Cleaning robot and method for controlling same

Abstract

A robot cleaner according to an embodiment of the present disclosure may include: a main body forming the exterior thereof; rotation parts rotatably disposed on the bottom of the main body; cleaning members detachably coupled to the rotation parts and having at least one reflection pattern provided on the surface thereof; and light sensors disposed adjacent to the rotation parts, emitting light toward the cleaning members, and acquiring the amount of light reflected by the cleaning members, wherein the at least one reflection pattern has a reflectance different from that of the remaining area of the surface on which the reflection pattern is not provided.

Description

Robot vacuum cleaner and control method thereof

[0001] The present disclosure relates to a robot vacuum cleaner configured to determine the engagement status of a cleaning member through an optical sensor.

[0002] A robot vacuum cleaner is a device that automatically cleans a specific space without user intervention. Typically, a robot vacuum cleaner can be configured to suck up foreign substances, such as dust, accumulated on a surface to be cleaned (e.g., a floor), or to wipe away foreign substances, such as dirt, adhered to the surface. For example, a robot vacuum cleaner may have a detachable cleaning element (e.g., a wet mop) attached to the bottom, and the cleaning element can be rotated to remove foreign substances adhered to the surface to be cleaned.

[0003] A robot cleaner may include a light sensor that irradiates light onto a cleaning member attached to a lower portion and receives an amount of light reflected from the cleaning member. The robot cleaner may compare the amount of light reflected (or a value related to the amount of reflected light) obtained from the light sensor with a preset amount of light (or a preset value) to determine the engagement status of the cleaning member. However, when determining the engagement status of the cleaning member using a fixed reference value, errors in determining whether the cleaning member is engaged may occur due to noise occurring in other environments, such as changes in the material of the surface.

[0004] Various embodiments of the present disclosure may provide a robot cleaner including a cleaning member provided with a light sensor and a reflective pattern, and a method for controlling the same.

[0005] According to one embodiment of the present disclosure, a robot cleaner includes a main body forming an exterior, a rotating part rotatably disposed on a lower side of the main body, a cleaning member detachably coupled to the rotating part and having at least one reflective pattern provided on a surface, and an optical sensor disposed at a position close to the rotating part, irradiating light toward the cleaning member and obtaining an amount of light reflected by the cleaning member, wherein the at least one reflective pattern may have a different reflectivity from the remaining area of ​​the surface where the reflective pattern is not provided.

[0006] A method for controlling a robot cleaner according to one embodiment of the present disclosure may include an operation of rotating a rotating part of the robot cleaner, an operation of irradiating light to a cleaning member having a reflective pattern through a light sensor and measuring an amount of light reflected from the cleaning member through the light sensor, an operation of detecting a pattern change in the amount of light reflected by the reflective pattern based on the amount of light reflected measured by the light sensor, and an operation of determining a state of the cleaning member based on the detected pattern change.

[0007] A cleaning member detachably coupled to a robot cleaner according to one embodiment of the present disclosure may include a main body having a first reflectivity and a reflective pattern formed on a surface of the main body and having a second reflectivity different from the first reflectivity.

[0008] Various embodiments of the present disclosure can improve the accuracy and reliability of judgment by detecting a change in the pattern of light reflection caused by a reflection pattern of a cleaning member when the rotating part and / or the cleaning member rotates, and judging the engagement state of the cleaning member by considering the detected pattern change.

[0009] In addition, when the rotating part and / or the cleaning member rotates, the change in the pattern of light reflection caused by the reflection pattern of the cleaning member is detected, and the user's convenience can be improved by determining whether or not the cleaning member needs to be replaced by considering the detected pattern change and notifying the user.

[0010] The effects that can be achieved by the exemplary embodiments of the present disclosure can be clearly derived and understood by those skilled in the art to which the exemplary embodiments of the present disclosure pertain, from the following description. In other words, unintended effects resulting from the implementation of the exemplary embodiments of the present disclosure can also be derived by those skilled in the art from the exemplary embodiments of the present disclosure.

[0011] In connection with the description of the drawings, the same or similar reference numerals may be used for identical or similar components.

[0012] FIG. 1 is a perspective view of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0013] FIG. 2 is a bottom view of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0014] Figure 3 is a cross-sectional view taken along line A-A' shown in Figure 2.

[0015] FIG. 4A is a perspective view of a cleaning member according to one embodiment of the present disclosure.

[0016] Fig. 4b is an example of a reflection pattern of a cleaning member, which is an enlarged view of part A shown in Fig. 4a.

[0017] FIG. 5 is a control block diagram of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0018] Figure 6 is a control flowchart of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0019] FIG. 7 is a graph showing the amount of light reflection detected by an optical sensor according to one embodiment of the present disclosure.

[0020] FIG. 8 is a flowchart of a method for determining whether a cleaning member of a robot vacuum cleaner is connected according to an embodiment of the present disclosure.

[0021] FIG. 9 is a flowchart of a method for determining whether a cleaning member of a robot vacuum cleaner is connected according to an embodiment of the present disclosure.

[0022] FIG. 10 is a flowchart of a method for determining whether to replace a cleaning member of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0023] FIG. 11 is a flowchart of a method for detecting a failure of an optical sensor of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0024] It should be understood that the various embodiments and terms used in this document are not intended to limit the technical features described in this document to specific embodiments, but rather to include various modifications, equivalents, or substitutes of the embodiments.

[0025] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0026] The singular form of a noun corresponding to an item may include one or more items, unless the context clearly indicates otherwise.

[0027] In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof.

