanwhile, the control unit (190) can determine whether to pass based on the ground condition of the cliff detected using the cliff sensor (183), and can determine whether to pass the cliff based on the result of the determination. For example, the control unit (190) determines the existence of the cliff and the depth of the cliff through the cliff sensor (183), and then allows the device to pass the cliff only when a reflected signal is detected through the cliff sensor (183).

[0118] As another example, the control unit (190) may determine the lifting phenomenon of the robot vacuum cleaner (1) using a cliff sensor (183).

[0119] Meanwhile, the lower camera sensor (184) is provided on the lower side of the robot vacuum cleaner (1) to acquire image information of the downward side, that is, the floor surface (or surface to be cleaned), while moving. The lower camera sensor (184) is also referred to as an optical flow sensor. The lower camera sensor (184) converts the downward image input from the image sensor provided within the sensor to generate image data of a predetermined format. The generated image data can be stored in memory.

[0120] Additionally, one or more light sources may be installed adjacent to the image sensor. The one or more light sources illuminate a specific area of ​​the floor surface captured by the image sensor. That is, when the robot vacuum cleaner (1) moves along a specific area of ​​the floor surface, if the floor surface is flat, a certain distance is maintained between the image sensor and the floor surface. On the other hand, when the robot vacuum cleaner moves along a floor surface with an uneven surface, it moves further away than a certain distance due to the irregularities and obstacles on the floor surface. At this time, the one or more light sources may be controlled by a control unit (190) to adjust the amount of light being illuminated. The light source may be a light-emitting element capable of adjusting the amount of light, such as an LED (Light Emitting Diode).

[0121] By using the lower camera sensor (184), the control unit (190) can detect the position of the robot vacuum cleaner regardless of the sliding of the robot vacuum cleaner (1). The control unit (190) can calculate the distance traveled and the direction of movement by comparing and analyzing the image data captured by the lower camera sensor (184) over time, and calculate the position of the robot vacuum cleaner based on this.

[0122] Meanwhile, the upper camera sensor (185) is installed to face upward or forward of the robot vacuum cleaner (1) so as to photograph the surroundings of the robot vacuum cleaner (1). When the robot vacuum cleaner (1) is equipped with a plurality of upper camera sensors (185), the camera sensors may be formed on the upper or side surface of the robot vacuum cleaner at a certain distance or angle.

[0123] Meanwhile, the sensor unit (180) may be configured to detect the movement (relative movement) of the bumper relative to the body (110). This bumper sensor (186) may be implemented using a microswitch, a photo interrupter, or a tact switch.

[0124] Meanwhile, the sensor unit (180) may further include a displacement sensor (187). The displacement sensor (187) is positioned on the lower side (back side) of the body (110) and can measure the distance traveled along the bottom surface.

[0125] Meanwhile, the sensor unit (180) may further include an angle sensor (188). The angle sensor (188) is positioned inside the body (110) and can measure the movement angle of the body (110). As an example, the angle sensor (188) may use a gyro sensor that measures the rotational speed of the body (110). The gyro sensor can detect the direction of the robot vacuum cleaner (1) using the rotational speed.

[0126] With this configuration, the angle sensor can detect the angle with respect to the direction in which the robot vacuum cleaner (1) is moving relative to a predetermined virtual line.

[0128] Meanwhile, the control unit (190) may be configured to control the operation of the driving motor (162) according to pre-set information or real-time information. For the control of the control unit (190), the robot vacuum cleaner (1) may be provided with a storage medium in which an application program is stored, and the control unit (190) may be configured to control the robot vacuum cleaner (1) by running the application program according to information input to the robot vacuum cleaner (1), information output from the robot vacuum cleaner (1), etc.

[0129] The control unit (190) can control the driving direction of the robot vacuum cleaner (1). That is, the control unit (190) can control the rotational speed of each of the pair of driving motors (162).

[0130] At this time, the control unit (190) can control the robot vacuum cleaner (1) to drive in a straight line or to drive back and forth in a straight line, and it is also possible to control it to drive in an overlapping manner over a predetermined area. In addition, the control unit (190) can control the robot vacuum cleaner (1) to drive along a preset driving pattern.

[0131] The control unit (190) can control the robot vacuum cleaner (1) so that it can perform avoidance maneuvers when the bumper of the robot vacuum cleaner (1) comes into contact with an obstacle, and can control the operation of the driving motor (162) according to information from the sensor unit (180). For example, when the bumper of the robot vacuum cleaner (1) comes into contact with an obstacle while driving, the location where the bumper came into contact can be identified by the sensor unit (180), and the control unit (190) can control the operation of the driving motor (162) to move away from this contact location.

