Cleaning robot and method for controlling cleaning robot

Abstract

A cleaning robot disclosed herein comprises: a main body; wheels provided on the main body in order to move the main body; a pad holder to which a wet cleaning pad can be attached and which is rotatably provided on the bottom of the main body; a motor for rotating the pad holder; a floor sensor for detecting the floor being cleaned; a control unit electrically connected to the wheels, the motor, and the floor sensor; and a raising / lowering assembly which lowers the pad holder toward the floor as the pad holder rotates in a predetermined forward direction or raises the pad holder toward the main body as the pad holder rotates in a reverse direction opposite to the forward direction.

Description

Cleaning robot and method for controlling the cleaning robot

[0001] The disclosed invention relates to a cleaning robot capable of performing wet cleaning or dry cleaning and a method for controlling the cleaning robot.

[0002] A cleaning robot can move within an indoor space, identify objects within the space, and create a map of the space. Using this map, the cleaning robot can clean the space. Furthermore, the cleaning robot can collect environmental data about the indoor space. The cleaning robot can autonomously navigate and clean the area without user intervention.

[0003] A cleaning robot may include a wet cleaning pad used for wet cleaning. The wet cleaning pad may be rotatably provided on the lower part of the cleaning robot's body. When the wet cleaning pad contacts the floor being cleaned and rotates, contaminants on the floor can be cleaned. However, when the cleaning robot moves over a floor requiring dry cleaning (e.g., a carpet), the wet cleaning pad needs to be raised to prevent the floor from being contaminated by the wet cleaning pad.

[0004] The disclosed invention provides a cleaning robot and a control method for the cleaning robot capable of raising a wet cleaning pad when dry cleaning is required depending on the type of floor and adjusting the position of the wet cleaning pad according to predetermined conditions.

[0005] The disclosed invention provides a cleaning robot and a control method for the cleaning robot capable of independently adjusting the positions of each of a plurality of pad holders.

[0006] According to one embodiment, a cleaning robot includes: a main body; a wheel provided on the main body for moving the main body; a pad holder capable of attaching a wet cleaning pad and rotatably provided at a lower portion of the main body; a motor for rotating the pad holder; a floor sensor for detecting a floor to be cleaned; a control unit electrically connected to the wheel, the motor, and the floor sensor; and an elevation assembly for lowering the pad holder toward the floor as the pad holder rotates in a predetermined forward direction, or for raising the pad holder toward the main body as the pad holder rotates in a reverse direction opposite to the forward direction. The control unit can identify the type of the floor based on a detection signal transmitted from the floor sensor. The control unit can determine whether dry cleaning is required based on the type of the floor. The control unit controls the motor to rotate the pad holder in the reverse direction to raise the pad holder when the dry cleaning is required.

[0007] A method for controlling a cleaning robot according to one embodiment includes: identifying a type of the floor using the floor sensor; determining, by the control unit, whether dry cleaning is required based on the type of the floor; and controlling, by the control unit, the motor so that the pad holder rotates in a reverse direction opposite to a predetermined forward direction for raising the pad holder when the dry cleaning is required.

[0008] The disclosed cleaning robot and its control method can raise a wet cleaning pad when dry cleaning is required depending on the type of floor, and adjust the position of the wet cleaning pad according to predetermined conditions. Accordingly, contamination of the floor material by the wet cleaning pad can be prevented.

[0009] The disclosed cleaning robot and control method of the cleaning robot can reduce power consumption by independently adjusting the positions of each of a plurality of pad holders, and can reduce wear of the lifting assembly that lowers or raises the pad holders.

[0010] FIG. 1 illustrates a cleaning robot according to one embodiment.

[0011] FIG. 2 illustrates the lower part of a cleaning robot according to one embodiment.

[0012] FIG. 3 illustrates a state in which a pad holder is separated from a cleaning robot according to one embodiment.

[0013] Figure 4 illustrates a state in which the pad holder is lowered according to one embodiment.

[0014] Figure 5 illustrates a state in which a pad holder is raised according to one embodiment.

[0015] Figure 6 illustrates a vertical cross-section of a pad holder according to one embodiment.

[0016] Figure 7 is a control block diagram of a cleaning robot according to one embodiment.

[0017] FIG. 8 illustrates the rotation direction of the pad holder when the cleaning robot according to one embodiment cleans a hard floor.

[0018] FIG. 9 illustrates the rotation direction of the pad holder when the cleaning robot according to one embodiment cleans a soft floor.

[0019] FIG. 10 illustrates an example in which the position of the pad holder changes when the cleaning robot rotates according to one embodiment.

[0020] FIG. 11 illustrates another example in which the position of the pad holder changes when the cleaning robot rotates according to one embodiment.

[0021] Fig. 12 is a flowchart briefly explaining a control method of a cleaning robot according to one embodiment.

[0022] Figure 13 is a flowchart that explains in more detail a control method of a cleaning robot according to the type of floor to be cleaned.

[0023] Fig. 14 is a flowchart illustrating a control method of a cleaning robot including a plurality of pad holders.

[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 encompass various modifications, equivalents, or alternatives 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] For example, "at least one of A, B, and C" can represent A, B, C, a combination of A and B, a combination of A and C, a combination of B and C, or a combination of A, B, and C.

[0029] 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).

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] The term “and / or” includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0035] The operating principle and embodiments of the present invention will be described with reference to the attached drawings below.

[0036] FIG. 1 illustrates a cleaning robot according to one embodiment. FIG. 2 illustrates the lower portion of a cleaning robot according to one embodiment. FIG. 3 illustrates a state in which a pad holder is separated from a cleaning robot according to one embodiment.

[0037] In the drawings, terms such as "front," "rear," "up," "down," "left," and "right" are defined based on the forward movement direction of the cleaning robot (1), and the shape and position of each component are not limited by these terms. Furthermore, expressions indicating directions are used to ensure a clear understanding of the present invention, and each direction may be defined differently.

[0038] Referring to FIGS. 1, 2, and 3, a cleaning robot (1) may include a main body (10) and wheels (40) that are rotatable about an axis that is horizontal to the ground and move the main body (10). The main body (10) may include a case that forms an outer shape. A plurality of wheels (40) may be provided. For example, two main wheels (41) and an auxiliary wheel (42) may be provided at the bottom of the main body (10). The wheels (40) include a wheel motor, and the wheels (40) may rotate by the rotational force generated by the wheel motor.

[0039] A brush (60) may be provided at the bottom of the main body (10). The brush (60) can scatter foreign substances existing on the travel path of the main body (10). The brush (60) is provided in a suction port formed on the bottom surface of the main body (10), and scatters foreign substances into the inside of the suction port while rotating around a rotation axis that is perpendicular to the front of the main body (10). A suction fan (61) that generates suction force for sucking foreign substances and a dust bin that stores foreign substances may be provided inside the main body (10).

[0040] The cleaning robot (1) may include various sensors. For example, the cleaning robot (1) may include at least one of a camera (21), a lidar sensor (22), and an ultrasonic sensor (23). The various sensors may be provided on the main body (10). The various sensors may be provided so that at least a portion of the sensors are exposed to the outside of the main body (10). The camera (21), the lidar sensor (22), and the ultrasonic sensor (23) may be provided on the front, side, rear, and / or upper portion of the main body (10).

[0041] A camera (21) may be provided at the front of the main body (10). The camera (21) may include a camera. The camera (21) may have a field of view (FOV) facing the front of the main body (10) and may generate an image. The position of the camera (21) is not limited to the front of the main body (10). The camera (21) may rotate and capture the surroundings of the cleaning robot (1). Additional cameras may be provided at the side and / or rear of the main body (10).