[0028] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0029] When a component (e.g., a first component) is referred to as being “coupled” or “connected” to another component (e.g., a second component), with or without the terms “functionally” or “communicatively,” it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0030] The terms “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in this document, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0031] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0032] When we say that a component is “on” another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0033] The term “and / or” includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0034] The operating principle and embodiments of the present invention will be described with reference to the attached drawings below.

[0035] FIG. 1 is a perspective view of a robot vacuum cleaner according to one embodiment of the present disclosure. FIG. 2 is a bottom view of a robot vacuum cleaner according to one embodiment of the present disclosure. FIG. 3 is a cross-sectional view taken along line A-A' illustrated in FIG. 2.

[0036] Referring to FIGS. 1 to 3, the robot cleaner (100) can perform an operation (e.g., mopping) to remove foreign substances from a surface to be cleaned (e.g., a floor) by using a cleaning member (200) (e.g., a wet mop or a dry mop) detachably coupled to the lower portion. For example, the robot cleaner (100) can remove foreign substances (e.g., dust or dirt) from the surface to be cleaned by bringing the cleaning member (200) coupled to the lower portion into contact with the surface to be cleaned and then rotating it, and using the frictional force between the cleaning member (200) and the surface to be cleaned generated by the rotation of the cleaning member (200).

[0037] According to an example, a robot vacuum cleaner (100) may include a main body (110), a main body cover (120), a dust bin (130), a brush unit (140), a rotating unit (150), a driving unit (160), a battery (170), and a light sensor (180).

[0038] According to an example, the main body (110) can form the overall appearance of the robot vacuum cleaner (100).

[0039] In one example, a power switch (111) may be provided on the side of the main body (110). The power switch (111) may be, for example, positioned at the rear of the main body (110), but the present disclosure is not limited thereto. A user may turn the power of the robot cleaner (100) on / off by operating the power switch (111).

[0040] In one example, an obstacle sensor (113) may be provided on the side of the main body (110). The obstacle sensor (113) may be, for example, positioned at the front of the main body (110), but the present disclosure is not limited thereto. The obstacle sensor (113) may detect an obstacle approaching the robot cleaner (100) while the robot cleaner (100) is operating (for example, while moving). The robot cleaner (100) may avoid obstacles using the obstacle sensor (113) while driving. The obstacle sensor (113) may include, for example, at least one of an infrared sensor, an ultrasonic sensor, or a contact sensor.

[0041] In one example, a LiDAR (light detection and ranging) sensor (115) may be provided on the upper surface of the main body (110). The LiDAR sensor (115) may be located at the rear of the upper surface of the main body (110). The LiDAR sensor (115) may irradiate light (e.g., laser) to the outside and receive light reflected from an object (e.g., external object) to obtain information such as a distance to the object, a location direction, or a material. The LiDAR sensor (115) may obtain 360-degree geometry information regarding the driving area. The robot cleaner (100) may create a map of the driving area based on the information obtained through the LiDAR sensor (115).

[0042] According to one example, the main body cover (120) may be placed on the upper surface of the main body (110). In one example, the main body cover (120) may cover at least a portion of the upper surface of the main body (110). In one example, the main body cover (120) may be rotatably connected to the main body (110). In this case, the user may rotate (or open) the main body cover (120) to insert / withdraw the dustbin (130) stored inside the main body (110).

[0043] In one example, a control unit (121) may be provided on the upper surface of the main body cover (120). The control unit (121) may be configured to receive various commands related to the operation of the robot cleaner (100) from the user (e.g., start / stop cleaning, return to charging, or change cleaning mode). The control unit (121) may be implemented as an input device such as a button, a switch, or a touch panel, for example.

[0044] For example, the dust bin (130) can store foreign substances such as dust that are drawn into the robot cleaner (100) according to the operation of the brush unit (140). In one example, the dust bin (130) can be placed so that it can be inserted / withdrawn inside the main body (110) of the robot cleaner (100).

[0045] In one example, the brush unit (140) may be placed at the bottom of the robot cleaner (100). In one example, the brush unit (140) may be configured to guide foreign substances on the surface to be cleaned into the interior of the robot cleaner (100) (e.g., a dust bin (130)) during the operation of the robot cleaner (100).

[0046] In one example, the brush unit (140) may include a main brush (141) that introduces foreign substances on the surface to be cleaned into the robot cleaner (100) when the robot cleaner (100) is moving, and a sub brush (142) that moves foreign substances on the surface to be cleaned toward the main brush (141) when the robot cleaner (100) is moving.

[0047] In one example, the main brush (141) may be positioned at the center or near the bottom side of the robot cleaner (100). The main brush (141) may have a roller shape. The main brush (141) may rotate about an axis in a horizontal direction (e.g., ± y-axis). In this case, when the robot cleaner (100) is driven or operated, foreign substances on the surface to be cleaned may be introduced into the dust bin (130).

[0048] In one example, the sub brush (142) may be positioned at the front edge of the bottom surface of the robot cleaner (100). The sub brush (142) may include a plurality of brushes. The plurality of brushes may rotate about an axis in a vertical direction (e.g., ±z-axis direction). The sub brush (142) may rotate and move foreign substances existing at the edge of the robot cleaner (100) to the main brush (141). In this case, when the robot cleaner (100) is driven, foreign substances at the corners of the wall or driving area may be removed by the sub brush (142).

[0049] According to an example, the rotating part (150) may be placed at the bottom of the robot cleaner (100). The rotating part (150) may be located at the rear of the bottom of the robot cleaner (100). The rotating parts (150) may be provided in pairs, but the present disclosure is not limited thereto.

