Robot cleaner and method for controlling the same

Abstract

A robot cleaner which performs a re-cleaning to allow a mop to re-clean over a contaminated area again after performing a drying operation on the mop, based on determining dry mopping is required for the contaminated area and a humidity of the mop being greater than a reference humidity.

Description

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application is a continuation application, under 35 U.S.C. § 111 (a), of international application No. PCT / KR2024 / 021465, filed Dec. 30, 2024, which claims priority under 35 U. S. C. § 119 to Korean Patent Application No. 10-2024-0022024, filed on Feb. 15, 2024, the disclosures of which are incorporated herein by reference in their entireties.TECHNICAL FIELD

[0002] The disclosure relates to a robot cleaner that performs mop cleaning and a method for controlling the robot cleaner.BACKGROUND ART

[0003] In general, a robot cleaner is a device that automatically cleans an area by moving across the cleaning area and picking up dirt, such as dust on the floor, without user intervention. The robot cleaner travels across the cleaning area to clean.

[0004] The robot cleaner identifies a distance to an obstacle, such as furniture, office equipment, walls, and the like, installed in the cleaning area using a distance sensor, and selectively drives left and right wheel motors of the robot cleaner, thereby changing its direction and cleaning the cleaning area by itself.

[0005] Recently, robot cleaners have been developed that not only vacuum foreign substances, such as dirt and dust on the floor, but also perform wet cleaning with a mop.

[0006] In addition to dry cleaning that uses an intake motor to pick up dust and other debris from the floor, robot cleaners may also perform wet cleaning with a mop.DISCLOSURETechnical Problem

[0007] An aspect of the disclosure provides a robot cleaner that may efficiently clean liquid contaminant, and a method for controlling the same.

[0008] An aspect of the disclosure provides a robot cleaner that may prevent situations where a cleaned area becomes slippery and poses a risk to a user, and a method for controlling the same.

[0009] An aspect of the disclosure provides a robot cleaner that may efficiently dry a mop depending on the amount of liquid contaminant, and a method for controlling the same.

[0010] An aspect of the disclosure provides a robot cleaner that may efficiently clean a stain, and a method for controlling the same.

[0011] Technical objects that may be achieved by the disclosure are not limited to the above-mentioned objects, and other technical objects not mentioned will be clearly understood by one of ordinary skill in the art to which the disclosure belongs from the following description.Technical Solution

[0012] According to an embodiment, a robot cleaner may include: a main body: a mop configured to be coupleable to and decoupleable from a lower portion of the main body: a front sensor configured to have a front field of view of the main body: a rear sensor configured to have a rear field of view of the main body: a humidity sensor configured to detect a humidity of the mop; and a controller configured to: determine whether dry mopping is required for an area to be cleaned that is detected by the front sensor based on information about the area obtained by the rear sensor after the mop coupled to the lower portion of the main body cleans the area detected by the front sensor, and based on the dry mopping being determined as being required for the area and the humidity of the mop detected by the humidity sensor being greater than a reference humidity, perform a re-cleaning to allow the mop to pass over the area again after performing a drying operation on the mop.

[0013] According to an embodiment, a method for controlling a robot cleaner may include: determining whether dry mopping is required for an area to be cleaned based on information about the area obtained by a rear sensor after a mop cleaned the area detected by a front sensor, and based on the dry mopping being determined as being required for the area and a humidity of the mop detected by the humidity sensor being greater than a reference humidity, performing a re-cleaning to allow the mop to pass over the area again after performing a drying operation on the mop.DESCRIPTION OF DRAWINGS

[0014] FIG. 1 illustrates a state in which a robot cleaner is away from a station in a cleaning apparatus according to an embodiment.

[0015] FIG. 2 illustrates a state in which a robot cleaner is seated on a station in a cleaning apparatus according to an embodiment.

[0016] FIG. 3 is a view illustrating an interior of a robot cleaner according to an embodiment.

[0017] FIG. 4 is a rear view of the robot cleaner shown in FIG. 3 according to an embodiment.

[0018] FIG. 5 is a view illustrating a lower portion of the robot cleaner shown in FIG. 3 according to an embodiment.

[0019] FIG. 6 is a view illustrating a docking station according to an embodiment.

[0020] FIG. 7 is a view illustrating a portion of a docking station according to an embodiment.

[0021] FIG. 8 illustrates an example of air flow when an intake motor of a robot cleaner operates according to an embodiment.

[0022] FIG. 9 illustrates another example of air flow when an intake motor of a robot cleaner operates according to an embodiment.

[0023] FIG. 10 is a block diagram illustrating an example configuration of a robot cleaner according to an embodiment.

[0024] FIG. 11 is a block diagram illustrating an example configuration of a docking station according to an embodiment.

[0025] FIG. 12 is a flowchart illustrating an example method for controlling a robot cleaner according to an embodiment.

[0026] FIG. 13 illustrates an example of a robot cleaner passing over a contaminated area according to an embodiment.

[0027] FIG. 14 illustrates an example of front sensor data obtained by a front sensor and rear sensor data obtained by a rear sensor of a robot cleaner according to an embodiment.

[0028] FIG. 15 illustrates another example of front sensor data obtained by a front sensor and rear sensor data obtained by a rear sensor of a robot cleaner according to an embodiment.

[0029] FIG. 16 is a flowchart illustrating an example method of re-cleaning in a case where a robot cleaner according to an embodiment determines that dry mopping is required.

[0030] FIG. 17 is a flowchart illustrating an example drying operation of a robot cleaner according to an embodiment.

[0031] FIG. 18 is a flowchart illustrating an example method of re-cleaning in a case where a robot cleaner according to an embodiment determines that wet mopping is required.

[0032] FIG. 19 is a flowchart illustrating an example water filling operation of a robot cleaner according to an embodiment.MODES OF THE DISCLOSURE

[0033] Various embodiments and the terms used therein are not intended to limit the technology disclosed herein to specific forms, and the disclosure should be understood to include various modifications, equivalents, and / or alternatives to the corresponding embodiments.

[0034] The terms used herein are used only to describe particular embodiments and are not intended to limit the disclosure.

[0035] The expressions “A or B,”“at least one of A or / and B,” or “one or more of A or / and B,” A, B or C,”“at least one of A, B or / and C,” or “one or more of A, B or / and C,” and the like used herein may include any and all combinations of one or more of the associated listed items.

[0036] For example, a singular form of a noun corresponding to an item may include one item or a plurality of the items unless context clearly indicates otherwise.

[0037] It is to be understood that when the terms “includes,”“comprises,”“including,” and / or “comprising,” when used in this specification, specify the presence of stated features, figures, steps, operations, components, members, or combinations thereof, but do not preclude the presence or addition of one or more other features, figures, steps, operations, components, members, or combinations thereof.

[0038] An expression that one component is “connected”, “coupled”, “supported”, or “in contact” with another component includes a case in which the components are directly “connected”, “coupled”, “supported”, or “in contact” with each other and a case in which the components are indirectly “connected”, “coupled”, “supported”, or “in contact” with each other through a third component.

[0039] It will also be understood that when one component is referred to as being “on” or “over” another component, it may be directly on the other component or intervening components may also be present.

[0040] It is to be understood that if a certain component (for example, a first component) is referred to, with or without the term “operatively” or “communicatively”, as “coupled with,”“coupled to,”“connected with,” or “connected to” another component (for example, a second component), it means that the component may be coupled with the other component directly (for example, wiredly), wirelessly, or via a third component.

[0041] According to the situation, the expression “configured to” used herein may be used as, for example, the expression “suitable for,”“having the capacity to,”“designed to,”“adapted to,”“made to,” or “capable of”. The term “configured to” must not mean only “specifically designed to” in hardware.

[0042] The expression “a device configured to” may mean that the device is “capable of” operating together with another device or other components. For example, a “processor configured to perform A, B, and C” may mean a dedicated processor (e.g., an embedded processor) for performing a corresponding operation or a generic-purpose processor (e.g., a central processing unit (CPU) or an application processor) which may perform corresponding operations by executing one or more software programs which are stored in a memory device.

[0043] The terms, such as “first,”“second”, and the like used herein may refer to various elements of various embodiments of the disclosure, but do not limit the elements.

[0044] The terms such as “portion”, “device”, “block”, “member”, and “module” indicate a unit for processing at least one function or operation. For example, those terms may refer to at least one process processed by at least one hardware such as field programmable gate array (FPGA), application specific integrated circuit (ASIC), at least one software stored in a memory or a processor.

[0045] Meanwhile, the terms “front,”“rear,”“left,”“right,”“upper,”“lower,” etc., used in the following description are defined based on the drawings, and the shape and position of each component are not limited by these terms. For example, as shown in FIG. 1, a direction in which a robot cleaner 10 enters a docking station 20 may be defined as the rear (−X direction), and an opposite direction may be defined as the front (+X direction).

[0046] As another example, the direction in which the robot cleaner 10 moves forward may be defined as forward (+X direction), and the direction in which the robot cleaner 10 moves backward may be defined as backward (−X direction).

[0047] Although an example in which the robot cleaner 10 moves backward to enter the docking station 20 is illustrated in FIG. 1, the robot cleaner 10 may move forward to enter the docking station 20 depending on the structure of the robot cleaner 10 (e.g., a position of a mop).

[0048] Hereinafter, embodiments of the disclosure are described in detail with reference to the accompanying drawings. Like reference numerals throughout the disclosure denote like elements.

[0049] FIG. 1 illustrates a state in which a robot cleaner is away from a station in a cleaning apparatus according to an embodiment. FIG. 2 illustrates a state in which a robot cleaner is seated on a station in a cleaning apparatus according to an embodiment.

[0050] Referring to FIG. 1 and FIG. 2, a cleaning apparatus 1 may include a robot cleaner 10 and a docking station 20. The cleaning apparatus 1 may be referred to as a cleaning system 1.

[0051] The robot cleaner 10 may clean a floor while moving across the floor. The floor cleaned by the robot cleaner 10 may be referred to as a surface to be cleaned (surface being cleaned). The robot cleaner 10 may perform dry cleaning and / or wet cleaning. The robot cleaner 10 may draw in (pick up) or wipe away dirt on the surface to be cleaned. Here, the term “dirt” may refer to foreign substances, such as dust, hair, food particles, and the like.

[0052] Dry cleaning may refer to drawing in dirt from a surface to be cleaned using an intake motor 142 (see FIG. 3), and wet cleaning may refer to wiping away dirt from a surface to be cleaned using a mop 160 (see FIG. 5).

[0053] In the disclosure, wet cleaning may be divided into dry mopping and wet mopping. Dry mopping may refer to mopping with the mop 160 in a state where a humidity (or moisture content) of the mop 160 is less than or equal to a defined value, and wet mopping may refer to mopping with the mop 160 in a state where a humidity (or moisture content) of the mop 160 is greater than the defined value.

[0054] Dry mopping may be performed to absorb a liquid contaminant (spilled liquid), and wet mopping may be performed to wipe off a stain, but the roles of dry mopping and wet mopping are not limited thereto. For example, depending on the situation, dry mopping may also be performed to wipe off stains, and wet mopping may also be performed to wipe off liquid contaminants.

[0055] The robot cleaner 10 may perform cleaning without user intervention by using a built-in battery (not shown). The robot cleaner 10 may move autonomously and clean the surface to be cleaned according to a cleaning plan established by a user, a cleaning plan established by the robot cleaner 10, and / or a preset moving path.

[0056] The robot cleaner 10 may be docked (seated or placed) on the docking station 20. At least a portion of the robot cleaner 10 may be placed in a receiving space 210a of the docking station 20.

[0057] The robot cleaner 10 may move to the docking station 20 during cleaning and / or after completion of the cleaning.

[0058] For example, the robot cleaner 10 may move to the docking station 20 in a case where recharging is required, in a case where dirt in a dust bin 141 (see FIG. 3) requires to be emptied, in a case where a water tank 115 (see FIG. 8) is low on water, in a case where moisture content of the mop 160 is low, in a case where the mop 160 requires to be washed, in a case where the mop 160 requires to be sterilized, and / or in a case where the mop 160 requires to be dried (in case of high humidity of the mop 160).

[0059] The docking station 20 may allow the robot cleaner 10 to be placed. The docking station 20 may allow the robot cleaner 10 to be seated. The docking station 20 may be configured to store the robot cleaner 10.