[0042] The camera (21) may include an image sensor that collects light incident from the outside and generates image information. For example, the camera (21) may include at least one of an RGB camera that collects visible light and generates a color image and an infrared camera that generates an infrared image. The camera (21) may include a binocular camera (stereo camera). The binocular camera can obtain depth information to an object by using the disparity between the two eyes. The image information obtained by the camera (21) may be transmitted to the control unit (300) of the cleaning robot (1). The control unit (300) may process the image information to identify an external object. The control unit (300) may identify the type of floor to be cleaned from the image obtained by the camera (21).

[0043] A Lidar (Light detection and Ranging, Lidar) sensor (22) can emit light (pulse laser) to the outside and receive light in a preset direction among the light reflected from external objects. The Lidar sensor (22) can rotate 360 ​​degrees clockwise or counterclockwise. Since the Lidar sensor (22) can emit light and receive reflected light in 360 degrees, the cleaning robot (1) can detect external objects in all directions using the Lidar sensor (22).

[0044] The lidar data generated by the lidar sensor (22) can be transmitted to the control unit (300) of the cleaning robot (1). The lidar data can include information on the direction of light propagation and distance information to external objects. The control unit (300) can process the lidar data to perform three-dimensional modeling of an indoor space. The control unit (300) can obtain three-dimensional data on external objects by processing the lidar data. The control unit (300) can identify the type of floor to be cleaned from the lidar data obtained by the lidar sensor (22).

[0045] The ultrasonic sensor (23) can emit ultrasonic waves and receive echo signals reflected from objects. The control unit (300) of the cleaning robot (1) can identify the presence of an object based on ultrasonic data including the time difference between the ultrasonic waves emitted by the ultrasonic sensor (23) and the echo signals received, and can calculate the distance to the object. The control unit (300) can identify the type of floor to be cleaned based on the ultrasonic data acquired by the ultrasonic sensor (23).

[0046] In addition to the exemplified ones, the cleaning robot (1) may be equipped with various sensors. For example, the cleaning robot (1) may further include at least one of an impact sensor for detecting impact with an external object, a motion sensor (24) for detecting movement and rotation of the cleaning robot (1), a wheel sensor (25) for detecting rotation of the wheel (40) and the speed of the wheel (40), a ToF (Time-of-Flight) sensor for measuring the distance to an external object, an RF (Radio Frequency) sensor, and a radar sensor.

[0047] The cleaning robot (1) may include a wet cleaning pad (30) and a pad holder (50). The wet cleaning pad (30) may refer to a mop. The wet cleaning pad (30) may be made of various materials (e.g., fabric, sponge, etc.). The wet cleaning pad (30) may be attached to a pad holder (50).

[0048] The pad holder (50) may be provided to be rotatable at the bottom of the main body (10). The wet cleaning pad (30) may rotate according to the rotation of the pad holder (50). Wet cleaning of the floor may be performed by the wet cleaning pad (30) coming into contact with the floor to be cleaned and rotating. The wet cleaning pad (30) and the pad holder (50) may be formed in a circular shape.

[0049] The wet cleaning pad (30) and pad holder (50) may be provided in two pieces each. For example, the first wet cleaning pad (30a) and the first pad holder (50a) may be positioned at the lower right side of the main body (10). The second wet cleaning pad (30b) and the second pad holder (50b) may be positioned at the lower left side of the main body (10). The number of wet cleaning pads (30) and pad holders (50) may vary depending on the design.

[0050] The pad holder (50) may include a holder body (51) and a rotary plate (52). Velcro may be provided on at least a portion of the lower surface of the holder body (51) for attaching a wet cleaning pad (30). The holder body (51) and the rotary plate (52) may be detachably coupled. The rotary plate (52) may rotate according to the operation of a motor (80) described below. As the rotary plate (52) rotates, the holder body (51) may rotate together. The holder body (51) and the rotary plate (52) may each be formed in a circular shape.

[0051] The pad holder (50) can be lowered toward the floor by rotating in a predetermined forward direction. The pad holder (50) can be raised toward the main body (10) by rotating in a reverse direction opposite to the forward direction. An elevating assembly (100) that enables the lowering or raising of the pad holder (50) may be provided.

[0052] In addition, when a plurality of pad holders (50) are provided, a plurality of lifting assemblies (100) corresponding to the plurality of pad holders (50) may be provided. For example, the cleaning robot (1) may include a first lifting assembly (100a) that lowers or raises the first pad holder (50a) and a second lifting assembly (100b) that lowers or raises the second pad holder (50b). The first lifting assembly (100a) and the second lifting assembly (100b) may have the same structure.

[0053] Fig. 4 illustrates a lowered state of a pad holder according to one embodiment. Fig. 5 illustrates a raised state of a pad holder according to one embodiment. Fig. 6 illustrates a vertical cross-section of a pad holder according to one embodiment. Fig. 6 illustrates a cross-section taken along line A-A' shown in Fig. 4.

[0054] Referring to FIGS. 4, 5, and 6, the cleaning robot (1) may include a pad holder (50), an elevation assembly (100), and a solenoid device (200). The elevation assembly (100) may lower or raise the pad holder (50) according to the rotation of the pad holder (50). The solenoid device (200) may separate the holder body (51) of the pad holder (50) from the rotation plate (52).

[0055] The holder body (51) can be detachably coupled to the upper surface of the rotating plate (52). The holder body (51) is formed in a circular shape and can include an attachment protrusion (53) and a guide groove (54). The attachment protrusion (53) can protrude downward from the lower surface of the holder body (51). A Velcro for attaching a wet cleaning pad (30) can be provided on the attachment protrusion (53). The rotating plate (52) can include an insertion groove into which the attachment protrusion (53) of the holder body (51) is inserted.

[0056] The guide groove (54) of the holder body (51) may be provided so that the stopper (210) of the solenoid device (200) is inserted therein. When the stopper (210) of the solenoid device (200) is inserted into the guide groove (54) and the rotary plate (52) rotates, the holder body (51) is caught by the stopper (210). The rotation of the holder body (51) is restricted by the stopper (210), and when the rotary plate (52) continues to rotate, the holder body (51) and the rotary plate (52) may be separated and spaced apart. As the holder body (51) and the rotary plate (52) are separated from each other, the wet cleaning pad (30) attached to the lower surface of the holder body (51) may be separated from the holder body (51).

[0057] The turntable (52) can be connected to the rotation axis of the gear (70). The gear (70) is connected to a motor (80) described below and can rotate by the rotational force of the motor (80). The turntable (52) can rotate according to the rotation of the gear (70). The turntable (52) can include a receiving groove (56) for receiving the lifting assembly (100). A cylindrical protrusion wall (55) open upwardly can be formed at the center of the turntable (52). The lifting assembly (100) can be received in the receiving groove (56) formed inside the cylindrical protrusion wall (55).

[0058] The lifting assembly (100) can lower the pad holder (50) toward the floor as the pad holder (50) rotates in a predetermined forward direction (e.g., clockwise). The lifting assembly (100) can raise the pad holder (50) toward the main body (10) as the pad holder (50) rotates in a reverse direction opposite to the forward direction (e.g., counterclockwise).

[0059] The lifting assembly (100) may include a male screw portion (110) and a female screw portion (120). The male screw portion (110) may have a cylindrical shape. The rotational axis of the gear (70) may pass through the male screw portion (110). The male screw portion (110) may be inserted into the female screw portion (120). A protrusion (111) may be provided on the outer surface of the male screw portion (110) for coupling with the female screw portion (120). A plurality of protrusions (111) may be provided.

[0060] The female screw portion (120) may have a cylindrical shape that is open upwards. The female screw portion (120) may accommodate the male screw portion (110). A slide groove (122) may be formed on the inner surface of the female screw portion (120). The slide groove (122) may be formed in a spiral shape along the inner surface of the female screw portion (120). A protrusion (111) formed on the outer surface of the male screw portion (110) may be inserted into the slide groove (122) formed on the inner surface of the female screw portion (120). When the female screw portion (120) rotates, the protrusion (111) of the male screw portion (110) may slide along the slide groove (122).