[0050] In one example, a cleaning member (200) may be detachably coupled to the rotating member (150). The cleaning member (200) may be detachably coupled to the rotating member (150) in a hook and loop manner (e.g., Velcro), but the present disclosure is not limited thereto. For example, the cleaning member (200) may also be detachably coupled to the rotating member (150) in a manner such as a hook or a screw. In one example, the cleaning member (200) may have a disk shape. In one example, at least one reflective pattern (222) may be provided on the surface of the cleaning member (200). The reflective pattern (222) may cause a change in the pattern of the amount of light reflection detected by the light sensor (180) when the rotating member (150) and the cleaning member (200) rotate. Hereinafter, the structure, shape and / or material of the cleaning member (200) will be described with reference to FIGS. 4a and 4b.

[0051] In one example, the rotating part (150) can rotate about a vertical direction (e.g., ±z-axis direction). When a cleaning member (200) is coupled to the rotating part (150), the cleaning member (200) can rotate together with the rotating part (150) while in contact with the surface to be cleaned during the operation of the robot cleaner (100). In this case, foreign substances (e.g., stains) on the surface to be cleaned can be removed by the frictional force between the cleaning member (200) and the surface to be cleaned.

[0052] According to an example, the driving unit (160) may be placed at the bottom of the robot cleaner (100). The driving unit (160) may support the robot cleaner (100) to move forward, backward, or in another direction.

[0053] In one example, the driving unit (160) may include a pair of main wheels (161) and auxiliary rollers (162, 163) arranged at the front and rear of the pair of main wheels (161), respectively. The pair of main wheels (161) may rotate by receiving power from a driving unit (not shown) (e.g., a motor) provided inside the robot cleaner (100). The auxiliary rollers (162, 163) may assist the driving of the robot cleaner (100) at the front and rear of the pair of main wheels (161).

[0054] In one example, the battery (170) may be placed inside the main body (110) of the robot cleaner (100). In one example, the battery (170) may be detachably provided on the bottom surface of the main body (110) so as to be replaceable. In one example, the battery (170) may supply power to the brush unit (140), the rotating unit (150), and / or the driving unit (160). The battery (170) may be charged by receiving power from a docking station in a wired or wireless manner while the robot cleaner (100) is fixed or positioned on the docking station (not shown).

[0055] According to one example, the light sensor (180) can irradiate light toward the cleaning member (200) coupled to the rotating member (150) and measure the amount of light reflected from the cleaning member (200). In one example, the light sensor (180) can include a light emitting unit provided with a light source that irradiates light, a light receiving unit that receives light reflected from an object such as the cleaning member (200), and a printed circuit board (PCB) on which the light emitting unit and the light receiving unit are arranged.

[0056] In one example, the light sensor (180) may be placed inside the main body (110) of the robot cleaner (100). The light sensor (180) may be placed at a position close to the rotating part (150) and / or the cleaning member (200). In one example, the light sensor (180) may be positioned on the upper side in the circumferential direction (e.g., in the +z-axis direction) of the cleaning member (200) coupled to the rotating part (150). The light sensor (180) may be placed to face at least a part of the reflective pattern (222) of the cleaning member (200) when the rotating part (150) and the cleaning member (200) rotate.

[0057] FIG. 4A is a perspective view of a cleaning member according to one embodiment of the present disclosure.

[0058] Referring to FIG. 4A, in one example, the cleaning member (200) may include a body portion (210) and a border portion (220) surrounding the body portion (210). In one example, the body portion (210) may form the overall appearance of the cleaning member (200). In one example, the border portion (220) may extend along the perimeter of the body portion (210) and form the edge of the cleaning member (200).

[0059] According to one example, at least one reflective pattern (222) may be provided on the surface of the cleaning member (200).

[0060] In one example, at least one reflective pattern (222) may be arranged on the edge portion (220). For example, the reflective pattern (222) may extend along the upper surface and side surfaces of the edge portion (220). The reflective pattern (222) may have a belt shape. However, the shape of the reflective pattern (222) is not limited thereto, and the reflective pattern (222) may be implemented in various shapes such as a circle, a triangle, or a polygon.

[0061] In some examples, at least one reflective pattern (222) may be arranged on the upper surface of the body portion (210) or the frame portion (220). In this case, the light sensor (180) may be arranged on the lower surface of the main body (110) of the robot cleaner (100) so as to face the reflective pattern (222) from the upper side of the reflective pattern (222).

[0062] According to an example, the border portion (220) may include a first region (220a) in which a reflective pattern (222) is provided and a second region (220b) in which a reflective pattern (222) is not provided. The first region (220a) and the second region (220b) may be alternately arranged in the border portion (220) along the circumferential direction of the cleaning member (200).

[0063] In one example, the first region (220a) and the second region (220b) may have different colors having different light reflectances (or light absorbances). For example, the reflective pattern (222) and the second region (220b) may have different colors having different light reflectances (or light absorbances). In one example, the reflective pattern (222) may have a color having lower light reflectance than the second region (220b). For example, the reflective pattern (222) may have a color having lower light reflectance (e.g., black), and the second region (220b) may have a color having higher light reflectance (e.g., white) than the reflective pattern (222). In this case, when the cleaning member (200) rotates, pattern changes (722a, 722b, 722c, 722d, 722e) due to the reflective pattern (222) may occur, as illustrated in the graph of FIG. 7. In some examples, the reflective pattern (222) may have a color with a higher light reflectance than the second region (220b).

[0064] In one example, the first region (220a), for example, the reflective pattern (222), and the second region (220b) may be formed of materials having different light reflectances (or light absorbances). In one example, the reflective pattern (222) may be formed of a material having a lower light reflectance than the second region (220b). In some examples, the reflective pattern (222) may be formed of a material having a higher light reflectance than the second region (220b). For example, the reflective pattern (222) may be formed of a metal material having a high light reflectance, and the second region (220b) may be formed of a cloth material having a lower light reflectance than the reflective pattern (222).