[0060] For example, while the robot cleaner 10 is seated on the docking station 20, the docking station 20 may charge a battery (not shown) of the robot cleaner 10. For example, while the robot cleaner 10 is seated on the docking station 20, the docking station 20 may collect the dirt collected in the dust bin 141 (see FIG. 3) of the robot cleaner 10. For example, while the robot cleaner 10 is seated on the docking station 20, the docking station 20 may supply water to the water tank 115 of the robot cleaner 10. For example, while the robot cleaner 10 is seated on the docking station 20, the docking station 20 may wet the mop 160 with water and / or steam. For example, while the robot cleaner 10 is seated on the docking station 20, the docking station 20 may wash (clean) the mop 160. For example, while the robot cleaner 10 is seated on the docking station 20, the docking station 20 may sterilize the mop 160. For example, while the robot cleaner 10 is seated on the docking station 20, the docking station 20 may dry the mop 160.

[0061] FIG. 3 is a view illustrating an interior of a robot cleaner according to an embodiment. FIG. 4 is a rear view of the robot cleaner shown in FIG. 3. FIG. 5 is a view illustrating a lower portion of the robot cleaner shown in FIG. 3.

[0062] The robot cleaner 10 may include a main body 110. The main body 110 may form an overall exterior of the robot cleaner 10. Components of the robot cleaner 10 may be accommodated in the main body 110. Electronic components may be disposed in the main body 110. The main body 110 may be referred to as the cleaner main body 110.

[0063] The front of the main body 110 may refer to a direction in which the robot cleaner 10 moves forward (+X direction), and the rear of the main body 110 may refer to a direction in which the robot cleaner 10 moves backward (−X direction).

[0064] The main body 110 may be provided with a front sensor 175 having a front view of the main body 110. The main body 110 may be provided with a rear sensor 176 having a rear view of the main body 110. The front sensor 175 may obtain sensor data (e.g., image, radar data, light reception data) for the front of the main body 110. The rear sensor 176 may obtain sensor data (e.g., image, radar data, light reception data) for the rear of the main body 110.

[0065] The robot cleaner 10 may include an inlet 111. The inlet 111 may be formed in the main body 110. The inlet 111 may be formed at a lower part of the main body 110. The inlet 111 may be formed through a lower side 110b of the main body 110. The inlet 111 may face the surface to be cleaned. The inlet 111 may be open to the surface to be cleaned. Dirt on the surface to be cleaned may be drawn into the main body 110 through the inlet 111 together with air. The inlet 111 may be referred to as the cleaner inlet 111.

[0066] The robot cleaner 10 may include a brush 130. The brush 130 may scatter dirt by scrubbing the surface to be cleaned. Dirt scattered by the brush 130 may flow into the inlet 111 together with air. For example, the robot cleaner 10 may include a first brush 131 disposed in the inlet 111. The first brush 131 may be rotatably mounted with respect to the main body 110. A rotation axis of the first brush 131 may be an axis extending along a substantially horizontal direction (Y direction). The first brush 131 may be referred to as the main brush 131.

[0067] For example, the robot cleaner 10 may include a second brush 132 disposed adjacent to a bottom edge of the main body 110. The second brush 132 may direct, to the inlet 111, dirt around the main body 110 where the first brush 131 may not sweep. The second brush 132 may be rotatably mounted with respect to the main body 110. A rotation axis of the second brush 132 may be an axis extending along a substantially vertical direction (Z direction). The second brush 132 may be referred to as the side brush 132.

[0068] The robot cleaner 10 may include the dust bin 141. The dust bin 141 may be disposed in the main body 110. The dust bin 141 may be detachably mounted. The dust bin 141 may store dirt included in the air drawn in through the inlet 111. Dirt and / or air drawn in through the inlet 111 may move to the dust bin 141. For example, dirt and / or air drawn in through the inlet 111 may pass through a frame 119 connecting the inlet 111 and the dust bin 141 and flow into the dust bin 141. Dirt drawn in through the inlet 111 may be collected in the dust bin 141. The air drawn in through the inlet 111 may be filtered while passing through the dust bin 141. The dirt and air drawn in through the inlet 111 may be separated within the dust bin 141.

[0069] The robot cleaner 10 may include a filter 143 (see FIG. 8 and FIG. 9). The filter 143 may be disposed on a flow path through which air flows in the main body 110. For example, the filter 143 may be disposed in the dust bin 141, and air drawn in through the inlet 111 may be filtered by the filter 143 while passing through the dust bin 141.

[0070] The robot cleaner 10 may include an outlet 112. The outlet 112 may be formed in the main body 110. The outlet 112 may be formed on a rear side of the main body 110. The outlet 112 may be formed at a side entering to the docking station 20 of the main body 110. For example, the outlet 112 may be formed through a circumferential surface 110c of the main body 110. The air drawn in through the inlet 111 may be filtered and discharged to the outside of the robot cleaner 10 through the outlet 112. The outlet 112 may be formed to discharge the air that has passed through the dust bin 141 to the outside of the main body 110. For example, a plurality of outlets 112 may be formed, and the plurality of outlets may be formed as a plurality of holes. The outlet 112 may be referred to as the cleaner outlet 112. As will be described below, the robot cleaner 10 may further include an outlet (114 see FIG. 9; 164, see FIG. 8) formed in a direction toward the mop 160.

[0071] The robot cleaner 10 may include an intake motor 142. The intake motor 142 may be disposed in the main body 110. The intake motor 142 may generate suction force. Due to the suction force generated by the intake motor 142, dirt and / or air may be drawn in through the inlet 111. Due to the suction force generated by the intake motor 142, the air drawn into and filtered in the robot cleaner 10 may be discharged to the outside through the outlet 112. The intake motor 142 may be disposed in an air flow path formed between the inlet 111 and the outlet 112. The intake motor 142 may be referred to as the cleaner intake motor 142.

[0072] As described above, air drawn into the robot cleaner 10 and filtered may be discharged toward the mop 160 through the outlet (114, see FIG. 9, 164, see FIG. 8).

[0073] The robot cleaner 10 may include a driving device 120 for moving the robot cleaner 10. The driving device 120 is mounted to the main body 110 and may move the main body 110. At least a portion of the driving device 120 may protrude from the lower side 110b of the main body 110. For example, the driving device 120 may include a pair of main wheels 121. For example, the driving device 120 may further include at least one auxiliary wheel 122 to enable the robot cleaner 10 to travel stably. The driving device 120 may include a wheel motor for rotating the at least one wheel 121 and 122. The wheel motor may generate rotational force to rotate the wheels 121 and 122. A direct current (DC) motor or a brushless DC electric motor (BLDC) may be used as the wheel motor, but an embodiment of the robot cleaner 10 is not limited thereto. In addition to the wheel motor, the types of other motors included in the robot cleaner 10 are not limited.

[0074] Each of the left and right wheel motors may operate independently of each other according to a control signal from the controller 190 (see FIG. 10), and the main body 110 may move forward, backward, or rotate according to the operation of the left and right wheel motors.

[0075] The controller 190 may control the movement of the robot cleaner 10 by controlling the driving device 120 (e.g., wheel motor).

[0076] The robot cleaner 10 may include the battery (not shown). The battery 150 may provide power required to drive the robot cleaner 10. While the robot cleaner 10 is seated on the docking station 20, the battery of the robot cleaner 10 may be rechargeable.

[0077] The robot cleaner 10 may include the mop 160. The mop 160 is detachably mountable to a lower portion of the main body 110. The mop 160 may be rotatably mounted with respect to the main body 110. The mop 160 may clean a surface to be cleaned by contacting the surface to be cleaned. In a state where the mop 160 is wet, the mop 160 may wipe away dirt on the surface to be cleaned. Although the two mops 160 are illustrated in the drawings, the number of mops 160 is not limited thereto. The mop 160 may be referred to as the cleaning pad 160. The mop 160 may also be referred to as the wet pad 160.

[0078] The mop 160 may receive moisture from a water tank 115 disposed in the robot cleaner 10. For example, in a case where a moisture content of the mop 160 decreases while the robot cleaner 10 is cleaning, water stored in the water tank 115 may be provided to the mop 160.

[0079] The mop 160 may receive moisture from the docking station 20. For example, in a case where the moisture content of the mop 160 decreases while the robot cleaner 10 is cleaning, the robot cleaner 10 may return to the docking station 20. While the robot cleaner 10 is seated on the docking station 20, the docking station 20 may supply water to the water tank 115 of the robot cleaner 10 or spray water and / or steam toward the mop 160.

[0080] The robot cleaner 10 may include a driver 161 to operate the mop 160. The driver 161 may rotate or vertically move the mop 160. As will be described below, the controller 190 (see FIG. 10) of the robot cleaner 10 may control the driver 161. The driver 161 may also be referred to as the mop driver 161.

[0081] For example, while the robot cleaner 10 is cleaning the surface to be cleaned, the driver 161 may rotate the mop 160, thereby allowing the mop 160 to efficiently wipe the surface to be cleaned. For example, while the mop 160 is being washed, sterilized and / or dried at the docking station 20, the driver 161 may rotate the mop 160, thereby reducing a time required for washing, sterilizing and / or drying the mop 160.

[0082] For example, while the robot cleaner 10 performs wet cleaning, the driver 161 may move the mop 160 downward. As a result, the mop 160 may come into contact with the surface being cleaned. For example, while the robot cleaner 10 returns to the docking station 20, the driver 161 may move the mop 160 upward. As a result, while the robot cleaner 10 is moving to the docking station 20, the mop 160 may be prevented from colliding with an obstacle on the surface to be cleaned or from leaving moisture on the surface to be cleaned. For example, while the robot cleaner 10 performs dry cleaning, the driver 161 may move the mop 160 upward. As a result, while the robot cleaner 10 is moving to the docking station 20, the mop 160 may be prevented from colliding with an obstacle on the surface to be cleaned or from leaving moisture on the surface to be cleaned.

[0083] The robot cleaner 10 may include a drive motor 162. The drive motor 162 may generate a driving force to rotate or move the mop 160 up and down. The drive motor 162 may be disposed in the main body 110. The drive motor 162 may be provided as a component of the driver 161.

[0084] The robot cleaner 10 may include a shaft 163. The shaft 163 may be provided to transmit the driving force of the drive motor 162 to the mop 160. For example, the shaft 163 may be provided to connect the drive motor 162 and the mop 160. For example, the shaft 163 may be arranged to rotate by the driving force of the drive motor 162, and the mop 160 may be arranged to be coupled to the shaft 163 and rotate together with the shaft 163. For example, the shaft 163 may be arranged to form a rotation axis of the mop 160. The shaft 163 may be provided as a component of the driver 161.

[0085] According to various embodiments, the robot cleaner 10 may include an obstacle sensor 170. The obstacle sensor 170 may detect a location of an obstacle or a distance to the obstacle. The obstacle sensor 170 may be mounted to the main body 110. For example, the obstacle sensor 170 may protrude from an upper surface 110a of the main body 110. In an embodiment, the obstacle sensor 170 may be replaced by the front sensor 175 and the rear sensor 176.

[0086] FIG. 6 is a view illustrating a docking station according to an embodiment. FIG. 7 is a view illustrating a portion of a docking station according to an embodiment.

[0087] Referring to FIG. 6 and FIG. 7, the docking station 20 may include a main body 210. The main body 210 may form an overall exterior of the docking station 20. The main body 210 may form the receiving space 210a to receive at least a portion of the robot cleaner 10. The main body 210 may be referred to as the docking station main body 210.

[0088] The main body 210 may include a base 211 and a housing 212 that may be detachably coupled to the base 211.

[0089] The base 211 may include a seating surface 211a on which the robot cleaner 10 is seated (placed). The seating surface 211a may be inclined from a surface to be cleaned to allow the robot cleaner 10 to enter. For example, the seating surface 211a may be inclined upward along a direction in which the robot cleaner 10 enters the docking station 20.

[0090] The housing 212 may cover at least a portion of the base 211. The housing 212 may accommodate components of the docking station 20. Electronic components may be disposed in the housing 212.

[0091] The docking station 20 may include a water storage container 201. The water storage container 201 may store water. Relatively clean water may be stored in the water storage container 201. The water stored in the water storage container 201 may be provided to the water tank 115 of the robot cleaner 10 or to a washing chamber 230 of the docking station 20, which will be described later. That is, the water stored in the water storage container 201 may be used to wet the mop 160 or to wash the mop 160. The water storage container 201 is detachably mountable to the main body 210. For example, a user may separate the water storage container 201 from the main body 210 or couple the water storage container 201 to the main body 210 by holding a handle 201a of the water storage container 201.

[0092] The docking station 20 may include a wastewater container 202. The wastewater container 202 may store water. Relatively dirty water may be stored in the wastewater container 202. The dirty water (wastewater) generated by washing the mop 160 may be stored in the wastewater container 202. The wastewater container 202 is detachably mountable to the main body 210. For example, a user may separate the wastewater container 202 from the main body 210 or couple the wastewater container 202 to the main body 210 by holding a handle 202a of the wastewater container 202.