[0061] A tensioner (121) may be formed on the outer surface of the female screw portion (120). The tensioner (121) may be provided to have elasticity and may be in close contact with the inner surface of a protruding wall (55) formed at the center of the rotary plate (52). The female screw portion (120) may be fixed to the rotary plate (52) by the tensioner (121). When the rotary plate (52) rotates, the female screw portion (120) may also rotate. The rotational force of the rotary plate (52) may also be transmitted to the female screw portion (120) through the tensioner (121).

[0062] The female screw portion (120) can move upward or downward by sliding the protrusion (111) of the male screw portion (110) along the slide groove (122) formed in a spiral shape on the inner surface of the female screw portion (120). As the female screw portion (120) moves upward, the pad holder (50) can rise. As the female screw portion (120) moves downward, the pad holder (50) can descend. In order to prevent the protrusion (111) of the male screw portion (110) from escaping from the slide groove (122) of the female screw portion (120), both ends of the sliding groove (122) can be blocked.

[0063] When the pad holder (50) rotates in a predetermined forward direction (e.g., clockwise), the female screw portion (120) also rotates in the forward direction, and the protrusion (111) of the male screw portion (110) can move to the upper end of the female screw portion (120) along the slide groove (122) formed on the inner surface of the female screw portion (120). Therefore, the pad holder (50) can be lowered. The male screw portion (110) may not rotate until the protrusion (111) of the male screw portion (110) reaches the upper end of the slide groove (122). When the protrusion (111) of the male screw portion (110) reaches the upper end of the slide groove (122), the protrusion (111) can no longer slide, and therefore, the male screw portion (110) can rotate in the forward direction together with the female screw portion (120).

[0064] When the pad holder (50) rotates in a reverse direction (e.g., counterclockwise) opposite to the forward direction, the female screw portion (120) also rotates in the reverse direction, and the protrusion (111) of the male screw portion (110) can move to the bottom of the female screw portion (120) along the slide groove (122) formed on the inner surface of the female screw portion (120). Therefore, the pad holder (50) can rise. When the protrusion (111) of the male screw portion (110) touches the bottom of the slide groove (122), the protrusion (111) can no longer slide, and thus the male screw portion (110) can rotate in the reverse direction together with the female screw portion (120).

[0065] Figure 7 is a control block diagram of a cleaning robot according to one embodiment.

[0066] Referring to FIG. 7, the cleaning robot (1) may include a floor sensor (20), a wheel (40), a brush (60), a suction fan (61), a motor (80), and a control unit (300). The cleaning robot (1) may include a motion sensor (24) and a wheel sensor (25). In addition, the cleaning robot (1) may include a communication circuit (90) and a solenoid device (200).

[0067] The control unit (300) can control components of the cleaning robot (1). The control unit (300) can include a processor (310) and a memory (320). The processor (310) is hardware and can include logic circuits and arithmetic circuits. The processor (310) can control components of the cleaning robot (1) that are electrically connected using programs, instructions, and / or data stored in the memory (320) for the operation of the cleaning robot (1). The control unit (300) can be implemented as a control circuit including circuit elements such as capacitors, inductors, and resistors. The processor (310) and the memory (320) can be implemented as separate chips or as a single chip. In addition, the control unit (300) can include a plurality of processors and a plurality of memories.

[0068] The memory (320) can store programs, applications, and / or data for the operation of the cleaning robot (1), and can store data generated by the processor (310). The memory (320) can include non-volatile memory such as ROM (Read Only Memory) and flash memory for long-term storage of data. The memory (320) can include volatile memory such as S-RAM (Static Random Access Memory) and D-RAM (Dynamic Random Access Memory) for temporarily storing data.

[0069] The floor sensor (20) can detect the floor to be cleaned. For example, the floor sensor (20) can include at least one of a camera (21), a lidar sensor (22), and an ultrasonic sensor (23). The control unit (300) can identify the type of the floor to be cleaned based on the detection signal transmitted from the floor sensor (20). The control unit (300) can identify the type of the floor to be cleaned using at least one of the camera (21), the lidar sensor (22), and the ultrasonic sensor (23).

[0070] The camera (21) has a field of view (FOV) facing the periphery of the main body (10) and can acquire images. Images can be acquired at predetermined time intervals while the cleaning robot (1) moves around the cleaning area. The camera (21) can transmit the images to the control unit (300). The control unit (300) can identify various objects within the cleaning area from the images acquired by the camera (21). The control unit (300) can identify the type of floor to be cleaned from the images acquired by the camera (21).

[0071] The lidar sensor (22) has an omnidirectional field of view of the main body (10) and can acquire lidar data. The lidar sensor (22) can transmit the lidar data to the control unit (300). The control unit (300) can identify various objects within the cleaning area from the lidar data. The control unit (300) can identify the type of floor to be cleaned from the lidar data acquired by the lidar sensor (22).

[0072] The ultrasonic sensor (23) can emit ultrasonic waves and receive echo signals reflected from an object. The control unit (300) can identify the presence of an object based on ultrasonic data including the time difference between the ultrasonic waves emitted by the ultrasonic sensor (23) and the echo signals received, and can calculate the distance to the object. The control unit (300) can identify the type of floor to be cleaned based on the ultrasonic data acquired by the ultrasonic sensor (23).

[0073] The motion sensor (24) can detect the movement of the main body (10). For example, the motion sensor (24) can detect the rotation of the main body (10). The motion sensor (24) can include a gyro sensor. The motion sensor (24) can detect the rotation direction and rotation angle of the main body (10). The motion sensor (24) can also detect the rotation angular velocity of the main body (10). The motion sensor (24) can transmit an electrical signal corresponding to the movement of the main body (10) to the control unit (300). The control unit (300) can determine the rotation direction and rotation angle of the main body (10) based on the motion detection signal generated by the motion sensor (24).

[0074] The wheel sensor (25) can detect the rotation of the wheel (40) and the speed of the wheel (40). The wheel sensor (25) can transmit an electrical signal corresponding to the rotation direction and rotation speed of the wheel (40) to the control unit (300). The control unit (300) can also detect the rotation direction and rotation angle of the main body (10) based on the wheel rotation signal generated by the wheel sensor (25).

[0075] The wheel (40) can move the main body (10). The wheel (40) includes a wheel motor and can rotate by the rotational force generated by the wheel motor. The wheels (40) may be provided in multiple numbers, and each of the multiple wheels (40) can be independently controlled. As the rotational direction of the multiple wheels (40) changes, the driving direction of the cleaning robot (1) can change. In addition, as the rotational speed of each of the multiple wheels (40) is adjusted, the driving speed of the cleaning robot (1) can be adjusted. The control unit (300) can change the rotational direction of the main wheel (41) to change the driving direction of the cleaning robot (1). When the two main wheels (41) rotate in different directions, the main body (10) can rotate in the left or right direction.

[0076] The brush (60) may include a brush motor. The rotational force generated by the brush motor may rotate the brush (60). The rotational speed of the brush (60) may be adjusted by adjusting the rotational speed of the brush motor. Depending on the rotational speed of the brush (60), the degree of scattering of foreign substances on the driving path of the cleaning robot (1) may vary.

[0077] The suction fan (61) can suck up foreign substances scattered by the brush (60) and move them into the dust bin. The suction fan (61) rotates by the rotational force of the suction motor, and as the suction fan (61) rotates, a suction force can be generated to suck up foreign substances. The suction force can be adjusted by adjusting the rotational speed of the suction fan (61).

[0078] The motor (80) can rotate the pad holder (50). The motor (80) may also be referred to as a 'pad motor'. When a plurality of pad holders (50) are provided, a plurality of motors (80) corresponding to the plurality of pad holders (50) may be provided. For example, the cleaning robot (1) may include a first motor (80a) that rotates a first pad holder (50a) and a second motor (80b) that rotates a second pad holder (50b).