[0065] In this way, when at least one reflection pattern (222) is provided on the surface of the cleaning member (200), the pattern of light reflection values ​​detected by the light sensor (180) may change when the cleaning member (200) rotates, and the robot cleaner (100) may detect the pattern of light reflection to determine the coupling status and / or replacement of the cleaning member (200).

[0066] Fig. 4b is an example of a reflection pattern of a cleaning member, which is an enlarged view of part A shown in Fig. 4a. (a) to (c) of Fig. 4b illustrate various shapes of reflection patterns (322, 422, 522) of cleaning members (300, 400, 500).

[0067] The structure of the cleaning member (300, 400, 500) illustrated in (a) to (c) of Fig. 4b is substantially the same as the cleaning member (200) of Fig. 4a, so the explanation will focus on the reflection patterns (322, 422, 522) that are different.

[0068] Referring to (a) of FIG. 4b, the reflection pattern (322) of the cleaning member (300) according to an example may be provided to have a wider width (W1) than the width (W0) of the reflection pattern (222) of FIG. 4a. In this case, the widths of the pattern changes (722a, 722b, 722c, 722d) of the amount of light reflection illustrated in the graph of FIG. 7 described below may be generated to be wider.

[0069] Referring to (b) of FIG. 4, the reflection pattern (422) of the cleaning member (400) according to an example may be provided to have a narrower width (W2) than the width (W0) of the reflection pattern (222) of FIG. 4a. In this case, the widths of the pattern changes (722a, 722b, 722c, 722d) of the amount of light reflection illustrated in the graph of FIG. 7 described below may be generated narrower.

[0070] Referring to (c) of FIG. 4, a reflection pattern (522) of a cleaning member (500) according to an example may include a plurality of segments (522a, 522b, 522c) spaced at predetermined intervals along the circumferential direction of the cleaning member (500). In this case, the occurrence frequency of pattern changes (722a, 722b, 722c, 722d) of light reflection amount illustrated in the graph of FIG. 7 described below may increase in proportion to the number of the plurality of segments (522a, 522b, 522c).

[0071] FIG. 5 is a control block diagram of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0072] Referring to FIG. 5, a robot cleaner (100) according to an example may include a control unit (190) configured to control the overall operation of the robot cleaner (100).

[0073] According to an example, the control unit (190) can control the operation of the brush unit (140), the rotation unit (150), the driving unit (160), or the output unit (193).

[0074] In one example, the control unit (190) may be configured to control the brush unit (140) to adjust the rotation speed or rotation direction of the main brush (141) and the sub brush (142). In this case, the dry cleaning mode of the robot cleaner (100) may be changed in response to the adjusted rotation speed or rotation direction of the brushes (141, 142).

[0075] In one example, the control unit (190) may be configured to control the rotating unit (150) to adjust the rotation speed or rotation direction of the rotating unit (150) or the cleaning member (200) coupled to the rotating unit (150). In this case, the wet cleaning mode of the robot cleaner (100) may be changed in response to the adjusted rotation speed or rotation direction of the rotating unit (150) or the cleaning member (200).

[0076] In one example, the control unit (190) may be configured to control the movement of the driving unit (160) by controlling the driving unit (not shown). For example, the control unit (190) may control the movement of the driving unit (160) to adjust the driving speed or driving direction of the robot cleaner (100).

[0077] In one example, the control unit (190) may be configured to receive data regarding light reflected from the cleaning member (200), such as the amount of light reflected, from the light sensor (180).

[0078] In one example, the control unit (190) may be configured to detect a change in the pattern of light reflection caused by the reflection pattern (222) of the cleaning member (200) based on data regarding the amount of light reflection received from the light sensor (180). In one example, the control unit (190) may be configured to determine the engagement status of the cleaning member (200) and / or whether the cleaning member (200) should be replaced based on the change in the pattern of the amount of light reflection.

[0079] According to one example, the robot cleaner (100) may include an output unit (193) that outputs information about the operation of the robot cleaner (100) and / or the status of the cleaning member (200).

[0080] In one example, the output unit (193) may include a display that outputs information about the operation of the robot cleaner (100) and / or the status of the cleaning member (200) in the form of text or an image. In one example, the output unit (193) may include a speaker that outputs information about the operation of the robot cleaner (100) and / or the status of the cleaning member (200) in the form of voice.

[0081] According to one example, the control unit (190) may be configured to control the output unit (193) to provide the user with information about the operation of the robot cleaner (100) and / or the status of the cleaning member (200).

[0082] Figure 6 is a control flowchart of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0083] Figure 6 is a flowchart illustrating an example of a method for determining the coupling status of a cleaning member (200).

[0084] Referring to FIG. 6, a robot cleaner (100) according to an example can be configured to control a rotating part (150) to rotate the rotating part (150) and / or a cleaning member (200) coupled to the rotating part (150) (610).

[0085] According to an example, the robot cleaner (100) can obtain the amount of light reflected from the cleaning member (200) from the light sensor (180) when the rotating part (150) and / or the cleaning member (200) coupled to the rotating part (150) rotates (620).

[0086] According to one example, the robot cleaner (100) detects a change in the pattern of light reflection caused by the reflection pattern (222) of the cleaning member (200) from the acquired light reflection amount, and can determine the state of the cleaning member (200) based on the detected change in the pattern of the light reflection amount (630). For example, the state of the cleaning member (200) may include the coupling state of the cleaning member (200) or whether the cleaning member (200) needs to be replaced (or, the degree of wear of the cleaning member (200)).

[0087] According to an example, the robot cleaner (100) can provide the status of the determined cleaning member (200) to the user through the output unit (193) (640).