[0093] The docking station 20 may include a dirt container 203. The dirt container 203 may store dirt collected from the dust bin 141 of the robot cleaner 10. The dirt container 203 is detachably mountable to the main body 210. For example, a user may separate the dirt container 203 from the main body 210 or couple the dirt container 203 to the main body 210 by holding a handle 203a of the dirt container 203.

[0094] Although the wastewater container 202, the water storage container 201, and the dirt container 203 are shown as being arranged side by side along the approximately horizontal direction (Y direction), a position of each of the wastewater container 202, the water storage container 201, and the dirt container 203 is not limited thereto.

[0095] The docking station 20 may include the washing chamber 230. While the robot cleaner 10 is seated on the docking station 20, the washing chamber 230 may be arranged to correspond to the mop 160.

[0096] The washing chamber 230 may receive water from the water storage container 201. The washing chamber 230 may have a shape to accommodate water. While the robot cleaner 10 is seated on the docking station 20, the mop 160 may be washed with the water accommodated in the washing chamber 230. The washing chamber 230 may be defined as a space where the mop 160 is washed.

[0097] The washing chamber 230 may accommodate air discharged from a drying device 260 to be described below. While the robot cleaner 10 is seated on the docking station 20, the mop 160 may be dried by dry air discharged to the washing chamber 230.

[0098] The washing chamber 230 may be formed in the base 211 of the main body 210. The washing chamber 230 may be recessed in the base 211. The washing chamber 230 may be recessed from the seating surface 211a. The washing chamber 230 may be defined by a chamber bottom 230a and a chamber side wall 230b extending upward from the chamber bottom 230a. The chamber side wall 230b may have a defined height.

[0099] The chamber bottom 230a may be inclined downward along a direction in which the robot cleaner 10 enters the docking station 20. For example, the chamber bottom 230a may be inclined downwardly toward the rear. Accordingly, after washing of the mop 160 is completed, the water (wastewater) in the washing chamber 230 may easily flow to a drain hole 234 located at the rear of the washing chamber 230 along the inclined surface of the chamber bottom 230a. However, the disclosure is not limited thereto, and an inclination direction of the chamber bottom 230a may vary depending on a location of the drain hole 234. The wastewater discharged through the drain hole 234 may be stored in the dirt container 203.

[0100] The docking station 20 may include a washing frame 235. The washing frame 235 may correspond to the washing chamber 230. The washing frame 235 is detachably mountable to the washing chamber 230. While the robot cleaner 10 is placed on the docking station 20, the washing frame 235 may contact the mop 160. While the robot cleaner 10 is placed on the docking station 20, the washing frame 235 may be rubbed (scrubbed) against the mop 160. The mop 160 may be washed by rubbing against the washing frame 235. In this instance, the mop 160 is rotatable.

[0101] The docking station 20 may include a brush seating portion 240. The brush seating portion 240 may be formed on the base 211 of the main body 210. The brush seating portion 240 may be spaced apart from the washing chamber 230. For example, the brush seating portion 240 may be positioned in front of the washing chamber 230.

[0102] While the robot cleaner 10 is placed on the docking station 20, the brush seating portion 240 may correspond to the first brush 131 of the robot cleaner 10. While the robot cleaner 10 is placed on the docking station 20, the first brush 131 may be seated on the brush seating portion 240. While the robot cleaner 10 is placed on the docking station 20, the inlet 111 of the robot cleaner 10 may face the brush seating portion 240 of the docking station 20. For example, the brush seating portion 240 may include a curved shape to correspond to the shape of the first brush 131.

[0103] The docking station 20 may include a step wall 220. The step wall 220 may be formed on the base 211 of the main body 210. The step wall 220 may be arranged between the washing chamber 230 and the brush seating portion 240.

[0104] For example, the step wall 220 may include a first wall portion 220a facing the washing chamber 230, a second wall portion 220b facing the brush seating portion 240, and a connection portion 220c connecting the first wall portion 220a and the second wall portion 220b. For example, the first wall portion 220a may be provided as a part of the chamber side wall 230b. For example, the second wall portion 220b may be provided as a part of the brush seating portion 240. For example, the second wall portion 220b may be connected to the brush seating portion 240 without a step. For example, the connection portion 220c may be provided as a part of the seating surface 211a of the base 211.

[0105] The docking station 20 may include a step wall flow path 223. The step wall flow path 223 may be formed on the step wall 220. The step wall flow path 223 may guide dry air generated in the drying device 260. The step wall flow path 223 may allow dry air generated in the drying device 260 to flow. The step wall flow path 223 may guide dry air in the washing chamber 230 to the brush seating portion 240. The step wall flow path 223 may communicate with the washing chamber 230. The step wall flow path 223 may communicate with the brush seating portion 240. The step wall flow path 223 may extend from the washing chamber 230 toward the brush seating portion 240. For example, the step wall flow path 223 may have a shape extending approximately along the forward-backward direction (X direction). Although two step wall flow paths 223 are illustrated in the drawing, the disclosure is not limited thereto. The number of step wall flow paths 223 is not limited.

[0106] The docking station 20 may include a step wall inlet 221. The step wall inlet 221 may be in communication with the washing chamber 230. The step wall inlet 221 may be open toward the washing chamber 230. The step wall inlet 221 may form one end of the step wall flow path 223. The step wall inlet 221 may be formed in the first wall portion 220a of the step wall 220.

[0107] The docking station 20 may include a step wall outlet 222. The step wall outlet 222 may be in communication with the brush seating portion 240. The step wall outlet 222 may be open toward the brush seating portion 240. The step wall outlet 222 may form the other end of the step wall flow path 223. The step wall outlet 222 may be formed in the second wall portion 220b of the step wall 220.

[0108] For example, the step wall inlet 221 may be smaller than the step wall outlet 222. For example, a width of the step wall inlet 221 may be smaller than that of the step wall outlet 222. Dry air may be widely sprayed to the brush seating portion 240 by being pressurized while passing through the step wall flow path 223 due to a difference in size between the step wall inlet 221 and the step wall outlet 222.

[0109] The docking station 20 may include a door 224. The door 224 may be placed in the step wall inlet 221. The door 224 may open or cover the step wall inlet 221. The door 224 may prevent foreign substances, water, etc., other than dry air from flowing into the step wall flow path 223. For example, the door 224 may open the step wall inlet 221 by the pressure of the dry air sprayed into the washing chamber 230. For example, the door 224 may be driven by a door driver (not shown) to open or cover the step wall inlet 221. For example, the door 224 may be made of a flexible material that is bendable (see FIG. 12). For example, the door 224 may include a rubber material.

[0110] The docking station 20 may include a steam generation device (not shown). The steam generation device may generate steam. The steam generation device may generate steam using water stored in the water storage container 201. The steam generation device may generate steam by receiving water stored in the water storage container 201. While the robot cleaner 10 is seated on the docking station 20, steam generated in the steam generation device (not shown) may be sprayed toward the mop 160.

[0111] The docking station 20 may include the drying device 260. The drying device 260 may generate air for drying the mop 160 (hereinafter referred to as “dry air”). The drying device 260 may provide dry air to the washing chamber 230 to be described later. While the robot cleaner 10 is seated on the docking station 20, dry air discharged from the drying device 260 may be directed to the mop 160. While the robot cleaner 10 is seated on the docking station 20, the docking station 20 may spray dry air to the mop 160. The dry air may have relatively low humidity or high temperature. The dry air may also be referred to as hot air or dry wind.

[0112] For example, after washing and / or sterilizing the mop 160, the docking station 20 may provide dry air to the mop 160. For example, in a case where a moisture content of the mop 160 increases as the mop 160 wipes water from the surface to be cleaned during cleaning, the robot cleaner 10 may return to the docking station 20 and the docking station 20 may discharge dry air toward the mop 160.

[0113] The operation of discharging dry air to the washing chamber 230 by the drying device 260 may be referred to as a drying operation on the mop 160. That is, the drying operation on the mop 160 may include blowing dry air toward the mop 160 of the robot cleaner 10 placed on the docking station 20 by the drying device 260 of the docking station 20.

[0114] The drying device 260 may include a fan 262 generating blowing force. The drying device 260 may include a drying duct 261 to guide air blown by the fan 262. The drying duct 261 may guide the air blown by the fan 262 to the washing chamber 230. The drying duct 261 may connect the fan 262 and the washing chamber 230 to be described later. The drying device 260 may include a heater 263 to heat the air blown by the fan 262. The heater 263 may heat the air guided by the drying duct 261. At least a portion of the heater 263 may be disposed in the drying duct 261. For example, in a case where the drying device 260 includes the heater 263, the drying device 260 may generate high temperature dry air (hot air). However, the disclosure is not limited thereto, and the drying device 260 may not include the heater 263.

[0115] The docking station 20 may include a discharge opening 231. The discharge opening 231 may be formed in the washing chamber 230. For example, the discharge opening 231 may be formed in the chamber side wall 230b of the washing chamber 230. The discharge opening 231 may supply dry air generated in the drying device 260 to the washing chamber 230. The discharge opening 231 may spray dry air guided by the drying duct 261 to the washing chamber 230. In a state where the robot cleaner 10 is placed on the docking station 20, the discharge opening 231 may be arranged to be open toward the mop 160. Although two openings 231 are illustrated in the drawing, the number of openings 231 is not limited. For example, the number of openings 231 may correspond to the number of mops 160.

[0116] FIG. 8 illustrates an example of air flow when an intake motor of a robot cleaner operates according to an embodiment.

[0117] Referring to FIG. 8, the robot cleaner 10 may include the shaft 163. The shaft 163 may transmit a driving force of the drive motor 162 (see FIG. 3) to the mop 160. The shaft 163 may be coupled to the mop 160. For example, a portion of the shaft 163 may be disposed in the main body 110, and the remainder of the shaft 163 may protrude from the main body 110 and be coupled to the mop 160. For example, the shaft 163 may be coupled to an approximately central portion of the mop 160.

[0118] The shaft 163 may include a shaft hole 164. The shaft hole 164 may be formed in the shaft 163. The shaft hole 164 may be formed by penetrating the shaft 163. The shaft hole 164 may be opened toward a lower side of the mop 160. While the robot cleaner 10 is seated on the docking station 20, the shaft hole 164 may be formed to face the washing chamber 230. A first end of the shaft hole 164 may be formed to receive dry air guided by a first guide flow path 151a. The first end of the shaft hole 164 may communicate with the first guide flow path 151a. A second end of the shaft hole 164 may be opened toward a lower side of the mop 160. The second end of the shaft hole 164 may be opened toward the washing chamber 230. For example, the shaft hole 164 may extend along a longitudinal direction of the shaft 163. For example, the shaft hole 164 may extend along a height direction of the main body 110. The shaft hole 164 may be referred to as the shaft flow path 164. The shaft hole 164 may be referred to as the hollow portion 164. The shaft hole 164 may be referred to as the hollow flow path 164. The shaft hole 164 may be referred to as the opening 164. The shaft hole 164 may be referred to as the outlet 164.

[0119] The shaft hole 164 may allow dry air to flow. The shaft hole 164 may allow dry air to pass through. The shaft hole 164 may guide the dry air. The shaft hole 164 may receive the dry air guided by the first guide flow path 151a. The shaft hole 164 may spray the dry air guided by the first guide flow path 151a to the lower side of the mop 160. The shaft hole 164 may discharge the dry air guided by the first guide flow path 151a toward the mop 160.

[0120] The first guide flow path 151a may guide the dry air drawn into the robot cleaner 10 to the shaft hole 164. Accordingly, the dry air drawn into the robot cleaner 10 may flow toward the mop 160 through the shaft hole 164.

[0121] For example, when the intake motor 142 of the robot cleaner 10 operates, the air drawn in through the inlet 111 may flow toward the mop 160 through the shaft hole 164. However, the disclosure is not limited to the above example, and any structure in which the air drawn in through the inlet 111 may flow toward the mop 160 when the intake motor 142 operates may be employed without limitation as an example of the disclosure.

[0122] FIG. 9 illustrates another example of air flow when an intake motor of a robot cleaner operates according to an embodiment.

[0123] Referring to FIG. 9, the robot cleaner 10 may include a discharge hole 114. The discharge hole 114 may be formed on the main body 110. The discharge hole 114 may be formed in the lower part of the main body 110. For example, the discharge hole 114 may be formed by penetrating the lower side 110b of the main body 110. The discharge hole 114 may be formed to open toward the mop 160. The discharge hole 114 may be formed to open toward an upper part of the mop 160. The discharge hole 114 may be formed to face an upper side 160a of the mop 160. For example, the robot cleaner 10 may include a plurality of discharge holes 114. However, the disclosure is not limited to the above example and may include a single discharge hole 114. The number of discharge holes 114 is not limited. The discharge hole 114 may be referred to as the opening 114. The discharge hole 114 may be referred to as the outlet 114.

