Robot cleaner and cleaning method thereof

Abstract

A robot cleaner is disclosed. The present robot cleaner includes: a driving unit for moving the position of the robot cleaner; a suction unit for vacuuming foreign substances; a wet cleaning module for performing wet cleaning; at least one sensor; a battery; a memory; and a processor, wherein the processor: controls the driving unit and the suction unit to perform dry cleaning while moving within a space in which the robot cleaner is positioned; generates a map for the space on the basis of a sensing value sensed by the at least one sensor during the drying cleaning and stores the map in the memory; identifies an area on which wet cleaning is possible in the map and calculates an estimated battery consumption amount when the wet cleaning is performed on the identified area; and compares the remaining amount of the battery and the estimated battery consumption amount and determines whether to perform the wet cleaning.

Description

Robot vacuum cleaner and its cleaning method

[0001] The present invention relates to a robot vacuum cleaner and a cleaning method thereof, and more particularly, to a robot vacuum cleaner capable of cleaning using a map and a cleaning method thereof.

[0002] The use of robot vacuums in homes has been on the rise recently. While previous robot vacuums were limited to dry cleaning, sucking up debris, robot vacuums capable of performing wet cleaning, such as mopping floors, have recently been developed and are becoming widespread.

[0003] Recent robot vacuums capable of both dry and wet cleaning can be designed to perform wet cleaning immediately after dry cleaning. However, there are differences between floor surfaces suitable for dry cleaning and those suitable for wet cleaning. For example, while dry cleaning is possible on carpeted surfaces, wet cleaning can lead to problems such as the carpet becoming wet or the mop becoming tangled, halting the robot vacuum's operation.

[0004] Therefore, the need for technology that enables robot vacuum cleaners to efficiently perform dry and wet cleaning has arisen.

[0005] A robot cleaner according to at least one embodiment of the present disclosure includes a driving unit for moving a location of the robot cleaner, a suction unit for sucking up foreign substances, a wet cleaning module for performing wet cleaning, at least one sensor, a battery, a memory, and a processor for controlling the driving unit and the suction unit to perform dry cleaning while moving within a space where the robot cleaner is located, generating a map of the space based on a sensing value sensed by the at least one sensor during the dry cleaning and storing the map in the memory, identifying an area within the map where wet cleaning is possible, calculating an expected battery consumption when performing the wet cleaning for the identified area, and comparing the remaining amount of the battery with the expected battery consumption to determine whether to perform the wet cleaning.

[0006] A cleaning method of a robot cleaner according to at least one embodiment of the present disclosure includes the steps of: performing dry cleaning while moving within a space in which the robot cleaner is located; generating a map of the space based on a sensing value sensed by at least one sensor included in the robot cleaner; identifying an area within the map in which wet cleaning is possible; calculating an expected battery consumption when performing the wet cleaning for the identified area; and comparing the remaining battery capacity with the expected battery consumption to determine whether to perform the wet cleaning.

[0007] A computer-readable recording medium including a program for executing a cleaning method of a robot cleaner according to at least one embodiment of the present disclosure, wherein the cleaning method of the robot cleaner comprises the steps of: performing dry cleaning while moving within a space in which the robot cleaner is located; generating a map of the space based on a sensing value sensed by at least one sensor included in the robot cleaner; identifying an area within the map in which wet cleaning is possible; calculating an expected battery consumption when performing the wet cleaning for the identified area, and comparing the remaining amount of the battery with the expected battery consumption to determine whether to perform the wet cleaning.

[0008] FIG. 1 is a drawing for explaining the operation of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0009] FIG. 2 is a block diagram illustrating a configuration of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0010] FIG. 3 is a drawing for explaining a method for creating a map of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0011] FIG. 4 is a diagram illustrating a method for verifying map validity of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0012] FIG. 5 is a drawing for explaining the configuration of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0013] FIG. 6 is a drawing for explaining a method for lifting up a wet cleaning module of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0014] FIGS. 7, 8, and 9 are drawings for explaining a method of moving a robot vacuum cleaner in a restricted area according to one or more embodiments of the present disclosure.