[0079] The pad holder (50) can rotate in a predetermined forward direction or in a reverse direction opposite to the forward direction by the operation of the motor (80). The forward direction of the first pad holder (50a) located at the lower right of the main body (10) may be clockwise. The forward direction of the second pad holder (50b) located at the lower left of the main body (10) may be counterclockwise.

[0080] The communication circuit (90) can communicate with an external electronic device. The communication circuit (90) can connect the cleaning robot (1) to at least one of a user device, a server, and a home appliance via a network. The control unit (300) can obtain various information, signals, and / or data from the external electronic device via the communication circuit (90). For example, the communication circuit (90) can receive a remote control signal from the user device. The control unit (300) can obtain an artificial intelligence model used to process various data from the server via the communication circuit (90).

[0081] The communication circuit (90) may include various communication circuits. The communication circuit (90) may include a wireless communication circuit. The wireless communication circuit may support various wireless communications, such as a wireless local area network (LAN), a home radio frequency (RF), infrared communication, ultra-wide band (UWB) communication, Wi-Fi, Bluetooth, Zigbee, and a long-distance wireless network (e.g., cellular communication). In addition, the communication circuit (90) may further include a wired communication circuit.

[0082] The solenoid device (200) can separate the holder body (51) of the pad holder (50) from the rotary plate (52) under the control of the control unit (300). The control unit (300) can control the solenoid device (200) so that the stopper (210) of the solenoid device (200) protrudes downward to separate the holder body (51) and the rotary plate (52). The stopper (210) protruding downward can be inserted into the guide groove (54) of the holder body (51). When the stopper (210) is inserted into the guide groove (54), the rotation of the holder body (51) is restricted, and when the rotary plate (52) continues to rotate, the holder body (51) and the rotary plate (52) can be separated.

[0083] The components of the cleaning robot (1) are not limited to those illustrated in FIG. 7. Some of the components illustrated in FIG. 7 may be omitted, or other components may be further included in the cleaning robot (1). For example, the cleaning robot (1) may include a user interface and a battery. The user interface may include at least one of an input unit, a display, and a speaker. The input unit may obtain user input for operating the cleaning robot (1). The input unit may include at least one of a button and a microphone. The display may provide various information regarding the operation of the cleaning robot (1). If the display includes a touch screen, user input may also be obtained through the display. The speaker may output various sound effects and / or voices. The battery may supply power to various electronic components included in the cleaning robot (1).

[0084] The control unit (300) can identify an external object from at least one of image data, lidar data, and ultrasonic data using an artificial intelligence model obtained from the memory (320) or a server, and can identify characteristics of the external object. For example, the control unit (300) can identify the type of floor being cleaned. In addition, the control unit (300) can estimate the distance to the external object and the height of the external object from the floor using depth information included in at least one of the image data, lidar data, and ultrasonic data. The control unit (300) can identify obstacles existing on the driving path of the cleaning robot (1) and control the wheels (40) to avoid the obstacles.

[0085] As sensors used to identify external objects, a camera (21), a lidar sensor (22), and an ultrasonic sensor (23) are exemplified, but are not limited thereto. External objects may also be identified from data acquired using a radar sensor.

[0086] The control unit (300) can control the driving of the cleaning robot (1) based on various sensing information obtained from at least one of the camera (21), the lidar sensor (22), the ultrasonic sensor (23), the motion sensor (24), and the wheel sensor (25). For example, the control unit (300) can determine the driving path of the cleaning robot (1) based on at least one of the image obtained by the camera (21) and the lidar data obtained by the lidar sensor (22).

[0087] The control unit (300) of the cleaning robot (1) can generate a map of an indoor space including multiple areas of the indoor space. For example, the control unit (300) can generate a reference map of the indoor space using at least one of image data and lidar data acquired while the cleaning robot (1) is driving in the indoor space, and can identify the location of the cleaning robot (1) within the indoor space. A SLAM (Simultaneous Localization And Mapping) algorithm can be used to generate the reference map. SLAM is an algorithm that can create a map of the space in which the cleaning robot (1) is driving and simultaneously estimate the location of the cleaning robot (1) within the created map.

[0088] A reference map may include structural information about an indoor space. For example, the reference map may indicate the shape and location of structures such as walls and floors, and the types, sizes, and locations of various objects located within the indoor space. The reference map may be stored in memory (320). The control unit (300) may update the reference map at predetermined intervals or whenever a changed indoor structure is detected. The reference map may also be generated by a server. The server may process various data received from the cleaning robot (1) to generate a reference map and transmit the generated reference map to the cleaning robot (1).

[0089] The control unit (300) can identify the type of the floor based on the detection signal transmitted from the floor sensor. The type of the floor can be identified as a hard floor or a soft floor. A hard floor is formed of a smooth and inflexible material, and may be exemplified by a stone floor, a wooden floor, or a ceramic floor. A soft floor is formed of a non-smooth and flexible material, and may be exemplified by a fabric having multiple hairs (e.g., a carpet or rug).

[0090] The cleaning robot (1) can perform dry cleaning or wet cleaning. Dry cleaning refers to cleaning by sucking up dust using a brush (60) without using a wet cleaning pad (30). Wet cleaning refers to cleaning by wiping the floor using a wet cleaning pad (30). The control unit (300) of the cleaning robot (1) can determine dry cleaning or wet cleaning depending on the type of floor. The control unit (300) can determine whether dry cleaning is required based on the type of floor. In addition, the control unit (300) can determine dry cleaning or wet cleaning based on a command obtained from the user interface of the cleaning robot (1) or a user device.

[0091] The control unit (300) can lower the wet cleaning pad (30) to the floor when wet cleaning a hard floor. The control unit (300) can lower the wet cleaning pad (30) by controlling the motor (80) so that the pad holder (50) rotates in a predetermined forward direction (e.g., clockwise). When the pad holder (50) rotates in the predetermined forward direction, the pad holder (50) can be lowered by the lifting assembly (100). Wet cleaning of the floor can be performed by the wet cleaning pad (30) coming into contact with the floor to be cleaned and rotating.

[0092] However, the plurality of bristles forming the fabric generally have a certain height from the floor on which the fabric is laid. When the cleaning robot (1) cleans a fabric having a plurality of bristles (e.g., a carpet or a rug), if the wet cleaning pad (30) is lowered, the fabric may be contaminated by the wet cleaning pad (30). Therefore, when the cleaning robot (1) cleans the fabric, it is necessary to perform dry cleaning. For dry cleaning, the control unit (300) can determine the elevation of the pad holder (50) to which the wet cleaning pad (30) is attached. The control unit (300) can determine that dry cleaning is required when cleaning a soft floor such as fabric. The control unit (300) can control the motor (80) to rotate the pad holder (50) in the reverse direction when dry cleaning is required. When the pad holder (50) rotates in the reverse direction, the pad holder (50) can be elevated by the lifting assembly (100).

[0093] When a first pad holder (50a) and a second pad holder (50b) are provided in the main body (10), a first motor (80a) for rotating the first pad holder (50a) and a second motor (80b) for rotating the second pad holder (50b) can be individually controlled. The control unit (300) can control the first motor (80a) to rotate the first pad holder (50a) in a first reverse direction for raising the first pad holder (50a) based on the identification of the type of floor to be cleaned as fabric, and can control the second motor (80b) to rotate the second pad holder (50b) in a second reverse direction opposite to the first reverse direction for raising the second pad holder (50b).

[0094] The pad holder (50) can rise as the protrusion (111) formed on the male screw portion (110) of the lifting assembly (100) slides along the slide groove (122) formed on the inner surface of the female screw portion (120) of the lifting assembly (100) to the lower part of the female screw portion (120). Since the lower end of the slide groove (122) is blocked, when the protrusion (111) of the male screw portion (110) touches the lower end of the slide groove (122), the rise of the pad holder (50) can be restricted. When the rise of the pad holder (50) is restricted, the control unit (300) can stop the motor (80). That is, when the rise of the pad holder (50) is completed, the pad holder (50) may not rotate.