[0124] The discharge hole 114 may allow dry air to flow. The discharge hole 114 may allow dry air to pass through. The discharge hole 114 may allow dry air to be discharged toward the mop 160. The discharge hole 114 may allow dry air guided by the second guide flow path 151b to be sprayed toward the mop 160. The discharge hole 114 may allow dry air guided by the second guide flow path 151b to be discharged toward the upper part of the mop 160. The discharge hole 114 may allow dry air guided by the second guide flow path 151b to be sprayed onto the upper side 160a of the mop 160.

[0125] The second guide flow path 151b may guide dry air drawn into the robot cleaner 10 to the discharge hole 114. As a result, the dry air drawn into the robot cleaner 10 may flow toward the mop 160 through the discharge hole 114.

[0126] For example, when the intake motor 142 of the robot cleaner 10 operates, air drawn in through the inlet 111 may flow toward the mop 160 through the discharge hole 114. However, the disclosure is not limited to the above example, and any structure in which air drawn in through the inlet 111 may flow toward the mop 160 when the intake motor 142 operates may be employed without limitation as an example of the disclosure.

[0127] The air drawn into the main body 110 when the intake motor 142 operates may be evenly distributed toward the mop 160 through the outlets 164 and 114, and thus the mop 160 may be effectively dried in a short period of time.

[0128] FIG. 10 is a block diagram illustrating an example configuration of a robot cleaner according to an embodiment.

[0129] Referring to FIG. 10, the robot cleaner 10 according to an embodiment may include the front sensor 175, the rear sensor 176, the humidity sensor 171, a user interface device 181, a water tank valve 115v, the intake motor 142, the mop driver 161, a communication interface 182, and / or the controller 190.

[0130] Electrical components of the robot cleaner 10 may be powered by a battery (not shown), and as described above, the battery may be charged while placed on the docking station 20.

[0131] The robot cleaner 10 may include various components in addition to those shown in FIG. 10. For example, the robot cleaner 10 may further include the driving device 120 described above, and may further include a brush motor for rotating the brush 130.

[0132] As another example, the robot cleaner 10 may further include the obstacle sensor 170 distinguished from the front sensor 175 and the rear sensor 176. The obstacle sensor 170 may detect obstacles that impede movement of the robot cleaner 10. An obstacle may refer to any object that interferes with the movement of the robot cleaner 10 on or around a floor of a cleaning area. For example, in addition to the presence or absence of a table, sofa, and the like, located in the cleaning area, walls that divide a space may be obstacles, and objects that the robot cleaner 10 may climb or descend, such as a threshold or a round bar, may also be obstacles.

[0133] The obstacle sensor 170 may detect obstacles in a non-contact manner using electromagnetic waves such as infrared rays, visible ray, or ultrasonic waves. For example, the obstacle sensor 170 may emit infrared rays and then detect the infrared rays reflected from an obstacle, and may output, to the controller 190, an intensity of the detected infrared rays or a time of flight (TOF) from the emission of the infrared rays to the detection of the reflected infrared rays.

[0134] The controller 190 may calculate the presence or absence of an obstacle, or a distance between the obstacle and the robot cleaner 10 based on an output value of the obstacle sensor 170.

[0135] According to various embodiments, the obstacle sensor 170 may be replaced by the front sensor 175 and the rear sensor 176.

[0136] The front sensor 175 may have a front view of the main body 110. The front sensor 175 may obtain information about a floor area in front of the main body 110 (hereinafter, “front sensor data”).

[0137] The rear sensor 176 may have a rear view of the main body 110. The rear sensor 176 may obtain information about a floor area in the rear of the main body 110 (hereinafter, “rear sensor data”).

[0138] In an embodiment, the front sensor 175 and the rear sensor 176 may each include a camera. In this case, the sensor data collected by the front sensor 175 and the rear sensor 176 may be image data. For example, the front sensor data collected by the front sensor 175 may be front image data, and the rear sensor data collected by the rear sensor 176 may be rear image data.

[0139] In an embodiment, the front sensor 175 and the rear sensor 176 may each include a light emitter that emits light and a camera. The front sensor 175 and the rear sensor 176 may each collect the front image data and the rear image data such that the light emitter emits light and the camera obtains an image.

[0140] The front sensor 175 may transmit the front image data to the controller 190.

[0141] The rear sensor 176 may transmit the rear image data to the controller 190.

[0142] In an embodiment, the front sensor 175 and the rear sensor 176 may include an emitter that emits a defined signal (e.g., electromagnetic waves, light, infrared rays, etc.) and a receiver that receives a defined signal reflected from the obstacle. In this case, the sensor data collected by the front sensor 175 and the rear sensor 176 may be light reception data. For example, the front sensor data collected by the front sensor 175 may be front light reception data, and the rear sensor data collected by the rear sensor 176 may be rear light reception data.

[0143] The emitter of the front sensor 175 may be arranged at the front of the main body 110 and may transmit a defined signal toward the front of the main body 110. In addition, according to embodiments, the emitter may include a signal generator (e.g., light emitting diode (LED)) that generates a defined signal and a wide-angle lens that refracts the generated signal to disperse the signal in all directions.

[0144] The emitter of the rear sensor 176 may be arranged at the rear of the main body 110 and may transmit a defined signal toward the rear of the main body 110. In addition, according to embodiments, the emitter may include a signal generator (e.g., LED) that generates a defined signal and a wide-angle lens that refracts the generated signal to disperse the signal in all directions.

[0145] The front sensor 175 may emit a defined signal toward the front of the main body 110 and then detect a signal reflected from an obstacle, and output an intensity of the detected signal, or a time of flight (TOF) from the emission of the defined signal to the detection of the reflected signal, to the controller 190.

[0146] The rear sensor 176 may emit a defined signal toward the rear of the main body 110 and then detect a signal reflected from an obstacle, and output an intensity of the detected signal, or a time of flight (TOF) from the emission of the defined signal to the detection of the reflected signal, to the controller 190.

[0147] According to the disclosure, information about a contaminated area may be obtained based on front sensor data obtained by the front sensor 175 before the main body 110 of the robot cleaner 10 passes over the contaminated area, and rear sensor data obtained by the rear sensor 176 after the main body 110 of the robot cleaner 10 has passed over the contaminated area.

[0148] The humidity sensor 171 may include at least one sensor for measuring a humidity (or moisture content) of the mop 160.

[0149] In an embodiment, the humidity sensor 171 may measure a change in moisture in the air. The humidity sensor 171 may be located around the mop 160 to measure the humidity (or moisture content) of the mop 160. In this case, an output humidity of the humidity sensor 171 may be proportional to the moisture content of the mop 160.

[0150] The controller 190 may determine the humidity (or moisture content) of the mop 160 based on the humidity measured by the humidity sensor 171.

[0151] In an embodiment, the humidity sensor 171 may emit light such as infrared rays and visible rays, or electromagnetic waves such as ultrasonic waves to the mop 160, and then may measure an intensity of the electromagnetic waves reflected from the mop 160 and / or a time of flight (TOF) from the emission of the electromagnetic waves to the detection of the reflected electromagnetic waves.

[0152] For example, the humidity sensor 171 may include a light emitter that emits light to the mop 160 and a light receiver that receives light reflected from the mop 160.

[0153] The controller 190 may determine the humidity (or moisture content) of the mop 160 based on an output value of the humidity sensor 171.

[0154] In an embodiment, the controller 190 may determine a contamination level of the mop 160 based on the output value of the humidity sensor 171. As another example, the robot cleaner may be equipped with a separate contamination sensor for measuring the contamination level of the mop 160.

[0155] The controller 190 may perform various operations depending on the humidity (or moisture content) of the mop 160. For example, the controller 190 may control the driving device 120 to allow the robot cleaner 10 to return to the docking station 20 based on the humidity of the mop 160 being measured to be greater than or equal to a defined first humidity. As another example, the controller 190 may control the driving device 120 to allow the robot cleaner 10 to return to the docking station 20 based on the humidity of the mop 160 being measured to be less than a defined minimum humidity.

[0156] The user interface device 181 may include an output interface and an input interface.

[0157] At least one output interface may generate sensory information and transmit various information related to operations of the robot cleaner 10 to a user.

[0158] For example, the at least one output interface may transmit information related to the settings and an operation time of the robot cleaner 10 to the user. Information about the operation of the robot cleaner 10 may be output through a display, indicator, and / or may be output as voice. The at least one output interface may include, for example, a liquid crystal display (LCD) panel, an indicator, a light emitting diode (LED) panel, a speaker, and the like.

[0159] In a case where the display includes a touch screen display, the touch screen display may correspond to an example of the output interface and the input interface.

[0160] In an embodiment, the at least one output interface may output sensory information (e.g., visual information, auditory information, etc.) related to control of the robot cleaner 10.

[0161] At least one input interface may convert the sensory information received from the user into an electrical signal.

[0162] The at least one input interface may include a power button for turning on the robot cleaner 10.

[0163] Each button may include a visual indicator (e.g. text, icon, etc.) that may indicate its function.

[0164] The at least one input interface may include, for example, a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone, and the like.

[0165] In the disclosure, a “button” may be replaced by a user interface element (UI element), a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone, and the like.

[0166] The robot cleaner 10 may process a user input received via the user interface device 181 and may output information related to the robot cleaner 10 via the user interface device 181.

[0167] The water tank valve 115v may open and close a flow path connecting the water tank 115 and the mop 160 to allow the water stored in the water tank 115 to be supplied to the mop 160.

[0168] During wet cleaning, in a case where the humidity of the mop 160 measured by the humidity sensor 171 falls below a defined humidity, the controller 190 may control the water tank valve 115v to supply the water stored in the water tank 115 to the mop 160. In an embodiment, the water tank valve 115v may be replaced by various configurations (e.g., a pump) that may selectively supply the water stored in the water tank 115 to the mop 160. In the disclosure, controlling the water tank valve 115v to supply water from the water tank 115 to the mop 160 may be replaced by various operations (e.g., operating the pump) to supply water from the water tank 115 to the mop 160. In the disclosure, controlling the water tank valve 115v to supply water from the water tank 115 to the mop 160 may be defined as a water filling operation.

[0169] During dry cleaning, the controller 190 may control the brush motor (not shown) to rotate the brush 130, thereby blowing away foreign substances on the floor with the brush 130.

[0170] The intake motor 142 may draw the foreign substances scattered by the brush 130 into the dust bin 141, and may rotate an intake fan generating a suction force to draw the foreign substances into the dust bin 141.

[0171] The controller 190 may control the intake motor 142 to rotate the intake fan during dry cleaning, allowing the foreign substances scattered by the brush 130 to be collected into the dust bin 141 through the inlet 111.

[0172] During dry cleaning, i.e., during the operation of the intake motor 142, the air drawn into the main body 110 may be evenly distributed toward the mop 160 through the outlets 164 and 114.

[0173] That is, the intake motor 142 may be configured to draw external air into the main body 110 and discharge the air drawn into the main body 110 in a direction toward the mop 160.

[0174] The mop driver 161 may include a rotation driver that rotates the mop 160 and / or a lifting driver that lifts or lowers the mop 160. The rotation driver and the lifting driver may include the drive motor 162.

[0175] The controller 190 may control the rotation driver to rotate the mop 160. The rotation driver may include a motor for rotating the mop 160 and drive circuitry for driving the motor.

[0176] The controller 190 may control the drive motor 162 to lift or lower the mop 160. That is, the controller 190 may control the drive motor 162 to move the mop 160. The drive motor 162 may include an actuator capable of moving the mop 160.

[0177] The communication interface 182 may communicate with an external device (e.g., a server, a user device, the docking station 20) wired and / or wirelessly.

[0178] The communication interface 182 may transmit data to an external device (e.g., a server, a user device, and / or the docking station 20) or receive data from the external device. For the communication, the communication interface 182 may establish a direct (e.g., wired) communication channel or a wireless communication channel between external devices, and support the performance of the communication through the established communication channel. According to an embodiment, the communication interface 182 may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Among these communication modules, the corresponding communication module may communicate with an external device through a first network (e.g., a short-range wireless communication network such as Bluetooth, wireless fidelity (Wi-Fi) direct, or infrared data association (IrDA)) or a second network (e.g., a long-range wireless communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., LAN or wide area network (WAN)). These various types of communication modules may be integrated as one component (e.g., a single chip) or implemented as a plurality of separate components (e.g., multiple chips).