[0015] FIGS. 10 and 11 are drawings for explaining a method for setting a safety area of ​​a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0016] FIG. 12 is a flowchart illustrating a method for determining whether to perform wet cleaning of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0017] FIG. 13 is a flowchart illustrating a method for determining whether to use a stored map when performing wet cleaning of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0018] FIG. 14 is a flowchart illustrating a method of driving a robot vacuum cleaner through a restricted area according to one or more embodiments of the present disclosure.

[0019] Hereinafter, the present disclosure will be described in detail with reference to the attached drawings.

[0020] The terms used in the embodiments of this disclosure have been selected from widely used, current terms, taking into account the functions of this disclosure. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms may be arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the description of the relevant disclosure. Therefore, the terms used in this disclosure should not be defined simply as names of terms, but rather based on the meanings of the terms and the overall content of this disclosure.

[0021] In this specification, expressions such as “has,” “can have,” “includes,” or “may include” indicate the presence of a feature (e.g., a number, function, operation, or component such as a part), and do not exclude the presence of additional features.

[0022] The expression "at least one of A and / or B" should be understood to mean either "A" or "B" or "A and B".

[0023] As used herein, the expressions “first,” “second,” “first,” or “second,” etc., may describe various components, regardless of order and / or importance, and are only used to distinguish one component from another, but do not limit the components.

[0024] When it is said that a component (e.g., a first component) is “(operatively or communicatively) coupled with / to” or “connected to” another component (e.g., a second component), it should be understood that the component may be directly coupled to the other component, or may be connected through another component (e.g., a third component).

[0025] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "consist of" are intended to indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but should be understood not to preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0026] In the present disclosure, a "module" or "part" performs at least one function or operation and may be implemented as hardware or software, or as a combination of hardware and software. Furthermore, multiple "modules" or multiple "parts" may be integrated into at least one module and implemented as at least one processor (not shown), excluding any "modules" or "parts" that need to be implemented as specific hardware.

[0027] In this specification, the term user may refer to a person using an electronic device or a device using an electronic device (e.g., an artificial intelligence electronic device).

[0028] An embodiment of the present disclosure will be described in more detail with reference to the attached drawings below.

[0029] FIG. 1 is a drawing for explaining the operation of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0030] According to FIG. 1, the robot cleaner (100) performs cleaning while moving in a space (10) where the robot cleaner (100) is located. The space (10) may be a typical home, but is not limited thereto, and may be various environments such as an office, a building, or a public facility.

[0031] The robot vacuum cleaner (100) includes both a dry cleaning configuration (not shown) and a wet cleaning configuration. Dry cleaning refers to a cleaning method that sucks in air through a suction port formed on the surface to be cleaned, i.e., the floor surface, while sucking in foreign substances. Foreign substances include dust, trash, and other cleaning targets present on the surface to be cleaned.

[0032] Wet cleaning refers to a cleaning method in which a robot cleaner (100) moves while wiping the floor with a wet pad, such as a mop or wet tissue, in contact with the floor. Depending on the type of product, the robot cleaner (100) may fix the part to which the wet pad is attached so that it is in close contact with the floor, or may rotate the part or make it move back and forth to increase the force applied to the floor.

[0033] The robot cleaner (100) can perform wet cleaning after performing dry cleaning. The robot cleaner (100) can collect and analyze sensing values ​​detected by the sensor of the robot cleaner (100) during dry cleaning to create a map of the space (10). Specifically, the robot cleaner (100) uses at least one sensor to collect various information about the size and shape of the space (10), the condition of the floor, etc., while moving within the space (10). For example, if a carpet (11) exists within the space (10), the robot cleaner (100) can perform dry cleaning and identify the carpet (11) area through the sensor. Since the carpet (11) has a shape in which the carpet hairs protrude from the floor, the robot cleaner (100) can identify the carpet (11) area using an image sensor that photographs the front, the front bottom, or the bottom.