[0095] Meanwhile, the heights of the plurality of hairs forming the fabric may not all be the same. Some of the hairs may have a relatively long length. Since the lengths of the plurality of hairs forming the fabric are not uniform, and the maximum elevation height of the wet cleaning pad (30) is structurally limited, some of the hairs may touch the wet cleaning pad (30) even when the wet cleaning pad (30) is raised. Therefore, even if the wet cleaning pad (30) is raised, friction may occur between the wet cleaning pad (30) and the fabric while the cleaning robot (1) moves over the fabric.

[0096] Since the motor (80) stops when the pad holder (50) rises to the upper limit, the friction between the wet cleaning pad (30) and the fabric can rotate the pad holder (50) in the forward direction. When the pad holder (50) rotates in the forward direction, the pad holder (50) can be lowered by the lifting assembly (100). That is, when cleaning the fabric, the position of the pad holder (50) can be unintentionally changed due to the friction that occasionally occurs between the wet cleaning pad (30) and the fabric. If the pad holder (50) is lowered unintentionally, the wet cleaning pad (30) continues to contact the fabric, which can cause contamination of the fabric.

[0097] The cleaning robot (1) can raise the pad holder (50) again so that the position of the pad holder (50) that has been lowered due to friction between the wet cleaning pad (30) and the fabric is not maintained. The control unit (300) can control the motor (80) to rotate the pad holder (50) in the reverse direction at predetermined intervals (e.g., every 10 seconds) while dry cleaning is required (e.g., while the main body (10) is moving over the fabric).

[0098] The control unit (300) can detect the rotation of the main body (10) while the motor (80) providing rotational force to the pad holder (50) is stopped. For example, the control unit (300) can determine the rotational direction and rotational angle of the main body (10) based on a motion detection signal generated by the motion sensor (24). The control unit (300) can also detect the rotational direction and rotational angle of the main body (10) based on a wheel rotation signal generated by the wheel sensor (25). In addition to the method of using the motion sensor (24) and / or the wheel sensor (25) to detect the rotation of the main body (10), various methods can be used.

[0099] The control unit (300) can control the motor (80) to rotate the pad holder (50) in the reverse direction based on the main body (10) rotating in the same rotational direction as the reverse direction with respect to the rotation of the pad holder (50) while dry cleaning is required. The control unit (300) can control the motor (80) to rotate the pad holder (50) in the reverse direction based on the main body (10) rotating in the same rotational direction as the reverse direction with respect to the rotation of the pad holder (50) by a predetermined threshold rotational angle.

[0100] The control unit (300) can calculate an accumulated rotation angle by accumulating the rotation angle of the main body (10) each time the main body (10) rotates in the same rotational direction as the rotation of the pad holder (50). The control unit (300) can control the motor (80) to rotate the pad holder (50) in the reverse direction based on the accumulated rotational angle reaching a predetermined threshold rotational angle.

[0101] When a first pad holder (50a) and a second pad holder (50b) are provided in the main body (10), the control unit (300) can individually adjust the position of the first pad holder (50a) and the position of the second pad holder (50b). The control unit (300) can control the first motor (80a) to rotate the first pad holder (50a) in the first reverse direction or control the second motor (80b) to rotate the second pad holder (50b) in the second reverse direction based on the rotational direction of the main body (10).

[0102] In this way, the disclosed cleaning robot (1) can independently adjust the positions of each of the plurality of pad holders (50). By selectively elevating the pad holder (50) requiring position adjustment among the plurality of pad holders (50), power consumption can be reduced and wear of the lifting assembly (100) can be reduced. In addition, the disclosed cleaning robot (1) can adjust the positions of the pad holders (50) without a separate sensor for detecting the position and / or height of the pad holders (50). Therefore, costs can be reduced.

[0103] The following Figures 8 to 10 illustrate a view of the wet cleaning pad (30) from above the cleaning robot (1).

[0104] FIG. 8 illustrates the rotation direction of the pad holder when the cleaning robot according to one embodiment cleans a hard floor.

[0105] Referring to FIG. 8, the cleaning robot (1) can move forward to perform wet cleaning of the floor and rotate the pad holder (50) to which the wet cleaning pad (30) is attached in a predetermined forward direction. To perform wet cleaning, the control unit (300) of the cleaning robot (1) can control the first motor (80a) to rotate the first pad holder (50a) in a first forward direction, which is a clockwise direction, and control the second motor (80b) to rotate the second pad holder (50b) in a second forward direction, which is a counterclockwise direction.

[0106] When the first pad holder (50a) rotates clockwise, the first pad holder (50a) descends and the first wet cleaning pad (30a) can be brought into close contact with a solid floor. When the second pad holder (50b) rotates counterclockwise, the second pad holder (50b) descends and the second wet cleaning pad (30b) can be brought into close contact with a solid floor.

[0107] As the main body (10) moves forward, the friction between the hard floor and the wet cleaning pad (30) can be increased by rotating the first wet cleaning pad (30a) clockwise and rotating the second wet cleaning pad (30b) counterclockwise. Therefore, wet cleaning of the hard floor can be performed effectively.

[0108] FIG. 9 illustrates the rotation direction of the pad holder when the cleaning robot according to one embodiment cleans a soft floor.

[0109] Referring to FIG. 9, the cleaning robot (1) can identify the type of floor to be cleaned as a soft floor. For example, if a fabric (F) having multiple bristles is present in front of the cleaning robot (1), the type of floor can be identified as a soft floor. The fabric having multiple bristles can be exemplified as a carpet or a rug. The cleaning robot (1) can identify the type of floor to be cleaned using at least one of a camera (21), a lidar sensor (22), and an ultrasonic sensor (23).

[0110] As described above, when cleaning a soft floor such as a fabric (F), dry cleaning is necessary to prevent contamination of the fabric (F). The cleaning robot (1) can determine the elevation of the first wet cleaning pad (30a) and the second wet cleaning pad (30b) based on identifying the type of floor located in front as a fabric (F).

[0111] The control unit (300) of the cleaning robot (1) can rotate the pad holder (50) in the reverse direction to raise the wet cleaning pad (30). To perform dry cleaning, the control unit (300) of the cleaning robot (1) can control the first motor (80a) to rotate the first pad holder (50a) in the first reverse direction, which is counterclockwise, and control the second motor (80b) to rotate the second pad holder (50b) in the second reverse direction, which is clockwise.

[0112] When the first pad holder (50a) rotates counterclockwise, the first pad holder (50a) rises, allowing the first wet cleaning pad (30a) to be separated from the fabric (F). When the second pad holder (50b) rotates clockwise, the second pad holder (50b) rises, allowing the second wet cleaning pad (30b) to be separated from the fabric (F).

[0113] Meanwhile, the heights of the plurality of hairs forming the fabric (F) may not all be the same. Some of the plurality of hairs may have a relatively long length. Since the lengths of the plurality of hairs forming the fabric (F) are not uniform and the maximum elevation height of the wet cleaning pad (30) is structurally limited, even when the wet cleaning pad (30) is raised, some of the plurality of hairs may touch the wet cleaning pad (30). Therefore, even if the wet cleaning pad (30) is raised, friction may occur between the wet cleaning pad (30) and the fabric while the cleaning robot (1) moves over the fabric (F).

[0114] Since the motor (80) stops when the pad holder (50) rises to the upper limit, the frictional force between the wet cleaning pad (30) and the fabric (F) can rotate the pad holder (50) in the forward direction. That is, the friction between the first wet cleaning pad (30a) and the fabric (F) causes the first pad holder (50a) to rotate clockwise and descend. The friction between the second wet cleaning pad (30b) and the fabric (F) causes the second pad holder (50b) to rotate clockwise and descend.

[0115] The cleaning robot (1) can raise the pad holder (50) again so that the position of the lowered pad holder (50) is not maintained. The control unit (300) can control the motor (80) to rotate the pad holder (50) in the reverse direction at predetermined intervals (e.g., every 10 seconds) while dry cleaning is required (e.g., while the main body (10) moves over the fabric (F).