[0132] The control unit (190) can control the operation of the driving motor (162) so that, depending on the information from the sensor unit (180), when the distance between the robot vacuum cleaner (1) and the obstacle is less than or equal to a predetermined value, the driving direction of the robot vacuum cleaner (1) is changed or the robot vacuum cleaner (1) moves away from the obstacle.

[0133] Additionally, the control unit (190) can control the operation of the driving motor (162) so that the robot vacuum cleaner (1) stops or the driving direction is changed according to the distance detected by the sensor unit (180).

[0134] The control unit (190) can control the water pump (132). The water pump (132) can be configured to adjust the amount of liquid (water) supplied to the mop (142) during the cleaning operation of the robot vacuum cleaner (1) according to the control signal of the control unit (190). The control unit (190) can control the time for driving the water pump (132) to adjust the amount of water supplied.

[0135] The control unit (190) can control the wet cleaning unit (140). Specifically, the control unit (190) can control the output of the wet cleaning motor (143). That is, the control unit (190) can control the rotational speed and rotational direction of the wet cleaning motor (143). Accordingly, the control unit (190) can control the rotational speed and rotational direction of the mop (142).

[0136] The control unit (190) can control the dry cleaning unit (150). Specifically, the control unit (190) can control the output of the suction motor (153). That is, the control unit (190) can control the rotational speed of the suction motor (153). In addition, the control unit (190) can also control the rotational speed of the agitator (151) by controlling the agitator motor (152).

[0137] Additionally, the control unit (190) can control the output of the suction motor (153) according to the amount of dust on the floor surface. That is, the control unit (190) can detect the amount of dust present on the floor surface through the sensor unit (180), and if it is determined that the amount of dust present on the floor surface is greater than a predetermined standard value, the output of the suction motor (153) can be increased.

[0139] FIG. 6 shows a flowchart for explaining a control method of a robot vacuum cleaner according to an embodiment of the present invention, and FIG. 7 to 22 show drawings for explaining a control method of a robot vacuum cleaner according to an embodiment of the present invention.

[0140] Referring to FIGS. 6 to 22, a control method for a robot vacuum cleaner according to an embodiment of the present invention is described as follows.

[0141] As a premise of the present invention, the robot vacuum cleaner (1) may include information regarding the surface to be cleaned. That is, a map of the cleaning area may be stored in the memory of the robot vacuum cleaner (1). For example, the information regarding the surface to be cleaned may be map information mapped by the robot vacuum cleaner (1) itself.

[0142] In contrast, if a map of the cleaning area is not stored in the robot vacuum cleaner (1), or if a drawing of a new map is required, the cleaning area can be driven by wall following to generate (mapping) the map. Additionally, the robot vacuum cleaner (1) can generate a map using obstacle information obtained while performing cleaning of the cleaning area in the absence of a map.

[0143] Additionally, the sensor unit (180) can detect obstacles including walls, etc., while the robot vacuum cleaner (1) is driving or before it starts driving, and the robot vacuum cleaner (1) can generate a map of the floor surface (B) through this obstacle information.

[0144] Meanwhile, the method for generating a map of the robot vacuum cleaner (1) can apply various known methods, and a detailed explanation thereof will be omitted.

[0146] A control method for a robot vacuum cleaner according to one embodiment of the present invention includes a zone setting step (S100), a path setting step (S200), a cleaning step (S300), and a cleaning end step (S400).

[0147] The zone setting step (S100) includes a cleaning area setting step (S110) and a partition area setting step (S130).

[0148] In the cleaning area setting step (S110), a cleaning area (A) can be set on the floor surface (B).

[0149] For example, in the cleaning area setting step (S110), the sensor unit (180) detects foreign matter on the floor surface (B), and the control unit (190) can set the cleaning area (A) by reflecting the location of the foreign matter.

[0150] In the cleaning area setting step (S110) of the present invention, the sensor unit (180) detects liquid on the floor surface (B), and the control unit (190) can set a cleaning area (A) by reflecting the location where the liquid is spread (see FIG. 7).

[0151] For example, in the cleaning area setting step (S110), the lower camera sensor (184) can detect liquid on the floor surface (B) (S111).