[0179] The short-range wireless communication module may include a Bluetooth communication module, a Bluetooth Low Energy (BLE) communication module, a near field communication module, a WLAN (Wi-Fi) communication module, and a Zigbee communication module, an infrared data association (IrDA) communication module, a Wi-Fi Direct (WFD) communication module, an ultrawideband (UWB) communication module, an Ant+ communication module, a microwave (uWave) communication module, etc., but is not limited thereto.

[0180] The long-range wireless communication module may include a communication module that performs various types of long-range wireless communication, and may include a mobile communication interface. The mobile communication interface transmits and receives radio signals with at least one of a base station, an external terminal, or a server on a mobile communication network.

[0181] In an embodiment, the communication interface 182 may communicate with an external device through an access point (AP). The AP may connect a local area network (LAN), to which the robot cleaner 10 is connected, to a wide area network (WAN) to which a server is connected. The robot cleaner 10 may be connected to the server through the wide area network (WAN).

[0182] In an embodiment, the communication interface 182 may communicate wirelessly with the docking station 20.

[0183] The controller 190 may control an overall operation of the robot cleaner 10.

[0184] The controller 190 may include at least one processor 191 controlling an operation of the robot cleaner 10 and at least one memory 192 storing programs and data for controlling the operation of the robot cleaner 10.

[0185] The at least one processor 191 may control overall operations of the robot cleaner 10. Specifically, the at least one processor 191 may be connected to each component of the robot cleaner 10 and may control overall operations of the robot cleaner 10. For example, the at least one processor 191 may be electrically connected to the memory 192 to control the overall operations of the robot cleaner 10. A single processor 191 or a plurality of processors 191 may be provided.

[0186] The at least one processor 191 may execute at least one instruction stored in the memory 192, thereby allowing the robot cleaner 10 to perform operations according to various embodiments.

[0187] The at least one memory 192 may store data required for various embodiments. The memory 192 may be implemented as a memory embedded in the robot cleaner 10 or as a memory detachable from the robot cleaner 10 depending on a data storage use. For example, data for driving the robot cleaner 10 may be stored in the memory embedded in the robot cleaner 10, and data for an extended function of the robot cleaner 10 may be stored in the memory detachable from the robot cleaner 10. Meanwhile, the memory embedded in the robot cleaner 10 may be implemented as at least one of a volatile memory (e.g., dynamic random access memory (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM), etc.), or a non-volatile memory (e.g., one time programmable read only memory (OTPROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (e.g. NAND flash or NOR flash, etc.), a hard drive, or a solid state drive (SSD)). In addition, the memory detachable from the robot cleaner 10 may be implemented as a memory card (e.g., compact flash (CF), secure digital (SD), micro secure digital (Micro-SD), mini secure digital (Mini-SD), extreme digital (xD), multi-media card (MMC), etc.), an external memory (e.g., universal serial bus (USB) memory) connectable to a USB port, and the like.

[0188] The at least one processor 191 may include at least one of a central processing unit (CPU), graphics processing unit (GPU), accelerated processing unit (APU), many integrated core (MIC), digital signal processor (DSP), neural processing unit (NPU), hardware accelerator, or machine learning accelerator. The at least one processor 191 may control one or any combination of other components of the robot cleaner 10, and may perform communication-related operations or data processing. The at least one processor 191 may execute at least one program or instruction stored in the memory 192. For example, the at least one processor 191 may execute at least one instruction stored in the memory 192 to perform a method according to at least one embodiment of the disclosure.

[0189] In an embodiment, the controller 190 may control the mop driver 161 according to a defined condition. Controlling the mop driver 161 may include rotating or moving the mop 160.

[0190] In an embodiment, the controller 190 may control the driving device 120 according to a defined condition. Controlling the driving device 120 may include moving the robot cleaner 10.

[0191] In an embodiment, the controller 190 may control the brush motor and / or the intake motor 142 according to a defined condition.

[0192] The controller 190 may perform a drying operation for drying the mop 160 according to a defined condition.

[0193] The drying operation for drying the mop 160 may include operating the intake motor 142 to perform dry cleaning for a defined period of time and / or returning to the docking station 20 and transmitting a drying request command to the docking station 20.

[0194] The controller 190 may determine whether to re-clean the contaminated area based on processing the sensor data obtained by the front sensor 175 and the rear sensor 176, which will be described below. Here, re-cleaning may refer to an operation where the robot cleaner 10 passes over an area that the robot cleaner 10 has passed through once again.

[0195] FIG. 11 is a block diagram illustrating an example configuration of a docking station according to an embodiment.

[0196] The docking station 20 may include a docking sensor 270, a user interface device 281, a communication interface 282, a washing device 250, the drying device 260, and / or a controller 290.

[0197] The docking station 20 may further include various components in addition to those shown in FIG. 11. For example, the docking station 20 may further include an intake motor that generates a suction force for drawing in waste from the dust bin 141 of the docked robot cleaner 10.

[0198] The controller 290 may operate the intake motor (not shown) of the docking station 20 to draw the waste from the dust bin 141 of the robot cleaner 10 into the dirt container 203 of the docking station 20.

[0199] As another example, the docking station 20 can further include a water supply device for supplying water to the water tank 115 of the docked robot cleaner 10.

[0200] The controller 290 may fill the water tank 115 of the robot cleaner 10 with water by controlling the water supply device of the docking station 20.

[0201] The docking sensor 270 may detect whether the robot cleaner 10 is docked at the docking station 20. The docking sensor 270 may include at least one sensor that detects mechanical and / or electrical changes when the robot cleaner 10 is docked at the docking station 20.

[0202] For example, the docking sensor 270 may include a sensor detecting whether a charging terminal 151 of the robot cleaner 10 is electrically connected to a charging terminal 218 of the docking station 20. As another example, the docking sensor 270 may include a sensor (e.g., an elastic sensor) that detects mechanical deformation when the robot cleaner 10 is docked.

[0203] The controller 290 may determine whether the robot cleaner is docked at the docking station 20 based on an output value of the docking sensor 270.

[0204] The user interface device 281 may include an output interface and an input interface.

[0205] At least one output interface may generate sensory information and transmit various information related to operations of the docking station to a user.

[0206] For example, the at least one output interface may transmit information related to the settings and an operation time of the docking station 20 to the user. Information about the operation of the docking station 20 may be output through a display, indicator, and / or may be output as voice. The at least one output interface may include, for example, a liquid crystal display (LCD) panel, an indicator, a light emitting diode (LED) panel, a speaker, and the like.

[0207] In a case where the display includes a touch screen display, the touch screen display may correspond to an example of the output interface and the input interface.

[0208] In an embodiment, the at least one output interface may output sensory information (e.g., visual information, auditory information, etc.) related to control of the docking station 20.

[0209] At least one input interface may convert the sensory information received from the user into an electrical signal.

[0210] The at least one input interface may include a power button for turning on the docking station 20.

[0211] Each button may include a visual indicator (e.g. text, icon, etc.) that may indicate its function. The at least one input interface may include, for example, a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone, and the like.

[0212] In the disclosure, a “button” may be replaced by a user interface element (UI element), a tact switch, a push switch, a slide switch, a toggle switch, a micro switch, a touch switch, a touch pad, a touch screen, a jog dial, and / or a microphone, and the like.

[0213] The docking station 20 may process a user input received via the user interface device 281 and may output information related to the docking station 20 via the user interface device 281.

[0214] The communication interface 282 may communicate with an external device (e.g., a server, a user device, the robot cleaner 10) wired and / or wirelessly.

[0215] The communication interface 282 may transmit data to an external device (e.g., a server, a user device, and / or the robot cleaner 10) or receive data from the external device. For the communication, the communication interface 282 may establish a direct (e.g., wired) communication channel or a wireless communication channel between external devices, and support the performance of the communication through the established communication channel. According to an embodiment, the communication interface 282 may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Among these communication modules, the corresponding communication module may communicate with an external device through a first network (e.g., a short-range wireless communication network such as Bluetooth, wireless fidelity (Wi-Fi) direct, or infrared data association (IrDA)) or a second network (e.g., a long-range wireless communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., LAN or wide area network (WAN)). These various types of communication modules may be integrated as one component (e.g., a single chip) or implemented as a plurality of separate components (e.g., multiple chips).

[0216] The short-range wireless communication module may include a Bluetooth communication module, a Bluetooth Low Energy (BLE) communication module, a near field communication module, a WLAN (Wi-Fi) communication module, and a Zigbee communication module, an infrared data association (IrDA) communication module, a Wi-Fi Direct (WFD) communication module, an ultrawideband (UWB) communication module, an Ant+ communication module, a microwave (uWave) communication module, etc., but is not limited thereto.

[0217] The long-range wireless communication module may include a communication module that performs various types of long-range wireless communication, and may include a mobile communication interface. The mobile communication interface transmits and receives radio signals with at least one of a base station, an external terminal, or a server on a mobile communication network.

[0218] In an embodiment, the communication interface 282 may communicate with an external device through an access point (AP). The AP may connect a local area network (LAN), to which the robot cleaner 10 is connected, to a wide area network (WAN) to which a server is connected. The docking station 20 may be connected to the server through the wide area network (WAN).

[0219] In an embodiment, the communication interface 282 may communicate wirelessly with the robot cleaner 10.

[0220] A variety of examples may be employed as a communication method between the robot cleaner 10 and the docking station 20.

[0221] In an embodiment, the robot cleaner 10 and the docking station 20 may communicate directly through a short-range communication module.

[0222] In an embodiment, the robot cleaner 10 and the docking station 20 may communicate directly through wired communication in a state where the robot cleaner 10 is docked at the docking station 20.

[0223] In an embodiment, the robot cleaner 10 and the docking station 20 may communicate indirectly through a long-range communication module via an external server.

[0224] Indirect communication via an external server may include, in response to transmitting a defined signal to an external server from the robot cleaner 10, transmitting the defined signal received from the robot cleaner 10 to the docking station 20 by the external server, and / or in response to transmitting a defined signal to an external server from the docking station 20, transmitting the defined signal received from the docking station 20 to the robot cleaner 10 by the external server.

[0225] The washing device 250 may wash the mop 160 using the water stored in the water storage container 201.

[0226] To this end, the washing device 250 may include at least one pump and / or valve for flowing the water stored in the water storage container 201 to the washing chamber 230.

[0227] The wastewater generated by washing the mop 160 in the washing chamber 230 may be supplied to the wastewater container 202. To this end, the washing device 250 may include at least one pump and / or valve for flowing the wastewater stored in the washing chamber 230 to the wastewater container 202.

[0228] The controller 290 may control the washing device 250 to perform a washing process for washing the mop 160 placed in the washing chamber 230.

[0229] In the disclosure, the washing process may include a process in which water is supplied from the water storage container 201 to the washing chamber 230, the mop 160 is washed, and the generated wastewater is supplied to the wastewater container 202.

[0230] The drying device 260 may dry the mop 160 received in the washing chamber 230. To this end, the drying device 260 may include the drying duct 261 for guiding air blown by the fan 262 into the washing chamber 230, and the heater 263 for heating air blown by the fan 262 into the washing chamber 230.

[0231] The controller 290 may control the drying device 260 to perform a drying process for drying the mop 160 placed in the washing chamber 230.

[0232] In the disclosure, the drying process may include a process of operating the drying device 260 to dry the mop 160.

[0233] In an embodiment, the controller 290 may perform the washing process and / or the drying process based on a user input received via the user interface device 281.

[0234] In an embodiment, the controller 290 may perform the washing process and / or the drying process based on a control command received from an external device via the communication interface 282.

[0235] FIG. 12 is a flowchart illustrating an example method for controlling a robot cleaner according to an embodiment.

[0236] Referring to FIG. 12, the robot cleaner 10 according to an embodiment may obtain front sensor data about a contaminated area through the front sensor 175 before the mop 160 passes over the contaminated area (1000).

[0237] The controller 190 may process the front sensor data about the contaminated area obtained by the front sensor 175 before the mop 160 passes over the contaminated area.

[0238] The controller 190 may identify the contaminated area based on the processing of the front sensor data.

[0239] The controller 190 may control the movement of the robot cleaner 10 to allow the mop 160 to clean the contaminated area detected by the front sensor 175.

[0240] The contaminated area detected by the front sensor 175 may include the contaminated area identified based on the processing of the front sensor data.

[0241] According to an embodiment, the robot cleaner 10 may obtain rear sensor data about the contaminated area through the rear sensor 176 after the mop 160 has passed over the contaminated area (1100).

[0242] The controller 190 may process the rear sensor data about the contaminated area obtained by the rear sensor 176 after the mop 160 has passed over the contaminated area.