[0116] FIG. 10 illustrates an example in which the position of the pad holder changes when the cleaning robot rotates according to one embodiment.

[0117] Fig. 10 shows a cleaning robot (1) rotating clockwise on a fabric (F). When the main body (10) of the cleaning robot (1) rotates clockwise, the second wet cleaning pad (30b) located on the lower left side of the main body (10) can rotate counterclockwise due to friction between the fabric (F) and the wet cleaning pad (30). Since the second pad holder (50b) rotates counterclockwise, which is the forward direction, the second pad holder (50b) is lowered by the second lifting assembly (100b). That is, when the rotational direction of the main body (10) is the same as the reverse direction of the second pad holder (50b), the frictional force between the fabric (F) and the second wet cleaning pad (30b) can rotate the second pad holder (50b) in the forward direction. Therefore, the upward state of the second pad holder (50b) is released and the position of the second pad holder (50b) can be changed.

[0118] When the main body (10) rotates clockwise, the frictional force between the fabric (F) and the first wet cleaning pad (30a) is directed in the opposite direction of the first wet cleaning pad (30a), so that the first pad holder (50a) can maintain a raised state. That is, since the rotational direction of the main body (10) is opposite to the reverse direction of the first pad holder (50a), the raised state of the first pad holder (50a) may not be released.

[0119] The control unit (300) of the cleaning robot (1) can control the second motor (80b) to rotate the second pad holder (50b) in the reverse direction (clockwise) based on the main body (10) rotating in the clockwise direction by a predetermined threshold rotation angle. In addition, the control unit (300) of the cleaning robot (1) can accumulate the rotation angle of the main body (10) each time the main body (10) rotates in the clockwise direction to calculate the accumulated rotation angle. The control unit (300) can control the second motor (80b) to rotate the second pad holder (50b) in the reverse direction (clockwise) based on the accumulated rotation angle reaching the predetermined threshold rotation angle.

[0120] In this way, the cleaning robot (1) can adjust the position of the second pad holder (50b) that changes as the main body (10) rotates clockwise on the fabric (F). The cleaning robot (1) can adjust the position of the second pad holder (50b) at predetermined intervals or adjust the position of the second pad holder (50b) whenever the rotation angle of the main body (10) reaches a critical rotation angle.

[0121] FIG. 11 illustrates another example in which the position of the pad holder changes when the cleaning robot rotates according to one embodiment.

[0122] Fig. 11 shows a cleaning robot (1) rotating counterclockwise on a fabric (F). When the main body (10) of the cleaning robot (1) rotates counterclockwise, the first wet cleaning pad (30a) located on the lower right side of the main body (10) can rotate clockwise due to friction between the fabric (F) and the wet cleaning pad (30). Since the first pad holder (50a) rotates clockwise, which is the forward direction, the first pad holder (50a) is lowered by the first lifting assembly (100a). That is, when the rotational direction of the main body (10) is the same as the reverse direction of the first pad holder (50a), the frictional force between the fabric (F) and the first wet cleaning pad (30a) can rotate the first pad holder (50a) in the forward direction. Therefore, the upward state of the first pad holder (50a) is released and the position of the first pad holder (50a) can be changed.

[0123] When the main body (10) rotates counterclockwise, the frictional force between the fabric (F) and the second wet cleaning pad (30b) is directed in the opposite direction of the second wet cleaning pad (30b), so that the second pad holder (50b) can maintain a rising state. That is, since the rotational direction of the main body (10) is opposite to the reverse direction of the second pad holder (50b), the rising state of the second pad holder (50b) may not be released.

[0124] The control unit (300) of the cleaning robot (1) can control the first motor (80a) to rotate the first pad holder (50a) in the reverse direction (counterclockwise) based on the main body (10) rotating counterclockwise by a predetermined threshold rotation angle. In addition, the control unit (300) of the cleaning robot (1) can accumulate the rotation angle of the main body (10) each time the main body (10) rotates counterclockwise to calculate the accumulated rotation angle. The control unit (300) can control the first motor (80a) to rotate the first pad holder (50a) in the reverse direction (counterclockwise) based on the accumulated rotation angle reaching the predetermined threshold rotation angle.

[0125] In this way, the cleaning robot (1) can adjust the position of the first pad holder (50a) that changes as the main body (10) rotates counterclockwise on the fabric (F). The cleaning robot (1) can adjust the position of the first pad holder (50a) at predetermined intervals or adjust the position of the first pad holder (50a) whenever the rotation angle of the main body (10) reaches a critical rotation angle.

[0126] Fig. 12 is a flowchart briefly explaining a control method of a cleaning robot according to one embodiment.

[0127] Referring to FIG. 12, the cleaning robot (1) can identify the type of floor to be cleaned using the floor sensor (20) (1201). Based on identifying the type of floor as a hard floor, the cleaning robot (1) can determine whether to perform wet cleaning (1202). The cleaning robot (1) can control the motor (80) to rotate the pad holder (50) in a predetermined forward direction to lower the pad holder (50) when wet cleaning is required (1203). The cleaning robot (1) can also determine whether to perform wet cleaning upon receiving a wet cleaning command through the user interface of the cleaning robot (1) or a user device.

[0128] The cleaning robot (1) can determine whether to perform dry cleaning based on identifying the floor type as being different from a hard floor (1204). For example, the cleaning robot (1) can determine that dry cleaning is required based on identifying the floor type as a soft floor. If a fabric with multiple bristles (e.g., a carpet or a rug) is laid on the floor, the cleaning robot (1) can identify the floor type as a soft floor. The cleaning robot (1) can control the motor (80) to rotate the pad holder (50) in the reverse direction to elevate the pad holder (50) when dry cleaning is required (1205).

[0129] The cleaning robot (1) can determine whether cleaning is complete (1206). For example, the cleaning robot (1) can determine cleaning completion when cleaning is completed on all areas of the floor or when a cleaning completion command is received from the user interface or user device. The cleaning robot (1) can determine whether to lower or raise the pad holder (50) based on the identified floor type before cleaning is completed.

[0130] Figure 13 is a flowchart that explains in more detail a control method of a cleaning robot according to the type of floor to be cleaned.

[0131] Referring to FIG. 13, the cleaning robot (1) can determine dry cleaning based on the type of floor being cleaned (1301). The cleaning robot (1) can identify the type of floor being cleaned as a soft floor (e.g., fabric) based on a detection signal generated by the floor sensor (20) and determine that dry cleaning is required. Based on the requirement of dry cleaning, the cleaning robot (1) can control the motor (80) to rotate the pad holder (50) in the reverse direction to elevate the pad holder (50) (1302). The cleaning robot (1) can rotate the pad holder (50) in the reverse direction until the elevation of the pad holder (50) is restricted by the lifting assembly (100), and then stop the motor (80) (1303).

[0132] The control unit (300) of the cleaning robot (1) can detect whether the main body (10) is rotating while the motor (80) is stopped while dry cleaning is required (1304). For example, the control unit (300) can determine the rotation direction and rotation angle of the main body (10) based on a motion detection signal generated by a motion sensor (24). The control unit (300) can also detect the rotation direction and rotation angle of the main body (10) based on a wheel rotation signal generated by a wheel sensor (25).

[0133] The control unit (300) of the cleaning robot (1) can control the motor (80) to rotate the pad holder (50) in the reverse direction at predetermined intervals even if the rotation of the main body (10) is not detected (1305). That is, the cleaning robot (1) can periodically adjust the elevation position of the pad holder (50).