[0088] FIG. 7 is a graph showing the amount of light reflection detected by an optical sensor according to one embodiment of the present disclosure.

[0089] FIG. 7 shows a graph of the amount of light reflected from the light sensor (180) when the cleaning member (200) is stationary (or fixed) and when rotating when the cleaning member (200) is coupled to the rotating part (150) of the robot cleaner (100), and a graph of the amount of light reflected from the light sensor (180) when the cleaning member (200) is stationary (or fixed) and when rotating when the cleaning member (200) is not coupled to the rotating part (150) of the robot cleaner (100).

[0090] Referring to Fig. 7, when examining the amount of light reflection measured by the light sensor (180) when the rotating part (150) is stopped, the amount of light reflection (721) when the cleaning member (200) is coupled to the rotating part (150) is higher than the amount of light reflection (711) when the cleaning member (200) is not coupled to the rotating part (150). In addition, the amount of light reflection (711, 721) measured in both cases maintains a constant value.

[0091] At this time, the robot cleaner (100) can determine that the cleaning member (150) is connected to the rotating part (150) if the amount of light reflected by the light sensor (180) is higher than a preset reference value.

[0092] However, if noise having a value higher than the above standard is measured due to various environments such as changes in the material of the surface to be cleaned, the robot cleaner (100) may misjudge that the cleaning member (200) is attached to the rotating member (150) even when the cleaning member (200) is not actually attached to the rotating member (150).

[0093] When examining the amount of light reflection (712) measured by the light sensor (180) when the rotating part (150) rotates without the cleaning member (200) being coupled to the rotating part (150), the amount of light reflection slightly fluctuates due to the rotation of the rotating part (150).

[0094] When the cleaning member (200) is coupled to the rotating member (150) and the rotating member (150) rotates, the light reflection amount (722) measured by the light sensor (180) is examined. As the pattern change of the light reflection amount is caused by the reflection pattern (222) of the cleaning member (200) having different light reflectances, the light reflection amount (722a, 722b, 722c, 722d) values ​​having a sharp change range (Δh) from the adjacent light reflection amount are measured.

[0095] At this time, the robot cleaner (100) determines whether the cleaning member (200) is attached based on a change in the pattern of light reflection rather than a fixed reference value, thereby improving the accuracy and reliability of determining whether the cleaning member (200) is attached.

[0096] Hereinafter, a specific method for determining whether a cleaning member (200) is mounted based on a change in the pattern of light reflection will be described later with reference to FIGS. 8 and 9.

[0097] FIG. 8 is a flowchart of a method for determining whether a cleaning member of a robot vacuum cleaner is connected according to an embodiment of the present disclosure.

[0098] Referring to FIG. 8, a robot cleaner (100) according to an example can detect a change in the pattern of light reflection caused by a reflection pattern (222) of a cleaning member (200) from the light reflection amount obtained from a light sensor (180) (e.g., 722a, 722b, 722c, 722d, or 722e of FIG. 7). In addition, the robot cleaner (100) can determine whether the cleaning member (200) is coupled to the rotating part (150) by using the average value and standard deviation of the light reflection amount for a predetermined period of time that vary according to the change in the pattern of the light reflection amount.

[0099] According to an example, a robot vacuum cleaner (100) can rotate a rotating part (150) (810).

[0100] According to an example, a robot cleaner (100) can obtain the amount of light reflected from an object such as a cleaning member (200) for a predetermined period of time, for example, the amount of light reflected, through a light sensor (180) (820).

[0101] For example, the robot cleaner (100) can calculate the average value and standard deviation of the light reflection amount based on the light reflection amount acquired over a predetermined period of time (830).

[0102] For example, the robot vacuum cleaner (100) can determine whether the calculated standard deviation is greater than or equal to a preset standard deviation (840).

[0103] For example, the robot cleaner (100) may determine that the cleaning member (200) is coupled to the rotating part (150) if the calculated standard deviation is greater than or equal to a preset standard deviation (if "yes" in operation 840) (850). Thereafter, the robot cleaner (100) may re-perform operation 820 and a series of operations following operation 820.

[0104] For example, the robot cleaner (100) can determine that the cleaning member (200) is not coupled to the rotating part (150) if the calculated standard deviation is smaller than the preset standard deviation (if “no” in operation 840) (860).

[0105] In one example, the robot cleaner (100) can provide the user with the engagement status of the cleaning member (200) through the output unit (193). In one example, after operation 860, the robot cleaner (100) can provide the user with information about the status that the cleaning member (200) is not engaged with the rotating member (150) through the output unit (193) (870).

[0106] FIG. 9 is a flowchart of a method for determining whether a cleaning member of a robot vacuum cleaner is connected according to an embodiment of the present disclosure.

[0107] Referring to FIG. 9, a robot cleaner (100) according to an example can detect a change in the pattern of light reflection caused by a reflection pattern (222) of a cleaning member (200) from the light reflection amount obtained from a light sensor (180) (e.g., 722a, 722b, 722c, 722d or 722e of FIG. 7). Then, the robot cleaner (100) can count the number of times the pattern of light reflection amount changes to determine whether the cleaning member (200) is coupled to the rotating part (150).

[0108] According to an example, a robot vacuum cleaner (100) can rotate a rotating part (150) (910).

[0109] According to an example, a robot cleaner (100) can obtain the amount of light reflected from an object such as a cleaning member (200), for example, the amount of light reflection, through a light sensor (180) (920).