[0243] FIG. 13 illustrates an example of a robot cleaner passing over a contaminated area according to an embodiment.

[0244] Referring to FIG. 13, the robot cleaner 10 may identify a contaminated area PA based on front sensor data collected from the front sensor 175.

[0245] The contaminated area PA may refer to an area where a foreign substance FA is present. The foreign substance FA may be a liquid contaminant, a stain, and / or dust.

[0246] In an embodiment, the robot cleaner 10 may perform wet cleaning according to a preset cleaning plan, and may perform wet cleaning to allow the mop 160 to pass over the contaminated area PA based on identification of the contaminated area PA containing the foreign substance FA during wet cleaning.

[0247] In an embodiment, the robot cleaner 10 may perform dry cleaning according to a preset cleaning plan, and based on identification of the contaminated area PA containing the foreign substance FA during dry cleaning, may temporarily stop dry cleaning and perform wet cleaning to allow the mop 160 to pass over the contaminated area PA.

[0248] In an embodiment, performing dry cleaning by the robot cleaner 10 may include moving the mop 160 to a position where the mop 160 does not touch the floor, and then operating the brush motor and / or the intake motor 142.

[0249] In an embodiment, performing wet cleaning by the robot cleaner 10 may include moving the mop 160 to a position where the mop 160 touches the floor and then rotating the mop 160.

[0250] The robot cleaner 10 may store front sensor data about the contaminated area PA collected by the front sensor 175 before passing over the contaminated area PA, and may store rear sensor data about the contaminated area PA collected by the rear sensor 176 after passing over the contaminated area PA. The controller 190 may process the front sensor data about the contaminated area PA collected by the front sensor 175 before passing over the contaminated area PA and store the front sensor data in the memory 192, and may process the rear sensor data about the contaminated area PA collected by the rear sensor 176 after passing over the contaminated area PA and store the rear sensor data in the memory 192.

[0251] The robot cleaner 10 may determine whether re-cleaning of the contaminated area PA is required based on the rear sensor data about the contaminated area PA (1200).

[0252] In an embodiment, the robot cleaner 10 may determine whether re-cleaning of the contaminated area PA is required based on processing of the rear sensor data about the contaminated area PA.

[0253] In an embodiment, the robot cleaner 10 may also determine whether re-cleaning of the contaminated area PA is required based on the front sensor data and the rear sensor data about the contaminated area PA.

[0254] As described above, the front sensor data may be front image data, and the rear sensor data may be rear image data.

[0255] As another example, the front sensor data may include light reception data (e.g., ToF data, light intensity data) obtained by emitting light to the contaminated area PA and then receiving the reflected light, and the rear sensor data may include light reception data (e.g., ToF data, light intensity data) obtained by emitting light to the contaminated area PA and then receiving the reflected light.

[0256] Determining whether re-cleaning of the contaminated area PA is required may include determining whether dry mopping of the contaminated area PA is required and / or determining whether wet mopping of the contaminated area PA is required.

[0257] FIG. 14 illustrates an example of front sensor data obtained by a front sensor and rear sensor data obtained by a rear sensor of a robot cleaner according to an embodiment. FIG. 15 illustrates another example of front sensor data obtained by a front sensor and rear sensor data obtained by a rear sensor of a robot cleaner according to an embodiment.

[0258] For convenience of description, although it is illustrated in FIG. 14 and FIG. 15 that front sensor data and rear sensor data are each image data, the front sensor data and the rear sensor data are not limited thereto.

[0259] Referring to FIG. 14 and FIG. 15, the front sensor data FI may include information related to a foreign substance FA before a contaminated area PA is cleaned by the mop 160. The rear sensor data RI may include information related to a foreign substance FA after a contaminated area PA has been cleaned by the mop 160.

[0260] The information related to the foreign substance FA may include information about the color of the foreign substance FA, the amount of the foreign substance FA, the size of the foreign substance FA, the outline of the foreign substance FA, the shape of the foreign substance FA, and the like.

[0261] Referring to FIG. 14, it may be seen that a large lump of liquid contaminant is separated into a plurality of small lumps of liquid contaminant, in a case where the liquid contaminant is not completely absorbed by the mop 160.

[0262] Here, the liquid contaminant may refer to a foreign substance that may be absorbed by the dried mop 160. For example, the liquid contaminant may refer to a foreign substance that maintains a liquid state, such as water or juice.

[0263] Referring to FIG. 15, it may be seen that a large foreign substance stain becomes a small foreign substance stain, in a case where the stain is not completely wiped off by the mop 160.

[0264] Here, the foreign substance stain (hereinafter, referred to as the “stain”) may refer to a foreign substance that may be wiped off by the wet mop 160. For example, the stain may include spilled coffee stains, oil stains, and the like.

[0265] In an embodiment, the controller 190 may determine whether re-cleaning is required based on the rear sensor data RI.

[0266] For example, the controller 190 may determine that re-cleaning is not required for the contaminated area PA based on no foreign substance being detected in the rear sensor data RI, and may determine that re-cleaning is required for the contaminated area PA based on a foreign substance being detected in the rear sensor data RI.

[0267] In an embodiment, the controller 190 may identify whether the type of the foreign substance is a liquid contaminant or a stain based on the rear sensor data RI.

[0268] Determining whether re-cleaning is required based on the rear sensor data RI may include determining whether re-cleaning is required based on processing only the rear sensor data RI and / or determining whether re-cleaning is required based on processing both the front sensor data FI and the rear sensor data RI.

[0269] In an embodiment, the controller 190 may determine whether re-cleaning is required based on a difference between the front sensor data FI and the rear sensor data RI.

[0270] For example, the controller 190 may determine that re-cleaning is not required based on a foreign substance being detected in the front sensor data FI and the foreign substance not being detected in the rear sensor data RI.

[0271] Conversely, the controller 190 may determine that re-cleaning is required based on a foreign substance being detected in the front sensor data FI and the foreign substance still being detected in the rear sensor data RI.

[0272] The controller 190 may identify whether the type of foreign substance is a liquid contaminant or a stain based on the front sensor data FI and the rear sensor data RI.

[0273] For example, the controller 190 may identify that a liquid contaminant is not completely removed from the contaminated area PA based on a large lump of liquid contaminant being detected in the front sensor data FI and multiple small lumps of liquid contaminant being detected in the rear sensor data RI.

[0274] As another example, the controller 190 may identify that a stain is not completely removed from the contaminated area PA based on a large stain being detected in the front sensor data FI and a small stain being detected in the rear sensor data RI.

[0275] To this end, the controller 190 may perform image preprocessing on the front sensor data FI and the rear sensor data RI. The image preprocessing process may include one or more processes for processing an image into a form more suitable for detecting foreign substance.

[0276] For example, the image preprocessing process may include a process of removing noise from the image, a process of increasing the contrast of the image, a deblurring process of removing blur from the image, a process of removing a background region, a warping process of correcting distortion included in the image, a process of binarizing the image, and the like.

[0277] The controller 190 may detect a foreign substance area in the image. The controller 190 may use, for example, a Haar-based cascade adaboost classifier, a neural network-based classifier, or a support vector machine to detect the foreign substance area in the image. However, the scope of the embodiment is not limited thereto, and the controller 190 may detect the foreign substance area in the image using various foreign substance area detection techniques.

[0278] The controller 190 may normalize the detected foreign substance area. In an embodiment, the controller 190 may detect landmarks of the foreign substance from the detected foreign substance area and normalize the foreign substance area based on the detected landmarks. The controller 190 may detect landmarks of a foreign substance from the foreign substance area by using, for example, a landmark detection technique based on an active contour model (ACM), an active shape model (ASM), an active appearance model (AAM), a supervised descent method (SDM), or a neural network. The landmarks of the foreign substance may be main landmarks for the foreign substance, e.g., landmarks for identifying the outline of the foreign substance. Normalization may include, for example, an image cropping process for extracting a foreign substance image representing a foreign substance area from an image, a process for matching the positions of landmarks detected in the foreign substance area with predefined reference positions, a process for adjusting the size of the extracted foreign substance area, and the like.

[0279] According to various embodiments, the controller 190 may also identify the type of the foreign substance by inputting the front sensor data FI and / or the rear sensor data RI into an artificial intelligence (AI) model.

[0280] The AI model is characterized in that it is created through training. Here, being created through training means that a basic AI model is trained using a large number of training data by a learning algorithm, thereby creating a predefined operation rule or AI model set to perform desired characteristics (or purpose). Such training may be performed in the device itself in which the AI according to the disclosure is performed, or may be performed through a separate server and / or system. Examples of learning algorithms include supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, but are not limited thereto.

[0281] The AI model may be composed of a plurality of neural network layers. Each of the plurality of neural network layers has a plurality of weight values, and a neural network operation is performed through an operation result of the previous layers and an operation between the plurality of weight values. The plurality of weights of the plurality of neural network layers may be optimized by the training result of the AI model. For example, the plurality of weights may be updated so that a loss value or a cost value obtained from the AI model during the training process is reduced or minimized. Artificial neural networks may include deep neural networks (DNN), for example, convolutional neural network (CNN), deep neural network (DNN), recurrent neural network (RNN), restricted Boltzmann Machine (RBM), deep belief network (DBN), bidirectional recurrent deep neural network (BRDNN), or deep Q-networks, but is not limited thereto.

[0282] The AI model may use the front sensor data FI and / or the rear sensor data RI as input data to output result data about the type of foreign substance, whether re-cleaning is required, whether dry mopping is required, and / or whether wet mopping is required.

[0283] The controller 190 may determine that re-cleaning is required in a case where a foreign substance left on the contaminated area PA is detected in response to processing the rear sensor data.

[0284] In response to a determination that re-cleaning is not required for the contaminated area PA, the controller 190 may clean another cleaning area.

[0285] As described above, determining whether re-cleaning is required may include determining whether dry mopping or wet mopping is required.

[0286] The controller 190 may identify the type of foreign substance left on the contaminated area based on the front sensor data about the contaminated area PA and the rear sensor data about the contaminated area, and may determine whether dry mopping or wet mopping is required based on the type of foreign substance left on the contaminated area.

[0287] The controller 190 may determine that dry mopping is required for the contaminated area PA (Yes in operation 1300), based on the foreign substance FA left on the contaminated area PA being identified as a liquid contaminant.

[0288] That is, the controller 190 may determine whether dry mopping is required for the contaminated area PA, based on information about the contaminated area PA obtained by the rear sensor 176 after the contaminated area PA detected by the front sensor 175 has been cleaned.

[0289] FIG. 16 is a flowchart illustrating an example method of re-cleaning in a case where a robot cleaner according to an embodiment determines that dry mopping is required.

[0290] Referring to FIG. 16, the controller 190 may determine whether to perform a drying operation on the mop 160 in response to a determination that dry mopping is required for the contaminated area (Yes in operation 1300 in FIG. 12).

[0291] The robot cleaner 10 may perform the drying operation on the mop 160 before re-cleaning (1410), based on a humidity of the mop 160 detected by the humidity sensor 171 being greater than a reference humidity (Yes in operation 1400).

[0292] In this instance, the reference humidity may be stored in advance in the memory 192. The reference humidity may be settable according to a user input. For example, a user may adjust the reference humidity through the user interface device 182 or 282 or the user device.

[0293] In an embodiment, the controller 190 may perform the drying operation on the mop 160 by returning the robot cleaner 10 to the docking station 20 and transmitting a drying request signal to the docking station 20.

[0294] For example, based on the humidity of the mop 160 detected by the humidity sensor 171 being greater than the reference humidity (Yes in operation 1400), the controller 190 may control the driving device 120 to allow the robot cleaner 10 to return to the docking station 20 and may transmit the drying request signal to the docking station 20 through the communication interface 182. Based on receiving the drying request signal, the docking station 20 may perform the drying operation for drying the mop 160 for the robot cleaner 10 that is docked or to be docked.

[0295] Here, the drying request signal may include a signal requesting the docking station 20 to perform a drying process and / or a signal requesting the docking station 20 to perform a washing process and the drying process.

[0296] In an embodiment, in response to the humidity of the mop 160 detected by the humidity sensor 171 being greater than the reference humidity and a contamination level of a liquid contaminant being greater than or equal to a defined reference value, the controller 190 may control the driving device 120 to return the robot cleaner 10 to the docking station 20, and may transmit the drying request signal to the docking station 20 through the communication interface 182. The drying request signal transmitted from the robot cleaner 10 to the docking station 20 in a case where the contamination level of the liquid contaminant (or a contamination level of the mop 160) is greater than or equal to the defined reference value may be the signal requesting the washing process and the drying process. Based on receiving the drying request signal, the docking station 20 may perform the washing process to wash the mop 160 and the drying process to dry the mop 160 for the robot cleaner 10 that is docked or to be docked.