[0152] Meanwhile, in the cleaning area setting step (S110), the control unit (190) can detect liquid on the floor surface (B) while driving forward. Specifically, the control unit (190) can control the driving unit (160) to control the robot vacuum cleaner (1) to move forward. Accordingly, a pair of wheels (161) can be rotated to move the robot vacuum cleaner (1) forward. Here, moving forward may mean proceeding in the direction in which the auxiliary wheel (111a) is positioned relative to the wheel (161). Alternatively, moving forward may mean the part of the robot vacuum cleaner (1) where the bumper is positioned moving forward. Alternatively, moving forward may mean the opposite side of the part of the robot vacuum cleaner (1) where the water tank (130) is positioned moving forward. Alternatively, "forward" may mean driving toward a target point with the wet cleaning unit (140) positioned closer to the suction unit (111) of the robot vacuum cleaner (1).

[0153] At this time, when the lower camera sensor (184) detects the entire range of liquid flowing on the floor surface (B) at the location where the robot vacuum cleaner (1) is placed, the control unit (190) can set the cleaning area (A) by expanding the range of liquid at a preset ratio (S113).

[0154] In contrast, if the lower camera sensor (184) does not detect the entire range of liquid flowing on the floor surface (B) at the location where the robot vacuum cleaner (1) is placed, the control unit (190) can control the robot to drive around the area where the liquid is present (S112). Then, after the control unit (190) detects the entire range where the liquid is present, it can set a cleaning area (A) by expanding the range where the liquid is present by a preset ratio (S113).

[0155] Accordingly, in the cleaning area setting step (S110), the boundary of the cleaning area (A) can be set through liquid detection by the control unit (190).

[0157] In the division area setting step (S130), the cleaning area (A) set in the cleaning area setting step (S110) can be divided into a plurality of division areas (A1, A2,...An) (see FIG. 8).

[0158] In the division area setting step (S130), the control unit (190) can set an origin (O) within the cleaning area (A) (S131). At this time, the origin (O) may be any point within the range where liquid exists on the floor surface. For example, the origin (O) may be the midpoint of the widest part among the areas where liquid is distributed on the floor surface. As another example, the origin (O) may be the center of gravity of the area where liquid is distributed on the floor surface.

[0159] Next, the control unit (190) can divide the cleaning area (A) at regular angle intervals along the circumferential direction centered on the origin (O) to set N divided areas (A1, A2,...AN) (S132). For example, the control unit (190) can divide the cleaning area (A) at 90-degree intervals along the circumferential direction centered on the origin (O) to set 4 divided areas (A1, A2, A3, A4).

[0161] After the zone setting step (S100), in the path setting step (S200), a driving path for the robot vacuum cleaner (1) to drive can be set. In the path setting step (S200), the control unit (190) can set a driving path for each divided area (A1, A2,...AN).

[0162] First, the control unit (190) can set a reference driving path passing through the origin (O) (S210). At this time, the reference driving path may refer to a path where the robot vacuum cleaner (1) drives to collect liquid at the origin (O) after cleaning in each divided area (A1, A2,...AN). That is, the control unit (190) can set a reference driving path (R1, R2,...RN) corresponding to each divided area (A1, A2,...AN).

[0163] Additionally, the control unit (190) may further set a reference driving path (R0) that serves as a reference for the entire cleaning area (A) (hereinafter referred to as the 'initial reference driving path'). At this time, the initial reference driving path (R0) may coincide with the reference driving path (RN) of the Nth divided area (AN). That is, the initial reference driving path (R0) may coincide with the path (RN) through which the robot vacuum cleaner (1) drives to collect liquid to the origin (O) after cleaning in the last divided area (AN) (see FIG. 9).

[0164] Through this, the control unit (190) can control the robot vacuum cleaner (1) to complete driving over the entire 360-degree range centered on the origin (O) and collect the liquid at the origin (O).

[0165] And, the control unit (190) can set a driving path for each divided area (A1, A2,...AN) (S220). The driving path for each divided area (A1, A2,...AN) can be set using a reference driving path (R0, R1, R2,...RN).

[0166] Specifically, the driving path for each divided area (A1, A2,...AN) may be set parallel to the reference driving path of the previous divided area, starting from the outer edge of the divided area and ending at the point where it meets the reference driving path of the divided area. For example, the driving path (L1) for the first divided area (A1) may be set parallel to the initial reference driving path (R0), starting from the outer edge of the first divided area (A1) and ending at the point where it meets the reference driving path (R1) of the first divided area (see FIG. 10).