[0110] For example, the robot cleaner (100) can detect a change in the pattern of the light reflection amount (e.g., 722a, 722b, 722c, 722d, or 722e of FIG. 7) by comparing the light reflection amount obtained from the light sensor (180) with a preset light reflection amount (930). For example, if the light reflection amount obtained from the light sensor (180) is smaller than the preset light reflection amount, the robot cleaner (100) can determine that a change in the pattern of the light reflection amount has occurred due to the reflection pattern (222) of the cleaning member (200).

[0111] For example, when a change in the pattern of light reflection of a robot cleaner (100) is detected (if “yes” in 930), the number of times (n) of detection of a change in the pattern of light reflection can be counted (940).

[0112] According to an example, the robot cleaner (100) can compare the number of times (n) of pattern changes in the amount of light reflection detected with a preset number of times (950).

[0113] For example, the robot cleaner (100) may determine that the cleaning member (200) is coupled to the rotating part (150) if the number of times (n) of changes in the pattern of light reflection is detected is greater than or equal to a set number (if "yes" in operation 950) (960). Thereafter, the robot cleaner (100) may re-perform operation 920 and a series of operations after operation 920.

[0114] According to an example, the robot cleaner (100) can determine whether the measurement time of the light reflection amount has passed the set time (970) when the number of times (n) of pattern changes in the light reflection amount detected is less than the set number (when “no” in operation 950).

[0115] For example, if the measurement time of the light reflection amount has not passed the set time (if “No” in operation 970), the robot cleaner (100) can proceed to operation 920 and re-perform a series of operations from operation 920 to operation 920.

[0116] For example, the robot cleaner (100) can determine that the cleaning member (200) is not attached to the rotating part (150) if the measurement time of the light reflection amount has passed the set time (if “yes” in operation 970) (980).

[0117] In one example, the robot cleaner (100) can provide the user with the engagement status of the cleaning member (200) through the output unit (193). In one example, after operation 980, the robot cleaner (100) can provide the user with information about the status that the cleaning member (200) is not engaged with the rotating member (150) through the output unit (193) (990).

[0118] The method for determining whether the cleaning member (200) is coupled with respect to FIGS. 8 and 9 described above can be substantially equally applied to a method for determining whether the cleaning member (200) is coupled to the correct position of the rotating part (150). In one example, the robot cleaner (100) can determine whether the cleaning member (200) is eccentrically coupled at the correct position of the rotating part (150) by considering whether the light reflection values ​​obtained from the light sensor (180) form a periodic function (e.g., sine wave) when the rotating part (150) and the cleaning member (200) rotate. In one example, the robot cleaner (100) can determine whether the cleaning member (200) is eccentrically coupled at the correct position of the rotating member (150) by considering whether a change in the pattern of light reflection due to the reflection pattern (222) of the cleaning member (200) is detected in the light reflection amount values ​​obtained from the light sensor (180) when the rotating member (150) and the cleaning member (200) rotate.

[0119] FIG. 10 is a flowchart of a method for determining whether to replace a cleaning member of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0120] Referring to FIG. 10, a robot cleaner (100) according to an example may be configured to detect a change in the pattern of light reflection caused by a reflection pattern (222) of a cleaning member (200) from the light reflection amount obtained from a light sensor (180) (e.g., 722a, 722b, 722c, 722d, or 722e of FIG. 7). Then, the robot cleaner (100) may determine whether or not the cleaning member (200) coupled to the rotating part (150) needs to be replaced (or, the degree of wear) by using the pattern change width (Δh) of the detected light reflection amount (see FIG. 7).

[0121] According to an example, a robot vacuum cleaner (100) can rotate a rotating part (150) (1010).

[0122] According to one example, the robot cleaner (100) can be configured to obtain the amount of light reflected from an object such as a cleaning member (200), for example, the amount of light reflection, through a light sensor (180) (1020).

[0123] According to an example, the robot cleaner (100) may be configured to calculate the variation (or deviation) (Δh) between consecutive light reflectance values ​​among light reflectance values ​​obtained from the light sensor (180) (1030).

[0124] For example, the robot cleaner (100) may be configured to compare the variation (Δh) between the calculated light reflection values ​​with a preset variation (1040). The preset variation may correspond to the variation between consecutive light reflection values ​​calculated during rotation of an unused cleaning member (200).

[0125] According to an example, if the variation range (Δh) of the calculated light reflection value is greater than the set variation range (if “No” in operation 1040), the robot cleaner (100) can proceed to operation 1020 and re-perform operations 1020 and operations subsequent to operation 1020.

[0126] For example, if the variation range (Δh) of the calculated light reflection value is smaller than the set variation range (if “yes” in operation 1040), the robot cleaner (100) may determine that the reflection pattern (222) of the cleaning member (200) is worn out and replacement of the cleaning member (200) is necessary (1050).

[0127] For example, the robot cleaner (100) can provide the user with information (or an alarm) regarding replacement of the cleaning member (200) through the output unit (193) after operation 1050 (1060).

[0128] FIG. 11 is a flowchart of a method for detecting a failure of an optical sensor of a robot vacuum cleaner according to one embodiment of the present disclosure.

[0129] Referring to FIG. 11, a robot cleaner (100) according to an example can obtain the amount of light reflected from an object such as a cleaning member (200), for example, the amount of light reflection, through a light sensor (180) (1110).

[0130] According to one example, the robot cleaner (100) may be configured to determine whether an abnormal output value is detected based on a light reflection value acquired from a light sensor (180) (1120). In one example, the robot cleaner (100) may determine the light reflection value as an abnormal output value if the light reflection value acquired from the light sensor (180) is equal to or greater than a preset upper limit value. In one example, the robot cleaner (100) may determine the light reflection value as an abnormal output value if the light reflection value acquired from the light sensor (180) is equal to or less than a preset lower limit value (for example, 0). That is, the robot cleaner (100) may determine a light reflection value within a range of an upper limit value and a lower limit value as a normal output value.