[0034] When the robot cleaner (100) recognizes the carpet (11) area, it can identify it as a restricted area (20) where wet cleaning cannot be performed.

[0035] In this way, the robot cleaner (100) can create a map by dividing the space (10) where the robot cleaner (100) is located into a wet cleaning area and a restricted area. The restricted area may be an area where an object that is difficult to wet clean, such as a carpet (11), is laid out, or an area where an object that should not get wet, such as a cushion, wire, or mat, is laid out.

[0036] Once a map is created, the robot cleaner (100) performs wet cleaning based on the map. The robot cleaner (100) sets a driving path targeting the remaining area, excluding restricted areas where wet cleaning is difficult, and performs wet cleaning while driving along the driving path.

[0037] In this case, the robot cleaner (100) can first determine whether the remaining battery power is sufficient to perform wet cleaning of the remaining area, and determine whether to perform wet cleaning based on the determination result. For example, if the remaining battery power is determined to be sufficient, the robot cleaner (100) can immediately start wet cleaning from the point where dry cleaning is completed. On the other hand, if the remaining battery power is determined to be insufficient, the robot cleaner (100) can move to a charging station to charge the battery. The robot cleaner (100) can start wet cleaning when it is determined that the battery is fully charged, or sufficiently charged to perform wet cleaning even before fully charged.

[0038] The robot cleaner (100) can store the generated map and reuse it later. The robot cleaner (100) can also identify changes in the map by accumulating and comparing previously created maps with newly created maps. For example, the robot cleaner (100) can determine how frequently the location, shape, size, etc. of the restricted area (20) within the map changes. If the robot cleaner (100) determines that changes do not occur frequently, the map generation cycle can be set to a long period. Conversely, if changes are determined to occur frequently, the map generation cycle can be set to a short period. For example, a map can be generated for each cleaning.

[0039] In addition, the robot cleaner (100) can perform various operations using a map. Below, the operations of the robot cleaner (100) according to various embodiments are described in detail.

[0040] FIG. 2 is a block diagram illustrating a configuration of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0041] According to FIG. 2, the robot cleaner (100) includes a suction unit (110), a driving unit (120), a wet cleaning module (130), a sensor (140), a memory (150), and a processor (160).

[0042] The suction unit (110) is configured to perform dry cleaning by sucking up foreign substances. The suction unit (110) may include various components for sucking up foreign substances through air, such as a suction motor, a suction fan, a dust bin, an air path, and a suction opening. The detailed configuration of the suction unit (110) may vary depending on the type of robot cleaner, the manufacturer, the product model, etc.

[0043] The driving unit (120) is a component for moving the main body of the robot cleaner (100). The driving unit (120) may include one or more wheels, an axle, a motor, etc. Depending on the operation of the driving unit (120), the robot cleaner (100) may move forward, backward, rotate, and change direction, etc. The driving unit (120) may be operated so that the robot cleaner (100) may drive in a zigzag pattern as shown in FIG. 1, and may also drive in various patterns according to a user's settings or a preset driving path.

[0044] The wet cleaning module (130) is configured to perform the above-described wet cleaning. The wet cleaning module (130) may include a pad attachment portion to which a pad can be attached, a rotation motor for rotating the pad attachment portion, a lift-up structure for lifting the pad attachment portion from the floor surface, etc. Performing wet cleaning through the rotation of the mop pad of the wet cleaning module (130) is only one example, and the wet cleaning module (130) may also be implemented with a structure that performs wet cleaning while fixing, vibrating, or reciprocating the pad.

[0045] The sensor (140) is a component for sensing various information related to the operation of the robot cleaner (100). Based on the sensing value of the sensor (140), the robot cleaner (100) can identify various information, such as location information about the space in which the robot cleaner (100) is located, information about objects existing in the space, and information about the floor surface.