[0167] Meanwhile, for each divided area (A1, A2,...AN), multiple driving paths may be set up in parallel with a predetermined distance interval. That is, if the travel distance of the reference driving path in the corresponding divided area is greater than the maximum width of the mop (142) of the robot vacuum cleaner (1), the control unit (190) may set multiple parallel driving paths because the corresponding divided area must be cleaned by driving back and forth multiple times. However, the starting points of the multiple driving paths may differ from each other depending on the distribution of the first divided area (A1).

[0168] At this time, the spacing between multiple driving paths may be smaller than the maximum width of the mop (142) of the robot vacuum cleaner (1). Therefore, when the robot vacuum cleaner (1) travels along the driving path, the mop (142) of the robot vacuum cleaner (1) can wipe the floor surface (B) in an overlapping manner. Through this, the cleaning effect of the robot vacuum cleaner (1) can be improved.

[0169] For example, if the distance (D) of the first reference driving path (R1) is greater than the maximum width (w) of the mop (142) of the robot vacuum cleaner (1) (D > w), the control unit (190) can set multiple (n) parallel driving paths (L11, L12, ... L1n). At this time, the control unit (190) can set the product of the number of driving paths (n) and the maximum width (w) of the mop (142) to be greater than the distance (D) of the first reference driving path (R1) (n × w > D). In addition, the control unit (190) can set the spacing between the multiple (n) driving paths to be smaller than the maximum width (w) of the mop (142) so that the destination point of the nth driving path is placed on the first reference driving path (R1). Through this, overlapping cleaning of the floor surface is possible, and the liquid is collected on the reference driving path.

[0170] Meanwhile, in the path setting step (S200), after the driving path setting is completed, the control unit (190) can control the robot vacuum cleaner (1) to move to the initial starting point (S230). At this time, the control unit (190) can control a pair of driving motors (162) to rotate the wheel (161) with the starting point of the first driving path (L11) of the first divided area (A1) as the target.

[0171] At this time, in the step (S230) where the robot vacuum cleaner (1) moves to the initial starting point, the control unit (190) can drive the robot vacuum cleaner (1) forward. Specifically, the control unit (190) can control the driving unit (160) to control the robot vacuum cleaner (1) to move forward. Accordingly, a pair of wheels (161) can be rotated so that the robot vacuum cleaner (1) moves forward. Here, forward movement may mean moving in the direction in which the auxiliary wheel (111a) is positioned relative to the wheel (161). Alternatively, forward movement may mean that the part of the robot vacuum cleaner (1) where the bumper is positioned moves forward. Alternatively, forward movement may mean that the side of the robot vacuum cleaner (1) opposite to the part where the water tank (130) is positioned moves forward.

[0172] Meanwhile, in the step (S230) where the robot vacuum cleaner (1) moves to the initial starting point, it can drive while avoiding the cleaning area (A). By doing so, it is possible to prevent the liquid on the floor surface from spreading.

[0173] Meanwhile, in the step (S230) where the robot vacuum cleaner (1) moves to the initial starting point, the control unit (190) can operate the dry cleaning unit (150). That is, the control unit (190) can operate the driving motor (162) and simultaneously operate the agitator motor (152) and the suction motor (153).

[0174] Additionally, in the step (S230) where the robot vacuum cleaner (1) moves to the initial starting point, the control unit (190) can operate the wet cleaning unit (140). That is, the control unit (190) can operate the wet cleaning motor (143) at the same time as operating the driving motor (162).

[0175] At this time, a pair of rotating plates (141) can be rotated in opposite directions. For example, when viewed from the bottom of the robot vacuum cleaner (1), the left rotating plate (141a) can rotate counterclockwise and the right rotating plate (141b) can rotate clockwise. Through this, the pair of rotating plates (141) rotate, and foreign substances such as liquid can be collected and wiped into the inside of the robot vacuum cleaner (1).

[0177] In the cleaning step (S300), the robot vacuum cleaner (1) can drive along the driving path set in the path setting step (S200). In the cleaning step (S300), the control unit (190) can control the driving motor (162) to drive along the driving path and reference driving path set in the path setting step (S200).

[0178] In particular, in the present invention, during the cleaning step (S300), the robot vacuum cleaner (1) can clean the liquid present on the floor surface while moving backward in the cleaning area (A).