[0131] As an example, the robot vacuum cleaner (100) may be configured to determine that a failure of the light sensor (180) has occurred when an abnormal output value is detected (if “yes” in operation 1120) (1130).

[0132] According to one example, the robot vacuum cleaner (100) may be configured to provide the user with information about the failure status of the light sensor (180) through the output unit (193) (1140).

[0133] The method for determining a failure of the optical sensor (180) as described above can be applied substantially in the same manner even when an error occurs in the optical sensor (180) due to contamination of the cleaning member (200). For example, the robot cleaner (100) can be configured to determine whether an error occurs in the optical sensor (180) due to contamination of the cleaning member (200) based on whether an abnormal output value is detected through the optical sensor (180).

[0134] A robot cleaner (100) according to one embodiment of the present disclosure may include a main body (110) forming the exterior of the robot cleaner (100), a rotating part (150) rotatably arranged on the lower side of the main body (110), a cleaning member (200, 300, 400, 500) detachably coupled to the rotating part (150) and having at least one reflective pattern (222, 322, 422, 522) provided on the surface, and an optical sensor (180) arranged at a position close to the rotating part (150) to irradiate light toward the cleaning member (200, 300, 400, 500) and obtain an amount of light reflected by the cleaning member (200, 300, 400, 500). The at least one reflective pattern (222, 322, 422, 522) may have a different reflectivity than the remaining area (220b) of the surface where the reflective pattern (222, 322, 422, 522) is not provided.

[0135] According to an example, the light sensor (180) may be placed at the lower part of the main body (110) and positioned at the upper side of the cleaning member (200).

[0136] According to one example, the light sensor (180) may be placed on the lower surface of the main body (110) and may be placed to face the surface.

[0137] According to an example, the at least one reflective pattern (222, 322, 422, 522) may be formed on the upper edge of the cleaning member (200, 300, 400, 500).

[0138] According to an example, the at least one reflective pattern (222, 322, 422, 522) may be formed to extend from the upper surface to the side surface of the cleaning member (200, 300, 400, 500).

[0139] According to one example, each of the at least one reflective pattern (222, 322, 422, 522) may include a plurality of segments (522a, 522b, 522c) spaced apart from each other.

[0140] In one example, the at least one reflective pattern (222) may have a higher reflectivity than the remaining area (220b) of the surface.

[0141] In one example, the at least one reflective pattern (222) may have a lower reflectivity than the remaining area (220b) of the surface.

[0142] According to one example, the robot cleaner (100) may include a control unit (190) configured to control the rotation of the rotating unit (150), receive data on the amount of light reflection from the light sensor (180) when the rotating unit (150) rotates, detect a change in the pattern of the amount of light reflection from the received data, and determine the state of the cleaning member (200, 300, 400, 500) based on the detected change in the pattern.

[0143] According to one example, the control unit (190) may be configured to calculate the average and standard deviation of the received light reflection values ​​for a predetermined period of time, compare the calculated standard deviation with a preset standard deviation, and determine that the cleaning member (200, 300, 400, 500) has fallen off the rotating unit (150) if the calculated standard deviation is smaller than the preset standard deviation.

[0144] According to one example, the control unit (190) may be configured to compare the light reflection amount values ​​received from the light sensor (180) for a predetermined period of time with a set value, count the number of times that the received light reflection amount values ​​are less than or equal to the set value, compare the counted number of times with the set number of times after the predetermined period of time has elapsed, and determine that the cleaning member (200, 300, 400, 500) has fallen off the rotating unit (150) if the counted number of times is less than the set number of times.

[0145] According to one example, the robot cleaner (100) may further include an output unit (193) configured to provide the user with information regarding the status of the cleaning member (200). The control unit (190) may be configured to output information regarding the detachment of the cleaning member (200) through the output unit (193) when it is determined that the cleaning member (200) has detached from the rotating unit (150).

[0146] According to one example, the control unit (190) may be configured to receive the amount of light reflection from the light sensor (180), calculate a change range (Δh) between consecutive values ​​of the amount of light reflection, compare the calculated change range (Δh) with a set change range, and determine that the time for replacing the cleaning member (200, 300, 400, 500) has arrived if the change range (Δh) is smaller than the set change range based on the comparison value.

[0147] According to one example, the robot cleaner (100) may further include an output unit (193) configured to provide the user with information regarding the replacement time of the cleaning member (200). The control unit (190) may be configured to output information regarding the replacement time of the cleaning member (200) to the user through the output unit (193) when it is determined that the replacement time of the cleaning member (200) has arrived.

[0148] A method for controlling a robot cleaner (100) according to one embodiment of the present disclosure may include an operation of rotating a rotating part (150) of the robot cleaner (100), an operation of irradiating light to a cleaning member (200) provided with a reflection pattern (222) through a light sensor (180) and measuring the amount of light reflected from the cleaning member (200) through the light sensor (180), an operation of detecting a pattern change in the amount of light reflected by the reflection pattern (222) based on the amount of light reflected measured by the light sensor (180), and an operation of determining a state of the cleaning member (200, 300, 400, 500) based on the detected pattern change.

[0149] According to one example, the control method of the robot cleaner (100) may further include an operation of calculating an average value and standard deviations of light reflection values ​​received by the light sensor (180) for a predetermined period of time, an operation of comparing the calculated standard deviation with a preset standard deviation value, and an operation of determining a state of the cleaning member (200, 300, 400, 500) based on the comparison value.

[0150] According to one example, the control method of the robot cleaner (100) may further include an operation of counting the number of times that the value of the light reflection amount received from the light sensor (180) is less than a set value for a predetermined period of time, an operation of comparing the counted number of times with the set number of times, and an operation of determining the state of the cleaning member (200, 300, 400, 500) based on the result of the comparison.