[0046] For example, the sensor (140) may include a LiDAR sensor. The LiDAR sensor may be located at the top of the robot cleaner (100). The LiDAR sensor may rotate 360 ​​degrees with respect to the space where the robot cleaner (100) is located and emit a laser. When the laser is reflected from an object around the robot cleaner (100) and received again by the LiDAR sensor, the LiDAR sensor may measure the distance to the object based on the time of reception, and may perform such distance measurements from various angles and directions to generate data points of the surrounding environment. These data points are generated in the form of a point cloud. Each point includes information about coordinate values. At this time, the point cloud generally includes information about 2D coordinate values, but may also include information about 3D coordinate values.

[0047] The processor (160) can analyze this point cloud data to create a 2D map or 3D map of the space where the robot cleaner (100) is located. However, this is not limited to this example, and the sensor (140) can also create a map using various known methods.

[0048] In addition, the sensor (140) may include an ultrasonic sensor. The ultrasonic sensor may be located at the bottom of the robot cleaner (100). The ultrasonic sensor emits ultrasonic waves toward the floor on which the robot cleaner (100) travels, and receives ultrasonic waves that are reflected from the floor and returned to the ultrasonic sensor. The processor (160) may analyze the amount, reflection intensity, spectrum, etc. of the reflected ultrasonic waves to determine the material of the floor. For example, if the processor (160) has learned the ultrasonic reflection pattern of a carpet in advance and stored it in the memory (150), it may be possible to detect that the robot cleaner (100) is passing through the carpet through the amount, reflection intensity, spectrum, etc. of the ultrasonic waves received by the sensor (140). However, the sensor (140) is not limited to the above-described lidar sensor and ultrasonic sensor, and may include various types of sensors that can collect and analyze data about the space in which the robot cleaner (100) is located. For example, the sensor (140) may further include an infrared sensor, an image sensor, a 3D camera, or the like.

[0049] The processor (160) can recognize the position of the robot cleaner (100) within a space using a lidar sensor, and can recognize the surrounding terrain or objects based on images captured by an image sensor or a 3D camera at the corresponding position. In addition, the processor (160) can also identify the characteristics of the floor surface, etc., based on the sensing values ​​of an infrared sensor or other sensors. The processor (160) can collect the identified information and generate a map that includes various information, such as the shape or area of ​​the entire space, the position and shape of various home appliances or furniture within the space, and the position and shape of rooms, living rooms, bathrooms, etc. The memory (150) is a configuration for storing various data, programs, commands, etc. required for the operation of the robot cleaner (100). The memory (150) may be implemented as one or more of DRAM (dynamic RAM), SRAM (static RAM), SDRAM (synchronous dynamic RAM), OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash, etc.), hard drive, or solid state drive (SSD), external hard drive, or USB stick memory. In FIG. 2, the memory (150) is illustrated as being a separate configuration from the processor (160), but depending on the embodiment, all or part of the memory may be integrated into the processor (160) and implemented as a single configuration.

[0050] A map of the space where the robot cleaner (100) is located may be stored in the memory (150). As described above, when the robot cleaner (100) performs dry cleaning, the processor (160) may store the map generated during dry cleaning in the memory (150). The memory (150) may also store previously generated maps.

[0051] The processor (160) controls the overall operation of the robot cleaner (100). Specifically, the processor (160) is connected to the suction unit (110), the driving unit (120), the wet cleaning module (130), the sensor (140), and the memory (150), and can control the overall operation of the robot cleaner (100) by executing at least one instruction stored in the memory (150).

[0052] The processor (160) may be implemented as a digital signal processor (DSP), a microprocessor, or a timing controller (TCON) that processes digital signals. However, the present invention is not limited thereto, and may include one or more of a central processing unit (CPU), a micro controller unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a communication processor (CP), an ARM processor, or an artificial intelligence (AI) processor, or may be defined by the relevant terms. In addition, the processor (160) may be implemented as a system on chip (SoC) or large scale integration (LSI) having a built-in processing algorithm, or may be implemented in the form of a field programmable gate array (FPGA). The processor (160) may perform various functions by executing computer executable instructions stored in a memory.