[0179] In the robot vacuum cleaner (1) of the present invention, the wet cleaning unit (140) is positioned behind the dry cleaning unit (150). Accordingly, when the robot vacuum cleaner (1) moves forward to clean, the dry cleaning unit (150) sucks up foreign substances such as dust present on the floor surface, and then the wet cleaning unit (140) wipes the floor surface to clean it.

[0180] Meanwhile, if liquid is present on the floor surface, when the robot vacuum cleaner (1) cleans while moving forward, the liquid may be sucked into the suction part (111) and the inside of the dust bin (120) may be contaminated with liquid. Therefore, in the present invention, when the robot vacuum cleaner (1) detects that liquid is present on the floor surface, it may clean the floor surface while collecting the liquid by moving backward to prevent the suction part (111) from sucking up the liquid.

[0181] The cleaning step (S300) includes a reverse cleaning step (S310), a forward driving step (S320), and a path switching step (S330).

[0182] In the reverse cleaning step (S310), the robot vacuum cleaner (1) can drive backward in an area where liquid is present. In the reverse cleaning step (S310), the robot vacuum cleaner (1) can drive backward along the driving path where it is currently located and the reference driving path.

[0183] For example, immediately after the step (S230) of moving to the initial starting point, the robot vacuum cleaner (1) is located at the starting point of the first driving path (L11), and at this point, it can drive backward along the first driving path (L11) (see FIG. 10).

[0184] Alternatively, if the robot vacuum cleaner (1) is located at the starting point of the first reference driving path (R1), it can drive backward along the first reference driving path (R1) (see FIG. 15).

[0185] In the reverse cleaning step (S310), the control unit (190) can operate the driving unit (160) and the wet cleaning unit (140).

[0186] Specifically, in the reverse cleaning step (S310), the control unit (190) can operate the driving motor (162) to move the robot vacuum cleaner (1) backward. That is, in the reverse cleaning step (S310), the robot vacuum cleaner (1) can move backward through the cleaning area (A). Accordingly, a pair of wheels (161) can be rotated so that the robot vacuum cleaner (1) moves backward. Here, backward may mean moving in the opposite direction of forward. Or backward may mean moving forward in the part of the robot vacuum cleaner (1) where the water tank (130) is placed. Or backward may mean moving in a state where the rotating plate (141) is placed closer to the target point than the wheels (161) in the robot vacuum cleaner (1). That is, backward may mean moving in a state where the wet cleaning unit (140) is placed closer to the target point than the driving unit (160).

[0187] At this time, during the reverse cleaning step (S310), the control unit (190) can operate the wet cleaning motor (143) to clean the liquid present on the floor surface.

[0188] At this time, the rotation direction of the pair of rotating plates (141) in the reverse cleaning step (S310) may be opposite to the rotation direction of the pair of rotating plates (141) in the step of moving to the initial starting point (S230). That is, when viewed from the bottom of the robot vacuum cleaner (1), in the reverse cleaning step (S310), the left rotating plate (141a) may rotate clockwise and the right rotating plate (141b) may rotate counterclockwise. Through this, as the robot vacuum cleaner (1) moves backward, the pair of rotating plates (141) can collect foreign substances such as liquids into the inside of the robot vacuum cleaner (1) and wipe them.

[0189] Meanwhile, during the reverse cleaning stage (S310), the control unit (190) does not operate the dry cleaning unit (150). This is to prevent the inside of the dust bin (120) from being contaminated with liquid if it were sucked in, as a large amount of liquid has been spilled.

[0190] Through the reverse cleaning step (S310), the robot vacuum cleaner (1) can collect liquid on the floor surface on the reference driving path (RN).

[0191] In addition, when the robot vacuum cleaner (1) travels along the reference path (R1,...RN) during the reverse cleaning step (S310), it has the effect of collecting liquid on the floor surface to the origin (O) within the cleaning area (A).

[0193] In the forward driving step (S320), after the reverse cleaning step (S310), the robot vacuum cleaner (1) can move forward and return to the starting position of the previous reverse cleaning step (S310).

[0194] In the forward driving stage (S320), the control unit (190) can drive the robot vacuum cleaner (1) forward. Specifically, the control unit (190) can control the driving unit (160) to drive the robot vacuum cleaner (1) forward. Accordingly, a pair of wheels (161) can be rotated to drive the robot vacuum cleaner (1) forward. Accordingly, the robot vacuum cleaner (1) can be moved to the outer edge of the cleaning area (see FIG. 11 and FIG. 16).