[0297] Upon completion of the drying process, the docking station 20 may transmit, to the robot cleaner 10, a completion signal indicating that the drying operation on the mop 160 is completed.

[0298] Based on receiving the completion signal from the docking station 20, the controller 190 may move the robot cleaner 10 to the contaminated area to perform re-cleaning.

[0299] According to the disclosure, a situation in which a user may be endangered by a liquid contaminant remaining even after the robot cleaner 10 has completed cleaning may be prevented.

[0300] According to the disclosure, the mop 160 of the robot cleaner 10 may be prevented from inefficiently cleaning a liquid contaminant in a state where the mop 160 can no longer absorb liquid, i.e., in a sufficiently wet state, and may clean the liquid contaminant with the dry mop 160, thereby increasing the efficiency of removing the liquid contaminant.

[0301] In an embodiment, the controller 190 may perform the drying operation on the mop 160 by operating the intake motor 142.

[0302] As described above, according to various embodiments, the robot cleaner 10 may include the outlets 164 and 114 to discharge air drawn into the main body 110 in a direction toward the mop 160 by an operation of the intake motor 142. Accordingly, by operating the intake motor 142 of the robot cleaner 10, the mop 160 may be naturally dried.

[0303] In a case where the robot cleaner 10 returns to the docking station 20 to perform the drying process, the time required for cleaning may be extended. Accordingly, for efficient cleaning, the robot cleaner 10 may perform the drying operation on the mop 160 by operating the intake motor 142.

[0304] The robot cleaner 10 may control a height of the mop 160 to prevent the mop 160 from touching the floor while the intake motor 142 is operating.

[0305] That is, the controller 190 may control the height of the mop 160 to prevent the mop 160 from touching the floor while the intake motor 142 is operating for the drying operation.

[0306] Controlling the height of the mop 160 to prevent the mop 160 from touching the floor may include controlling the mop driver 161 to raise the mop 160.

[0307] The controller 190 may move the robot cleaner 10 to allow the robot cleaner 10 to clean a cleaning area excluding the contaminated area while performing the drying operation on the mop 160 by operating the intake motor 142.

[0308] Moving the robot cleaner 10 to clean the cleaning area excluding the contaminated area may include performing dry cleaning on the cleaning area excluding the contaminated area.

[0309] In a case where the humidity of the mop 160 detected by the humidity sensor 171 falls below the reference humidity while performing the drying operation on the mop 160 by operating the intake motor 142, the controller 190 may perform re-cleaning to allow the mop 160 to pass over the contaminated area again.

[0310] In a case where re-cleaning of the contaminated area is performed, the controller 190 may stop the dry cleaning (stop the operation of the intake motor) and control the height of the mop 160 to allow the mop 160 to touch the floor.

[0311] That is, the controller 190 may control the height of the mop 160 to allow the mop 160 to touch the floor during re-cleaning.

[0312] According to the disclosure, dry cleaning may be performed on another cleaning area while the mop 160 is drying, thereby maximizing cleaning efficiency.

[0313] As such, the robot cleaner 10 may perform re-cleaning to allow the mop 160 to pass over the contaminated area again after performing the drying operation on the mop 160 (1420) based on the humidity of the mop 160 detected by the humidity sensor 171 being greater than the reference humidity (Yes in operation 1400).

[0314] The robot cleaner 10 may perform re-cleaning to allow the mop 160 to pass over the contaminated area again without performing the drying operation on the mop 160 (1420), based on the humidity of the mop 160 detected by the humidity sensor 171 being less than or equal to the reference humidity (No in operation 1400).

[0315] In an embodiment, in a case where it is determined that dry mopping is required for the contaminated area and the humidity of the mop 160 detected by the humidity sensor 171 is less than or equal to the reference humidity, the controller 190 may perform re-cleaning by reversing the robot cleaner 10.

[0316] That is, because the mop 160 may sufficiently absorb a liquid contaminant when the mop 160 is not sufficiently wet, the robot cleaner 10 may completely remove the liquid contaminant by immediately reversing, in a case where the liquid contaminant on the contaminated area is not sufficiently removed in a state where the mop 160 is not sufficiently wet.

[0317] In an embodiment, in a case where it is determined that re-cleaning of the contaminated area is required again even though re-cleaning (dry mopping) of the contaminated area has been performed, the controller 190 may perform the operations of FIG. 16 again or may transmit information about the contaminated area to the user through the communication interface 182.

[0318] FIG. 17 is a flowchart illustrating an example drying operation of a robot cleaner according to an embodiment.

[0319] In an embodiment, the robot cleaner 10 may perform the drying operation on the mop 160 by returning the robot cleaner 10 to the docking station 20 and transmitting the drying request signal to the docking station 20, or may perform the drying operation on the mop 160 by operating the intake motor 142.

[0320] Drying the mop 160 by operating the intake motor 142 has limitations in drying efficiency because the mop 160 is dried using unheated wind.

[0321] Referring to FIG. 17, in an embodiment, based on the humidity of the mop 160 being greater than a first humidity (Yes in operation 1411), the robot cleaner 10 may perform the drying operation on the mop 160 by returning the robot cleaner 10 to the docking station 20 and transmitting a drying request signal to the docking station 20 (1413).

[0322] In this instance, the first humidity is greater than the reference humidity and may be stored in advance in the memory 192.

[0323] According to the disclosure, in a case where it is not easy to dry the mop 160 by operating the intake motor 142, the mop 160 may be completely dried by using the drying device of the docking station 20.

[0324] In an embodiment, the robot cleaner 10 may perform the drying operation on the mop 160 by operating the intake motor (1415), based on the humidity of the mop 160 being less than or equal to the first humidity (No in operation 1411).

[0325] According to the disclosure, in a situation where the mop 160 may be sufficiently dried by operating the intake motor 142, the robot cleaner 10 may prevent cleaning from being delayed by returning to the docking station 20.

[0326] Meanwhile, although not illustrated, even though the humidity of the mop 160 is not greater than the first humidity, in a case where the contamination level of the liquid contaminant (or the contamination level of the mop 160) is greater than or equal to the defined reference value, the robot cleaner 10 may perform the drying operation on the mop 160 by returning the robot cleaner 10 to the docking station 20 and transmitting a drying request signal to the docking station 20 (1413).

[0327] According to the disclosure, a likelihood of spreading contamination by re-cleaning a liquid contaminant with a contaminated mop may be prevented in advance.

[0328] Referring again to FIG. 12, the robot cleaner 10 may determine that wet mopping of the contaminated area is required based on the foreign substance left on the contaminated area being identified as a stain (No in operation 1300).

[0329] In a case where there is a stain on the floor, the stain may be wiped off by moisture. However, in a case where the humidity of the mop 160 is low, the stain may not be wiped off well.

[0330] FIG. 18 is a flowchart illustrating an example method of re-cleaning in a case where a robot cleaner according to an embodiment determines that wet mopping is required.

[0331] Referring to FIG. 18, the controller 190 may determine whether to perform a water filling operation on the mop 160, based on determining that wet mopping is required for the contaminated area (No in operation 1300 of FIG. 12).

[0332] The robot cleaner 10 may perform the water filling operation on the mop 160 before performing re-cleaning (1510), based on the humidity of the mop 160 detected by the humidity sensor 171 being less than a second humidity (Yes in operation 1500).

[0333] In this instance, the second humidity may be stored in advance in the memory 192. The second humidity may be lower than the reference humidity described above.

[0334] In an embodiment, the controller 190 may perform the water filling operation on the mop 160 by controlling the water tank valve 115v to supply water stored in the water tank 115 to the mop 160.

[0335] The controller 190 may perform re-cleaning by moving the robot cleaner 10 to the contaminated area, upon completion of the water filling operation on the mop 160 by controlling the water tank valve 115v.

[0336] In this instance, the controller 190 may control the water tank valve 115v to allow the humidity of the mop 160 to become the second humidity or higher, and then reverse the robot cleaner 10 to perform re-cleaning.

[0337] In an embodiment, the controller 190 may perform the water filling operation on the mop 160 by returning the robot cleaner 10 to the docking station 20 and transmitting a washing request signal or a water filling request signal to the docking station 20.

[0338] For example, based on the humidity of the mop 160 detected by the humidity sensor 171 being less than the second humidity (Yes in operation 1500), the controller 190 may control the driving device 120 to allow the robot cleaner 10 to return to the docking station 20, and may transmit the washing request signal or the water filling request signal to the docking station 20 through the communication interface 182. Based on receiving the washing request signal, the docking station 20 may perform a washing process to wash the mop 160 for the robot cleaner 10 that is docked or to be docked. Based on receiving the water filling request signal, the docking station 20 may perform a water filling process to fill the water tank 115 with water for the robot cleaner 10 that is docked or to be docked. Here, the washing request signal may include a signal requesting the docking station 20 to perform the washing process. In an embodiment, the washing request signal may include a signal requesting the docking station 20 to perform the washing process and the drying process. In this instance, the washing request signal may be a signal to maintain the humidity of the mop 160 at a defined level compared to the drying request signal described above. That is, the docking station 20 may perform the drying process for a first time period in response to receiving the drying request signal, and may perform the drying process for a second time period shorter than the first time period in response to receiving the washing request signal.

[0339] Upon completion of the washing process or the water filling process, the docking station 20 may transmit a completion signal indicating that the drying operation on the mop 160 is completed to the robot cleaner 10.

[0340] Based on receiving the completion signal of the water filling process from the docking station 20, the controller 190 may replenish the humidity of the mop 160 by controlling the water tank valve 115v to supply water stored in the water tank 115 to the mop 160 and then move the robot cleaner 10 to the contaminated area, thereby performing re-cleaning.

[0341] Based on receiving the completion signal of the washing process from the docking station 20, the controller 190 may perform re-cleaning by moving the robot cleaner 10 to the contaminated area.

[0342] According to the disclosure, in a case where the mop 160 is required to remove a stain, the efficiency of stain cleaning may be maximized by increasing the humidity of the mop 160 and then performing re-cleaning.

[0343] As such, based on the humidity of the mop 160 detected by the humidity sensor 171 being less than the second humidity (Yes in operation 1500), the robot cleaner 10 may perform the water filling operation on the mop 160 and then allow the mop 160 to pass over the contaminated area again to perform re-cleaning (1520).

[0344] Based on the humidity of the mop 160 detected by the humidity sensor 171 being greater than or equal to the second humidity (No in operation 1500), the robot cleaner 10 may allow the mop 160 to pass over the contaminated area again without performing the water filling operation on the mop 160 to perform re-cleaning (1520).

[0345] In an embodiment, in a case where it is determined that wet mopping is required for the contaminated area and the humidity of the mop 160 detected by the humidity sensor 171 is greater than or equal to the second humidity, the controller 190 may perform re-cleaning by reversing the robot cleaner 10.

[0346] That is, because the mop 160 may sufficiently wipe off a stain when the mop 160 is sufficiently wet, in a case where the stain on the contaminated area is not sufficiently removed when the mop 160 is sufficiently wet, the robot cleaner 10 may completely remove the stain by immediately reversing.

[0347] In an embodiment, in a case where it is determined that re-cleaning of the contaminated area is required again even though re-cleaning (wet mopping) of the contaminated area has been performed, the controller 190 may perform the operations of FIG. 18 again or transmit information about the contaminated area to the user through the communication interface 182.

[0348] FIG. 19 is a flowchart illustrating an example water filling operation of a robot cleaner according to an embodiment.

[0349] Referring to FIG. 19, the controller 190 may return the robot cleaner 10 to the docking station 20 (1513), based on the mop 160 being required to be washed or water in the water tank 115 being insufficient (Yes in operation 1511).

[0350] The controller 190 may determine that the mop 160 is required to be washed in response to the contamination level of the mop 160 being greater than or equal to a defined value. The controller 190 may determine that the water in the water tank 115 is insufficient based on an output value of a sensor detecting a water level in the water tank 115. The controller 190 may determine that the water in the water tank 115 is insufficient, based on the humidity of the mop 160 not increasing despite controlling the water tank valve 115v to supply water in the water tank 115 to the mop 160.

[0351] In response to a determination that the mop 160 is required to be washed, the controller 190 may return the robot cleaner 10 to the docking station 20 and transmit a washing request signal to the docking station 20.

[0352] In response to a determination that the water in the water tank 115 is insufficient, the controller 190 may return the robot cleaner 10 to the docking station 20 and transmit a water filling request signal to the docking station 20.