[0134] When the rotation of the main body (10) is detected, the control unit (300) of the cleaning robot (1) can determine whether the rotation direction of the main body (10) is the same as the reverse direction with respect to the rotation of the pad holder (50) (1306). When the rotation direction of the main body (10) is the same as the reverse direction with respect to the rotation of the pad holder (50), the control unit (300) can detect the rotation angle and the cumulative rotation angle of the main body (10). The control unit (300) can control the motor (80) to rotate the pad holder (50) in the reverse direction based on whether the rotation angle or the cumulative rotation angle of the main body (10) is greater than or equal to a threshold rotation angle (1307, 1308).

[0135] When the rotation direction of the main body (10) is the same as the forward direction of the rotation of the pad holder (50), the pad holder (50) does not go down, so there is no need to adjust the position of the pad holder (50). The control unit (300) can accumulate the rotation angle of the main body (10) each time the main body (10) rotates in the opposite direction of the pad holder (50) to calculate the accumulated rotation angle.

[0136] The cleaning robot (1) can determine whether cleaning is complete (1309). For example, the cleaning robot (1) can determine cleaning completion when cleaning is completed across all areas of the floor or when a cleaning completion command is received from the user interface or user device. The cleaning robot (1) can determine whether to lower or raise the pad holder (50) based on a predetermined cycle or the rotation of the main body (10) before cleaning is completed.

[0137] Fig. 14 is a flowchart illustrating a control method of a cleaning robot including a plurality of pad holders.

[0138] Referring to FIG. 14, the cleaning robot (1) can determine dry cleaning based on the type of floor being cleaned (1401). The cleaning robot (1) can identify the type of floor being cleaned as a soft floor (e.g., fabric) based on a detection signal generated by the floor sensor (20) and determine that dry cleaning is required. Based on the request for dry cleaning, the cleaning robot (1) can control the first motor (80a) to rotate the first pad holder (50a) in the first reverse direction (1402) and control the second motor (80b) to rotate the second pad holder (50b) in the second reverse direction (1403). The cleaning robot (1) can raise the first pad holder (50a) and the second pad holder (50b) to the upper limit and then stop the first motor (80a) and the second motor (80b) (1404).

[0139] The control unit (300) of the cleaning robot (1) can detect whether the main body (10) is rotating while the first motor (80a) and the second motor (80b) are stopped while dry cleaning is required (1405).

[0140] The control unit (300) of the cleaning robot (1) can control the first motor (80a) and the second motor (80b) to rotate the first pad holder (50a) in the first reverse direction and to rotate the second pad holder (50b) in the second reverse direction at predetermined intervals (1406) even if the rotation of the main body (10) is not detected. That is, the cleaning robot (1) can periodically adjust the elevation position of the pad holder (50).

[0141] When the rotation of the main body (10) is detected, the control unit (300) of the cleaning robot (1) can determine whether the rotation direction of the main body (10) is the same as the first reverse direction of the first pad holder (50a) (1407). When the rotation direction of the main body (10) is the same as the first reverse direction of the first pad holder (50a), the control unit (300) can control the first motor (80a) to rotate the first pad holder (50a) in the first reverse direction (1408). The control unit (300) can rotate the first pad holder (50a) in the first reverse direction based on whether the rotation angle of the main body (10) in the first reverse direction is greater than or equal to a threshold rotation angle or an accumulated rotation angle is greater than or equal to a threshold rotation angle.

[0142] If the rotation direction of the main body (10) is not the same as the first reverse direction of the first pad holder (50a), the control unit (300) can control the second motor (80b) to rotate the second pad holder (50b) in the second reverse direction (1409). In other words, if the rotation direction of the main body (10) is the same as the second reverse direction of the second pad holder (50b), the control unit (300) can rotate the second pad holder (50b) in the second reverse direction. The control unit (300) can rotate the second pad holder (50b) in the second reverse direction based on whether the rotation angle of the main body (10) in the second reverse direction is greater than or equal to the critical rotation angle or the cumulative rotation angle is greater than or equal to the critical rotation angle.

[0143] The cleaning robot (1) can determine whether cleaning is complete (1410). For example, the cleaning robot (1) can determine cleaning completion when cleaning of all areas of the floor is completed or when a cleaning completion command is received from a user interface or a user device. Before cleaning is complete, the cleaning robot (1) can determine whether to lower or raise at least one of the first pad holder (50a) and the second pad holder (50b) according to a predetermined cycle or the rotation of the main body (10).

[0144] According to one embodiment, a cleaning robot includes: a main body; a wheel provided on the main body for moving the main body; a pad holder capable of attaching a wet cleaning pad and rotatably provided at a lower portion of the main body; a motor for rotating the pad holder; a floor sensor for detecting a floor to be cleaned; a control unit electrically connected to the wheel, the motor, and the floor sensor; and an elevation assembly for lowering the pad holder toward the floor as the pad holder rotates in a predetermined forward direction, or for raising the pad holder toward the main body as the pad holder rotates in a reverse direction opposite to the forward direction. The control unit can identify the type of the floor based on a detection signal transmitted from the floor sensor. The control unit can determine whether dry cleaning is required based on the type of the floor. The control unit can control the motor to rotate the pad holder in the reverse direction to raise the pad holder when the dry cleaning is required.

[0145] The control unit can stop the motor after rotating the pad holder in the reverse direction until the elevation of the pad holder is restricted by the lifting assembly.

[0146] The control unit can control the motor to rotate the pad holder in the reverse direction at predetermined intervals while the dry cleaning is required.

[0147] The control unit can detect the rotation of the main body while the motor is stopped. The control unit can control the motor to rotate the pad holder in the reverse direction based on the main body rotating in the same rotational direction as the reverse direction with respect to the rotation of the pad holder while the dry cleaning is required.

[0148] The control unit can control the motor to rotate the pad holder in the reverse direction based on the main body rotating by a predetermined threshold rotation angle in the rotational direction.

[0149] The control unit may accumulate the rotation angle of the main body each time the main body rotates in the rotational direction to calculate an accumulated rotation angle. The control unit may control the motor to rotate the pad holder in the reverse direction based on the accumulated rotation angle reaching a predetermined threshold rotation angle.

[0150] The cleaning robot may further include a motion sensor that detects rotation of the main body. The control unit may determine the rotation direction and rotation angle of the main body based on a motion detection signal generated by the motion sensor.

[0151] The pad holder may include a first pad holder positioned at a lower right side of the main body and a second pad holder positioned at a lower left side of the main body. The motor may include a first motor for rotating the first pad holder and a second motor for rotating the second pad holder. The elevation assembly may include a first elevation assembly for lowering or raising the first pad holder and a second elevation assembly for lowering or raising the second pad holder. The control unit may control the first motor to rotate the first pad holder in a first reverse direction for raising the first pad holder. The control unit may control the second motor to rotate the second pad holder in a second reverse direction opposite to the first reverse direction for raising the second pad holder.

[0152] The control unit can detect the rotation of the main body while the motor is stopped. While the dry cleaning is required, the control unit can control the first motor to rotate the first pad holder in the first reverse direction or control the second motor to rotate the second pad holder in the second reverse direction based on the rotation direction of the main body.

[0153] A method for controlling a cleaning robot, comprising: a pad holder to which a wet cleaning pad can be attached and which is rotatable at the bottom of a main body; a motor for rotating the pad holder; an elevation assembly for lowering or raising the pad holder according to the rotation of the pad holder; a floor sensor for detecting a floor to be cleaned; and a control unit; may include: identifying a type of the floor using the floor sensor; determining, by the control unit, whether dry cleaning is required based on the type of the floor; and controlling, by the control unit, the motor so that the pad holder rotates in a reverse direction opposite to a predetermined forward direction in order to raise the pad holder when the dry cleaning is required.

[0154] Controlling the motor may include rotating the pad holder in the reverse direction until the elevation of the pad holder is limited by the lifting assembly, and then stopping the motor.

[0155] Controlling the motor may further include rotating the pad holder in the reverse direction at predetermined intervals while the dry cleaning is required.