[0195] At this time, the control unit (190) may not operate the wet cleaning unit (140) and the dry cleaning unit (150).

[0196] Additionally, in the forward driving step (S320), the control unit (190) can detect liquid on the floor surface (B) through the sensor unit (180). For example, in the forward driving step (S320), the lower camera sensor (184) can detect liquid on the floor surface (B) and check whether the liquid on the floor surface has been wiped away through the reverse cleaning step (S310).

[0197] At this time, if liquid still remains even after the floor surface has been wiped in the reverse cleaning step (S310), the control unit (190) can control the reverse cleaning step (S310) to be performed again.

[0198] The control unit (190) can perform a path switching step (S330) if no liquid remains on the floor surface cleaned in the reverse cleaning step (S310).

[0200] In the path switching step (S330), after the forward driving step (S320), the robot vacuum cleaner (1) can move backward to the starting point of the next driving path or the reference driving path.

[0201] When the forward driving phase (S320) is finished, the robot vacuum cleaner (1) can be positioned at the starting point of the previous backward cleaning phase (S310). That is, the robot vacuum cleaner (1) can reach the outer edge of the area where the liquid is present.

[0202] In this case, the robot vacuum cleaner (1) can move backward along a direction that intersects with the direction of travel in the reverse cleaning step (S310) to move to the starting point of the next driving path or reference driving path.

[0203] For example, after the robot vacuum cleaner (1) performs a forward driving step (S320), if it is located at the starting point of the first driving path (L11) of the first divided area (A1), the robot vacuum cleaner (1) can move backward to the starting point of the second driving path (L12) of the first divided area (A1) (see FIG. 12).

[0204] As another example, when the robot vacuum cleaner (1) is located at the starting point of the last driving path (L1N) of the first divided area (A1), it can drive backward to the starting point of the first reference driving path (R1) (see FIG. 14).

[0205] As another example, when the robot vacuum cleaner (1) is located at the starting point of the first reference driving path (R1), it can drive backward to the starting point of the first driving path (L21) of the second divided area (A2).

[0206] In the path switching step (S330), the control unit (190) can operate the driving unit (160) and the wet cleaning unit (140).

[0207] Specifically, in the path switching step (S330), the control unit (190) can operate the driving motor (162) to move the robot vacuum cleaner (1) backward. That is, in the backward cleaning step (S310), the robot vacuum cleaner (1) can move backward through the cleaning area (A). Accordingly, a pair of wheels (161) can be rotated so that the robot vacuum cleaner (1) moves backward.

[0208] At this time, in the path switching step (S330), the control unit (190) can operate the wet cleaning motor (143) to clean the liquid present on the floor surface.

[0209] At this time, the rotation direction of the pair of rotating plates (141) in the path switching step (S330) may be the same as the rotation direction of the pair of rotating plates (141) in the reverse cleaning step (S310). Through this, as the robot vacuum cleaner (1) moves backward, the pair of rotating plates (141) can collect foreign substances such as liquids into the inside of the robot vacuum cleaner (1) while cleaning.

[0210] Meanwhile, during the path switching step (S330), the control unit (190) does not operate the dry cleaning unit (150). This is to prevent the inside of the dust bin (120) from being contaminated with liquid if it were sucked in, as a large amount of liquid has been spilled.

[0211] Accordingly, through the path switching step (S330), the robot vacuum cleaner (1) can move to the starting point of the next driving path or the reference driving path.

[0212] Afterwards, the control unit (190) can repeat the reverse cleaning step (S310), the forward driving step (S320), and the path switching step (S330).

[0213] Through the above cleaning step (S300), the robot vacuum cleaner (1) can clean the first cleaning area (A1) by cleaning the driving paths (L11,...L1N) of the first cleaning area (A1) in sequence, and then cleaning the first reference driving path (R1) (see FIGS. 10 to 16). Then, in the same manner, the second cleaning area (A2), the third cleaning area (A3), and the fourth cleaning area (A4) can be cleaned in sequence (see FIGS. 17 to 20).

[0214] Meanwhile, after the path switching step (S330), when the robot vacuum cleaner (1) arrives at the starting point of the initial reference driving path (R0), it enters the cleaning end step (S400).

[0216] In the cleaning end stage (S400), the robot vacuum cleaner (1) can drive backward along the fourth reference driving path (R4) to the origin (O) and then finish cleaning.