[0353] Based on the mop 160 not being required to be washed or water in the water tank 115 being sufficient (No in operation 1511), the controller 190 may control the water tank valve 115v to supply water in the water tank 115 to the mop 160 (1515).

[0354] According to the disclosure, the efficiency of stain cleaning may be increased by wiping a stain with the wet clean mop 160.

[0355] In addition to the operations described above, the robot cleaner 10 according to an embodiment may perform various operations that may increase cleaning efficiency.

[0356] In an embodiment, the robot cleaner 10 may call another robot cleaner 10 in a case where a foreign substance remains on a contaminated area despite performing re-cleaning.

[0357] Calling the other robot cleaner 10 by the robot cleaner 10 may include transmitting information about the contaminated area (e.g., location information about the contaminated area) to the other robot cleaner 10 through the communication interface 182.

[0358] In an embodiment, in a case where a foreign substance remains on the contaminated area despite performing re-cleaning, the robot cleaner 10 may transmit information about the contaminated area (e.g., location information about the contaminated area) to a user device. The user may confirm the information about the contaminated area via the user device, and may clean the contaminated area himself / herself.

[0359] In an embodiment, in a case where a foreign substance remains on the contaminated area despite performing re-cleaning, the robot cleaner 10 may transmit a signal to request replacement of the mop 160 to the user device. The user may confirm that the mop 160 is required to be replaced via the user device, and may replace the mop 160.

[0360] In an embodiment, in a case where a liquid contaminant remains on the contaminated area despite performing re-cleaning, the robot cleaner 10 may transmit a signal to request a dehumidification operation to an air conditioner. The air conditioner may perform the dehumidification operation in response to receiving the dehumidification request signal.

[0361] According to the disclosure, the robot cleaner 10 may efficiently remove a liquid contaminant and / or a stain on the floor.

[0362] According to an embodiment of the disclosure, a robot cleaner 10 may include: a main body 110: a mop 160 configured to be detachably mountable to a lower portion of the main body 110; a front sensor 175 configured to have a front field of view of the main body 110; a rear sensor 176 configured to have a rear field of view of the main body 110; a humidity sensor 171 configured to detect a humidity of the mop 160; and a controller 190 configured to: determine whether dry mopping is required for a contaminated area PA based on information about the contaminated area PA obtained by the rear sensor 176 after the mop 160 cleaned the contaminated area PA detected by the front sensor 175, and in response to a determination that dry mopping is required for the contaminated area PA and the humidity of the mop 160 detected by the humidity sensor 171 being greater than a reference humidity, perform a re-cleaning to allow the mop 160 to pass over the contaminated area PA again after performing a drying operation on the mop 160.

[0363] The controller 190 may be configured to perform a re-cleaning to allow the mop 160 to pass over the contaminated area PA again without the drying operation, in response to the determination that dry mopping is required for the contaminated area PA and the humidity of the mop 160 detected by the humidity sensor 171 being less than or equal to the reference humidity.

[0364] The controller 190 may be configured to perform the re-cleaning by reversing the robot cleaner 10, in response to the determination that dry mopping is required for the contaminated area PA and the humidity of the mop 160 detected by the humidity sensor 171 being less than or equal to the reference humidity.

[0365] The controller 190 may be configured to perform the drying operation on the mop 160 by returning the robot cleaner 10 to a docking station 20 and transmitting a drying request signal to the docking station 20.

[0366] The controller 190 may be configured to move the robot cleaner 10 to the contaminated area PA in response to receiving a completion signal indicating that the drying operation on the mop 160 is completed from the docking station 20.

[0367] The controller 190 may be configured to move the robot cleaner 10 to the contaminated area PA in response to receiving a completion signal indicating that the drying operation on the mop 160 is completed from the docking station 20.

[0368] The robot cleaner 10 may further include: an intake motor 142; and an outlet 164 and 114 configured to discharge air, drawn into the main body 110 by an operation of the intake motor 142, in a direction toward the mop 160, wherein the controller 190 may be configured to perform the drying operation on the mop 160 by operating the intake motor 142.

[0369] The controller 190 may be configured to control a height of the mop 160 to prevent the mop 160 from touching a floor while the intake motor 142 operates, and control the height of the mop 160 to allow the mop 160 to touch the floor during the re-cleaning.

[0370] The controller 190 may be configured to move the robot cleaner 10 to clean an area other than the contaminated area PA while the drying operation on the mop 160 is performed by operating the intake motor 142.

[0371] The controller 190 may be configured to identify a type of a foreign substance left on the contaminated area PA based on the information about the contaminated area PA obtained by the rear sensor 176, and determine that dry mopping is required for the contaminated area PA based on identifying that the foreign substance left on the contaminated area PA is a liquid contaminant.

[0372] The controller 190 may be configured to identify a type of a foreign substance left on the contaminated area PA based on the information about the contaminated area PA obtained by the rear sensor 176, and determine that wet mopping is required for the contaminated area PA based on identifying that the foreign substance left on the contaminated area PA is a stain.

[0373] The controller 190 may be configured to perform a re-cleaning to allow the mop 160 to pass over the contaminated area PA again without the drying operation, in response to a determination that wet mopping is required for the contaminated area PA.

[0374] The robot cleaner 10 may further include: a water tank 115 configured to store water supplied to the mop 160, wherein the controller 190 may be configured to: in response to a determination that wet mopping is required for the contaminated area PA and the humidity of the mop 160 detected by the humidity sensor 171 being less than a defined humidity, perform a re-cleaning to allow the mop 160 to pass over the contaminated area PA again after performing a water filling operation to supply the water stored in the water tank to the mop 160.

[0375] The controller 190 may be configured to, in response to a determination that wet mopping is required for the contaminated area PA and the humidity of the mop 160 detected by the humidity sensor 171 being less than a defined humidity, return the robot cleaner 10 to a docking station 20, and transmit a washing request signal or a water filling request signal to the docking station 20.

[0376] The reference humidity may be set according to a user input.

[0377] According to an embodiment of the disclosure, a method for controlling a robot cleaner 10 may include: determining whether dry mopping is required for a contaminated area PA based on information about the contaminated area obtained by a rear sensor 176 after a mop 160 cleaned the contaminated area PA detected by a front sensor 175, and in response to a determination that dry mopping is required for the contaminated area PA and a humidity of the mop 160 detected by the humidity sensor 171 being greater than a reference humidity, performing a re-cleaning to allow the mop 160 to pass over the contaminated area PA again after performing a drying operation on the mop 160.

[0378] The method may further include performing a re-cleaning to allow the mop 160 to pass over the contaminated area PA again without the drying operation, in response to the determination that dry mopping is required for the contaminated area PA and the humidity of the mop 160 detected by the humidity sensor 171 being less than or equal to the reference humidity.

[0379] The performing of the drying operation may include returning the robot cleaner 10 to a docking station 20 and transmitting a drying request signal to the docking station 20.

[0380] The performing of the drying operation may include operating an intake motor 142 configured to draw external air into the main body 110 and discharge the air drawn into the main body 110 in a direction toward the mop 160.

[0381] The method may further include identifying a type of a foreign substance left on the contaminated area PA based on the information about the contaminated area PA obtained by the rear sensor 176, and determining that dry mopping is required for the contaminated area PA based on identifying that the foreign substance left on the contaminated area PA is a liquid contaminant.

[0382] The method may further include determining that wet mopping is required for the contaminated area PA based on identifying that the foreign substance left on the contaminated area PA is a stain.

[0383] Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. The instructions may be stored in the form of program codes, and when executed by a processor, the instructions may create a program module to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0384] The computer-readable recording medium may include all kinds of recording media storing instructions that may be interpreted by a computer. For example, the computer-readable recording medium may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage, etc.

[0385] The computer-readable recording medium may be provided in the form of a non-transitory storage medium. Here, when a storage medium is referred to as “non-transitory”, it may be understood that the storage medium is tangible and does not include a signal (e.g., an electromagnetic wave), but rather that data is semi-permanently or temporarily stored in the storage medium. For example, a “non-transitory storage medium” may include a buffer in which data is temporarily stored.

[0386] According to an embodiment, the method according to the various embodiments disclosed herein may be provided in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., compact disc read only memory (CD-ROM)), or may be distributed (e.g., download or upload) through an application store (e.g., Play Store™) online or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., downloadable app) may be stored at least semi-permanently or may be temporarily generated in a storage medium, such as a memory of a server of a manufacturer, a server of an application store, or a relay server.

[0387] Although embodiments of the disclosure have been described with reference to the accompanying drawings, a person having ordinary skilled in the art will appreciate that other specific modifications may be easily made without departing from the technical spirit or essential features of the disclosure. Therefore, the foregoing embodiments should be regarded as illustrative rather than limiting in all aspects.

Claims

1. A robot cleaner, comprising:a main body;a mop configured to be coupleable to and decoupleable from a lower portion of the main body;a front sensor configured to have a front field of view of the main body;a rear sensor configured to have a rear field of view of the main body;a humidity sensor configured to detect a humidity of the mop; anda controller configured to:determine whether dry mopping is required, for an area to be cleaned that is detected by the front sensor, based on information about the area obtained by the rear sensor after the mop coupled to the lower portion of the main body cleans the area detected by the front sensor, andbased on the dry mopping being determined as being required for the area and the humidity of the mop detected by the humidity sensor being greater than a reference humidity, perform a re-cleaning to allow the mop to pass over the area again after performing a drying operation on the mop.

2. The robot cleaner of claim 1, wherein the controller is configured to perform the re-cleaning without requiring the drying operation on the mop, based on the dry mopping being determined as being required for the area and the humidity of the mop detected by the humidity sensor being less than or equal to the reference humidity.

3. The robot cleaner of claim 2, wherein the controller is configured to perform the re-cleaning by reversing the robot cleaner, based on the dry mopping being determined as being required for the area and the humidity of the mop detected by the humidity sensor being less than or equal to the reference humidity.

4. The robot cleaner of claim 1, wherein the controller is configured to perform the drying operation on the mop by returning the robot cleaner to a docking station and transmitting a drying request signal to the docking station.

5. The robot cleaner of claim 4, wherein the controller is configured to move the robot cleaner to the area based on receiving a completion signal indicating that the drying operation on the mop is completed from the docking station.

6. The robot cleaner of claim 1, further comprising:an intake motor; andan outlet configured to discharge air, drawn into the main body by an operation of the intake motor, in a direction toward the mop,wherein the controller is configured to perform the drying operation on the mop by operating the intake motor.

7. The robot cleaner of claim 6, wherein the controller is configured to control the mop to prevent the mop from touching a floor while the intake motor operates, and control the mop to allow the mop to touch the floor during the re-cleaning.

8. The robot cleaner of claim 6, wherein the controller is configured to move the robot cleaner to clean an area other than the area while the drying operation on the mop is performed by operating the intake motor.

9. The robot cleaner of claim 1, wherein the controller is configured to identify a type of a foreign substance left on the area based on the information about the area obtained by the rear sensor, and determine that the dry mopping is required for the area based on identifying that the foreign substance left on the area is a liquid contaminant.

10. The robot cleaner of claim 1, wherein the controller is configured to identify a type of a foreign substance left on the area based on the information about the area obtained by the rear sensor, and determine that wet mopping is required for the area based on identifying that the foreign substance left on the area is a stain.

11. The robot cleaner of claim 10, wherein the controller is configured to perform a re-cleaning to allow the mop to pass over the area again without the drying operation, in response to a determination that wet mopping is required for the area.

12. The robot cleaner of claim 10, further comprising:a water tank configured to store water supplied to the mop,wherein the controller is configured to:based on determining that wet mopping is required for the area and the humidity of the mop detected by the humidity sensor being less than a defined humidity, perform a re-cleaning to allow the mop to pass over the area again after performing a water filling operation to supply the water stored in the water tank to the mop.

13. The robot cleaner of claim 10, wherein the controller is configured to, based on determining that wet mopping is required for the area and the humidity of the mop detected by the humidity sensor being less than a defined humidity, return the robot cleaner to a docking station, and transmit a washing request signal or a water filling request signal to the docking station.

14. The robot cleaner of claim 1, wherein the reference humidity is settable according to a user input.

15. A method for controlling a robot cleaner, comprising:determining whether dry mopping by a mop coupleable to and decoupleable from a lower portion of a main body of the robot cleaner is required for an area to be cleaned that is detected by a front sensor having a front field of view of the main body based on information about the area obtained by a rear sensor having a rear field of view of the main body after the mop coupled to the lower portion of the main body cleans the area detected by the front sensor, andbased on the dry mopping being determined as being required for the area and humidity of the mop detected by a humidity sensor being greater than a reference humidity, performing a re-cleaning to allow the mop to pass over the area again after performing a drying operation on the mop.

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