[0156] The control method may further include detecting rotation of the main body while the motor is stopped. Controlling the motor may further include rotating the pad holder in the reverse direction based on the main body rotating in the same rotational direction as the reverse direction of the pad holder while the dry cleaning is required.

[0157] Controlling the motor may include rotating the pad holder in the reverse direction based on the main body rotating by a predetermined threshold rotation angle in the rotational direction.

[0158] Detecting the rotation of the main body may include accumulating a rotation angle of the main body each time the main body rotates in the rotational direction to calculate an accumulated rotation angle. Controlling the motor may include rotating the pad holder in the reverse direction based on the accumulated rotation angle reaching a predetermined threshold rotation angle.

[0159] Detecting the rotation of the main body may include determining a rotation direction and rotation angle of the main body based on a motion detection signal generated by a motion sensor.

[0160] The pad holder may include a first pad holder positioned at a lower right side of the main body and a second pad holder positioned at a lower left side of the main body. The motor may include a first motor for rotating the first pad holder and a second motor for rotating the second pad holder. The elevation assembly may include a first elevation assembly for lowering or raising the first pad holder and a second elevation assembly for lowering or raising the second pad holder. Controlling the motor may include controlling the first motor to rotate the first pad holder in a first reverse direction for raising the first pad holder; and controlling the second motor to rotate the second pad holder in a second reverse direction opposite to the first reverse direction for raising the second pad holder.

[0161] The control method may further include detecting rotation of the main body while the motor is stopped. Controlling the motor may further include controlling the first motor to rotate the first pad holder in the first reverse direction or controlling the second motor to rotate the second pad holder in the second reverse direction based on the rotation direction of the main body while the dry cleaning is required.

[0162] As described above, the disclosed cleaning robot and its control method can raise the wet cleaning pad when dry cleaning is required depending on the floor type, and adjust the position of the wet cleaning pad according to predetermined conditions. Accordingly, contamination of the floor material by the wet cleaning pad can be prevented.

[0163] The disclosed cleaning robot and control method of the cleaning robot can reduce power consumption and reduce wear of the lifting assembly that lowers or raises the pad holder by independently adjusting the position of each of the plurality of pad holders.

[0164] The disclosed embodiments may be implemented in the form of a storage medium storing computer-executable instructions. The instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform the operations of the disclosed embodiments.

[0165] A device-readable storage medium may be provided in the form of a non-transitory storage medium. Here, the term "non-transitory storage medium" simply means a tangible device that does not contain signals (e.g., electromagnetic waves). This term does not distinguish between cases where data is permanently stored in the storage medium and cases where data is temporarily stored. For example, a "non-transitory storage medium" may include a buffer in which data is temporarily stored.

[0166] According to one embodiment, the method according to various embodiments disclosed in the present document may be provided as included in a computer program product. The computer program product may be traded as a product between a seller and a buyer. 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 online (e.g., downloaded or uploaded) via an application store (e.g., Play Store™) 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., a downloadable app) may be temporarily stored or temporarily generated in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

[0167] The disclosed embodiments have been described with reference to the attached drawings as described above. Those skilled in the art will understand that the present invention can be implemented in forms other than the disclosed embodiments without altering the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

Claims

1. Main body; A wheel provided on the main body to move the main body; A pad holder capable of attaching a wet cleaning pad and being rotatable at the bottom of the main body; A motor for rotating the above pad holder; Floor sensor to detect the floor being cleaned; a control unit electrically connected to the wheel, the motor and the floor sensor; and A lifting assembly is included that lowers the pad holder toward the floor as the pad holder rotates in a predetermined forward direction, or raises the pad holder toward the main body as the pad holder rotates in a reverse direction opposite to the forward direction; The above control unit Identifying the type of the floor based on the detection signal transmitted from the floor sensor, Based on the type of floor above, determine if dry cleaning is required, A cleaning robot that controls the motor to rotate the pad holder in the reverse direction to raise the pad holder as the dry cleaning is required.

2. In paragraph 1, The above control unit A cleaning robot that rotates the pad holder in the reverse direction until the elevation of the pad holder is restricted by the lifting assembly, and then stops the motor.

3. In paragraph 2, The above control unit A cleaning robot that controls the motor to rotate the pad holder in the reverse direction at predetermined intervals while the dry cleaning is required.

4. In paragraph 2, The above control unit Detecting the rotation of the main body while the above motor is stopped, A cleaning robot that controls the motor to rotate the pad holder in the reverse direction based on the rotation of the main body in the same rotational direction as the reverse direction with respect to the rotation of the pad holder while the dry cleaning is required.

5. In paragraph 4, The above control unit A cleaning robot that controls the motor to rotate the pad holder in the reverse direction based on the main body rotating by a predetermined critical rotation angle in the rotational direction.

6. In paragraph 4, The above control unit Each time the above body rotates in the above rotation direction, the rotation angle of the above body is accumulated to calculate the accumulated rotation angle, A cleaning robot that controls the motor to rotate the pad holder in the reverse direction based on the accumulated rotation angle reaching a predetermined threshold rotation angle.

7. In paragraph 4, Further comprising a motion sensor for detecting rotation of the above main body; The above control unit A cleaning robot that determines the rotation direction and rotation angle of the main body based on a motion detection signal generated by the motion sensor.

8. In paragraph 1, The above pad holder It includes a first pad holder located at the lower right of the main body and a second pad holder located at the lower left of the main body; The above motor It includes a first motor for rotating the first pad holder and a second motor for rotating the second pad holder; The above lifting assembly It comprises a first lifting assembly for lowering or raising the first pad holder and a second lifting assembly for lowering or raising the second pad holder; The above control unit Controlling the first motor so that the first pad holder rotates in the first reverse direction to raise the first pad holder; A cleaning robot that controls the second motor to rotate the second pad holder in a second reverse direction opposite to the first reverse direction for raising the second pad holder.

9. In paragraph 8, The above control unit Detecting the rotation of the main body while the above motor is stopped, A cleaning robot that controls the first motor to rotate the first pad holder in the first reverse direction or controls the second motor to rotate the second pad holder in the second reverse direction based on the rotation direction of the main body while the dry cleaning is required.

10. A method for controlling a cleaning robot, comprising: a pad holder that can be attached to a wet cleaning pad and is rotatable at the bottom of the main body; a motor that rotates the pad holder; an elevating assembly that lowers or raises the pad holder according to the rotation of the pad holder; a floor sensor that detects the floor to be cleaned; and a control unit. Identifying the type of the floor using the above floor sensor; By the above control unit, it is determined whether dry cleaning is required based on the type of the floor; A method for controlling a cleaning robot, comprising: controlling the motor so that the pad holder rotates in a reverse direction opposite to a predetermined forward direction to raise the pad holder when the dry cleaning is required by the control unit; 11. In paragraph 10, Controlling the above motor is A method for controlling a cleaning robot, comprising: rotating the pad holder in the reverse direction until the elevation of the pad holder is limited by the lifting assembly; and then stopping the motor.

12. In paragraph 11, Controlling the above motor is A control method for a cleaning robot, further comprising: rotating the pad holder in the reverse direction at predetermined intervals while the dry cleaning is required.

13. In paragraph 11, Further comprising: detecting rotation of the main body while the motor is stopped; Controlling the above motor is A control method for a cleaning robot further comprising: rotating the pad holder in the reverse direction based on the rotation of the main body in the same rotational direction as the reverse direction of the pad holder while the dry cleaning is required.

14. In paragraph 13, Controlling the above motor is A control method for a cleaning robot, comprising: rotating the pad holder in the reverse direction based on the main body rotating by a predetermined critical rotation angle in the rotational direction.

15. In paragraph 13, Detecting the rotation of the above body Including calculating an accumulated rotation angle by accumulating the rotation angle of the main body each time the main body rotates in the rotation direction; Controlling the above motor is A control method for a cleaning robot, comprising: rotating the pad holder in the reverse direction based on the accumulated rotation angle reaching a predetermined threshold rotation angle.

Images