[0217] Specifically, the control unit (190) can detect through the sensor unit (180) that the robot vacuum cleaner (1) has arrived at the starting point of the initial reference driving path (R0). In this case, the fourth reference driving path (R4) and the initial reference driving path (R0) may coincide.

[0218] Accordingly, the control unit (190) can clean the floor surface while driving backward along the fourth reference driving path (R4). At this time, the robot vacuum cleaner (1) can drive in the same manner as in the backward cleaning step (S310). That is, the control unit (190) can operate the driving unit (160) and the wet cleaning unit (140) (see FIG. 21).

[0219] Afterward, when the robot vacuum cleaner (1) arrives at the origin (O) of the cleaning area, it can terminate the drive. Through this, the robot vacuum cleaner (1) can collect liquid on the cleaning area at the origin (O). Then, a mop (142) can be placed on the origin (O) so that the mop (142) can absorb as much liquid as possible. In addition, since the robot vacuum cleaner (1) covers the upper side of the liquid, it has the effect of visually informing the user of the location of the liquid. Through this, it has the effect of indicating to the user that additional liquid can be wiped away if necessary (see FIG. 22).

[0221] Although the present invention has been described in detail through specific embodiments, this is for the purpose of specifically explaining the invention and is not limited thereto. It is evident that modifications or improvements to the present invention are possible by those skilled in the art within the technical scope of the invention.

[0222] All simple variations or modifications of the present invention fall within the scope of the present invention, and the specific scope of protection of the present invention will be clarified by the appended claims. Explanation of the symbols

[0224] 100: Robot vacuum cleaner 110: Body 120: Dust bin 130: Water bottle 140: Wet cleaner 150: Dry cleaner 160: Driving section 180: Sensor section 190: Control unit

Claims

Claim 1 A robot vacuum cleaner comprising: a body having a battery and at least one motor inside and a suction part formed therein; a driving part for moving the body; and a wet cleaning part disposed at the rear side of the driving part and wiping a floor surface; wherein, when liquid is present on the floor surface, the body moves backward toward the location where the liquid is present, with the wet cleaning part positioned closer to the suction part than to the body. Claim 2 A robot vacuum cleaner according to claim 1, characterized in that the body moves forward and away from the location where the liquid is present, with the suction part positioned closer than the wet cleaning part. Claim 3 A robot vacuum cleaner according to paragraph 2, wherein the body is characterized by repeatedly moving backward and forward in parallel at a predetermined interval at the location where the liquid is present. Claim 4 A robot vacuum cleaner according to claim 1, wherein the body travels along a first direction and, when it reaches the outer edge of the region where the liquid is present, travels along a second direction perpendicular to the first direction to the location where the liquid is present. Claim 5 A robot vacuum cleaner according to claim 1, characterized in that the body starts reverse driving from a plurality of points centered on the location where the liquid is present. Claim 6 A robot vacuum cleaner according to claim 1, wherein the wet cleaning unit comprises a pair of mops that wipe the floor surface by rotation; and wherein the rotation direction of the mops when wiping the floor surface while moving backward is opposite to the rotation direction of the mops when wiping the floor surface while moving forward. Claim 7 A control method for a robot vacuum cleaner comprising: a zone setting step of detecting a liquid on a floor surface and setting a zone in an area where the liquid is present; and a cleaning step of cleaning while driving in the area where the liquid is present; wherein the cleaning step comprises a reverse cleaning step of driving in the area where the liquid is present in a direction opposite to the driving direction in the zone setting step. Claim 8 A control method for a robot vacuum cleaner according to claim 7, wherein the cleaning step comprises a forward driving step of driving in the same direction as the driving direction in the zone setting step after the reverse cleaning step. Claim 9 In claim 7, a control method for a robot vacuum cleaner that, in the cleaning step, when it reaches the outer edge of the area where the liquid is present, moves backward along a direction intersecting with the direction of travel in the reverse cleaning step to travel the area where the liquid is present. Claim 10 A control method for a robot vacuum cleaner according to claim 7, wherein in the zone setting step, an origin is set on the area where the liquid exists, and a plurality of divided areas are set along the circumferential direction centered on the origin. Claim 11 A control method for a robot vacuum cleaner according to claim 10, characterized in that, in the zone setting step, the area where the liquid exists is divided around the origin. Claim 12 A control method for a robot vacuum cleaner according to claim 10, characterized in that, in the cleaning step, the liquid is collected toward the origin.

Images