[0151] According to one example, the control method of the robot cleaner (100) may further include an operation of calculating a change range (Δh) between the continuous light reflection amount values ​​received by the light sensor (180) and an operation of comparing the calculated change range with a set change range to determine the time to replace the cleaning member.

[0152] According to one example, the control method of the robot cleaner (100) may further include an operation (640) of providing the user with information about the status of the cleaning member (200, 300, 400, 500) through the output unit (193).

[0153] According to one embodiment of the present disclosure, a cleaning member (200, 300, 400, 500) detachably coupled to a robot cleaner (100) may include a main body (210, 220) having a first reflectivity and a reflective pattern (222) formed on a surface of the main body (210, 220) and having a second reflectivity that is different from the first reflectivity.

Claims

1. In a robot vacuum cleaner (100), A body (110) forming the appearance; A rotating part (150) rotatably positioned on the lower side of the main body (110); A cleaning member (200, 300, 400, 500) detachably coupled to the above rotating member (150) and having at least one reflective pattern (222, 322, 422, 522) provided on the surface; and It includes a light sensor (180) that is positioned close to the above-mentioned rotating part (150), irradiates light toward the cleaning member (200, 300, 400, 500), and obtains the amount of light reflected by the cleaning member (200, 300, 400, 500). A robot cleaner, wherein at least one of the above reflective patterns (222, 322, 422, 522) has a different reflectivity than the remaining area (220b) of the surface on which the reflective pattern (222, 322, 422, 522) is not provided.

2. In paragraph 1, The above light sensor (180) is a robot cleaner, which is arranged on the lower surface of the main body (110) and faces the surface.

3. In paragraph 1 or 2, A robot cleaner, wherein at least one reflective pattern (222) extends from the upper surface to the side surface of the cleaning member (200, 300, 400, 500).

4. In any one of paragraphs 1 to 3, A robot cleaner, wherein each of the at least one reflective pattern (222, 322, 422, 522) includes a plurality of segments (522a, 522b, 522c) spaced apart from each other.

5. In any one of paragraphs 1 to 4, A robot cleaner, wherein at least one of the above reflective patterns (222) has a higher reflectivity than the remaining area (220b) of the surface.

6. In any one of paragraphs 1 to 4, A robot cleaner, wherein at least one of the above reflective patterns (222) has a lower reflectivity than the remaining area (220b) of the surface.

7. In any one of paragraphs 1 to 6, Controlling the rotation of the above rotating part (150), When the above rotating part (150) rotates, data on the amount of light reflection is received from the light sensor (180), Detecting a change in the pattern of the light reflection amount from the received data, A robot cleaner further comprising a control unit (190) configured to determine the state of the cleaning member (200, 300, 400, 500) based on the detected pattern change.

8. In paragraph 7, The above control unit (190) Calculate the average and standard deviation of the received light reflection values ​​over a given period of time, Compare the calculated standard deviation with the preset standard deviation, A robot cleaner configured to determine that the cleaning member (200, 300, 400, 500) has fallen off the rotating part (150) if the calculated standard deviation is smaller than a preset standard deviation.

9. In paragraph 7, The above control unit (190) Compare the light reflection amount values ​​received from the above light sensor (180) for a predetermined period of time with the set value, Count the number of times that the received light reflection values ​​are less than or equal to the set value, After the above specified time has elapsed, the counted number is compared with the set number of times, A robot cleaner configured to determine that the cleaning member (200, 300, 400, 500) has fallen off the rotating part (150) if the counted number is less than the set number.

10. In paragraph 7, The above control unit (190) Receive the amount of light reflection from the above light sensor (180), Calculate the variation (Δh) between the consecutive received light reflection values, Compare the calculated variation (Δh) with the set variation, A robot cleaner configured to determine that the time for replacement of the cleaning member (200, 300, 400, 500) has arrived if the change range (Δh) is smaller than the set change range based on the above comparison value.

11. In a method for controlling a robot vacuum cleaner (100), An action of rotating the rotating part (150) of the above robot cleaner (100); An operation of irradiating light to a cleaning member (200) provided with a reflection pattern (222) through a light sensor (180) and measuring the amount of light reflected from the cleaning member (200) through the light sensor (180); An operation of detecting a change in the pattern of light reflection amount by the reflection pattern (222) based on the light reflection amount measured by the light sensor (180); and A control method including an operation of determining the state of the cleaning member (200) based on the detected pattern change.

12. In paragraph 11, An operation of calculating the average value and standard deviations of the light reflection amount values ​​received by the above light sensor (180) for a predetermined period of time; An action to compare the calculated standard deviation with a preset standard deviation value, and A control method further comprising an operation of determining a state of the cleaning member (200, 300, 400, 500) based on the comparison value.

13. In paragraph 11, An operation of counting the number of times that the value of the light reflection amount received by the above light sensor (180) for a predetermined period of time is less than a set value; An action of comparing the above counted number with the set number, and A control method further comprising an operation of determining the state of the cleaning member (200, 300, 400, 500) based on the comparison result.

14. In paragraph 11, An operation for calculating the variation (Δh) between the successive light reflection amount values ​​received by the light sensor (180), and A control method further comprising an operation of comparing the produced variation range with the set variation range to determine the replacement time of the cleaning member.

15. In a cleaning member (200, 300, 400, 500) that is detachably connected to a robot cleaner (100), A body (210, 220) having a first reflectivity; and A cleaning member including a reflective pattern (222, 322, 422, 522) formed on the surface of the main body (210, 220) and having a second reflectivity different from the first reflectivity.

Images