[0053] When a method according to various embodiments of the present disclosure includes multiple operations, the multiple operations may be performed by one processor or by multiple processors. The processor (160) may be implemented as a single core processor including one core, or may be implemented as one or more multicore processors including multiple cores (e.g., homogeneous multicores or heterogeneous multicores).

[0054] The processor (160) can perform cleaning by controlling the suction unit (110), the driving unit (120), and the sensor (140) when a cleaning start command is input or an event that requires cleaning to be started (e.g., when a preset cleaning time has arrived, when contamination is detected in a space, etc.) occurs.

[0055] For example, when a user commands the robot cleaner (100) to perform dry cleaning, the processor (160) retrieves the map stored in the memory (150) and sets a path to drive during dry cleaning. If there is no previously stored map, the processor (160) controls the suction unit (110) and the driving unit (120) so that the robot cleaner (100) moves in one direction from the point where it was initially placed and performs cleaning. The processor (160) controls the driving unit (120) to change direction when it approaches a wall or other obstacle while driving in the corresponding direction. In this way, while sequentially cleaning the entire space (10), the processor (160) collects the values ​​sensed by the sensor (140), creates a map as described above, and stores it in the memory (150).

[0056] FIG. 3 shows an example of a map generated by the processor (160). While the robot cleaner (100) is driving, the processor (160) can identify and record the location and driving path of the robot cleaner (100) based on values ​​sensed by the lidar sensor, infrared sensor, vision sensor, etc. of the robot cleaner (100), and can create a map by connecting each recorded point. For example, the robot cleaner (100) can find out the coordinate values ​​of the space it is currently passing through through the lidar sensor, and can recognize the presence of a carpet or wall near the coordinates through the bottom sensor of the robot cleaner (100). For example, when the robot cleaner (100) is driving at a point in an area where a carpet exists, the robot cleaner (100) can recognize the coordinate values ​​(22, -8) of the point through the lidar sensor, and can recognize that a carpet exists on the floor of the point through the bottom sensor. By recognizing and storing the above information, information on all areas of the space where the robot cleaner (100) is located can be obtained, and a map (30) can be created by distinguishing between areas where wet cleaning is possible and restricted areas (20).

[0057] According to FIG. 3, the map (30) not only shows information such as the location, shape, and size of rooms or living rooms that constitute the space (10), the location, shape, and size of various home appliances or furniture placed within the space (10), but also the location, shape, and size of the restricted area (20). Although a 2D map is illustrated in FIG. 3, if the robot cleaner (100) includes an image sensor, etc., it may be implemented in the form of a 3D map.

[0058] After dry cleaning, the processor (160) analyzes the information acquired and the map created during dry cleaning, rather than immediately performing wet cleaning. For example, the processor (160) can identify areas where wet cleaning is possible, excluding the restricted area (20), in the space where the robot cleaner (100) is located. In addition, the processor can calculate the expected battery consumption that will be consumed when performing wet cleaning in the area where wet cleaning is possible.

[0059] At this time, the processor (160) can calculate the expected battery consumption using statistical data stored in the memory (150). The memory (150) stores the battery consumption consumed when the robot cleaner (100) performs wet cleaning on a certain area. For example, if the robot cleaner (100) performs wet cleaning on the entire house area (40 m 2 ) when wet cleaning was performed, it took a total of 60 minutes, and data can be stored that the battery capacity was consumed by a total of 30% during this time.

[0060] That is, the processor (160) can obtain data of wet cleaning area (A) - wet cleaning time (T) - battery capacity consumption (C) through wet cleaning and store it in the memory (150). When a map is generated and an area (A) of an area where wet cleaning is possible is identified from the entire area within the map, the processor (160) can estimate the expected battery consumption (C) to be consumed when performing wet cleaning for the area based on the data stored in the memory (150). The processor (160) can compare the calculated expected battery consumption with the remaining battery capacity of the robot cleaner (100) to determine whether to perform wet cleaning. That is, if the remaining battery capacity is greater than the expected battery consumption, it can be determined that the robot cleaner (100) performs wet cleaning without charging the battery, and if the expected battery consumption is greater than the remaining battery capacity, it can be determined that the robot cleaner (100) performs wet cleaning after charging the battery.

[0061] For example, if the remaining battery capacity of the robot cleaner (100) after completing dry cleaning is 50% and the expected battery consumption calculated by the processor (160) is 30%, the processor (160) can control the driving unit (120) so that the robot cleaner (100) does not return to the battery charging station and immediately performs wet cleaning. However, if the remaining battery capacity of the robot cleaner (100) after completing dry cleaning is 20% and the expected battery consumption calculated by the processor (160) is 30%, the processor (160) can control the driving unit (120) so that the robot cleaner (100) returns to the battery charging station.

[0062] The above description only describes the operation of comparing the size of the remaining battery level and the expected battery consumption to determine whether to perform wet cleaning immediately, but is not limited thereto. Even if the remaining battery level is greater than the expected battery consumption, if the difference between the remaining battery level and the expected battery consumption is less than a preset value (e.g., less than 10%), the robot cleaner (100) can be controlled to return to the battery charging station, and the preset value can be arbitrarily set by a user or a processor (160).

[0063] The processor (160) can control the battery charging of the robot cleaner (100) prior to performing wet cleaning so that it is performed until the battery of the robot cleaner (100) is charged to an amount greater than the expected battery consumption. For example, when the expected battery consumption of wet cleaning is 30%, the driving unit (120) and the wet cleaning module (130) can be controlled so that wet cleaning is performed immediately when the battery is charged to approximately 40%, rather than waiting until the battery of the robot cleaner (100) is fully charged to 100% and then performing wet cleaning.

[0064] If the processor (160) determines that the battery has been charged beyond the expected battery consumption, it can control wet cleaning to be performed even before the battery is fully charged. This can cause the time interval between dry cleaning and wet cleaning to become longer, which can cause foreign substances to appear on the surface to be cleaned before wet cleaning, making efficient wet cleaning impossible.

[0065] If the processor (160) determines that wet cleaning is possible, it controls the driving unit (120), the wet cleaning module (130), and the sensor (140) to initiate wet cleaning. The processor (160) sets a wet cleaning path based on a map stored in the memory (150). The processor (160) controls the motor and wheels of the driving unit so that the robot cleaner (100) can drive along the set path, and operates the motor of the wet cleaning module (130) so that the mop pad rotates or vibrates to clean the surface to be cleaned. In addition, even during wet cleaning, the processor (160) operates the sensor (140) as well as the map stored in the memory (150) to reconfirm whether the surface to be cleaned is in a restricted area (20) where wet cleaning is restricted, and then proceeds with wet cleaning.

[0066] Meanwhile, the processor (160) can accumulate and store previously generated maps in the memory (150). The processor (160) can compare multiple maps stored in the memory (150) to determine how frequently and how much the location, area, and shape of the restricted area (20) have changed. Hereinafter, the degree to which the restricted area (20) has changed is referred to as the amount of change.

[0067] When the change amount is calculated, the processor (160) can perform various control operations based on the change amount.

[0068] For example, the processor (160) may determine the update cycle of the map based on the amount of change. That is, if the restricted area changes frequently, the processor (160) may set a short update cycle. The shortest possible setting may be to generate and use a map every dry cleaning. On the other hand, if it is determined that the restricted area does not change frequently, the processor (160) may set a long update cycle. Here, the update cycle may be viewed as a valid period for which the created map can be used. For example, if it is set to one month, the processor (160) may generate a map using a sensor every one month. The processor (160) may use the map stored in the memory (150) for a valid period of one month until the next update cycle arrives.

[0069] As another example, the processor (160) may determine whether to use the sensor during cleaning based on the amount of change. That is, if the restricted area changes frequently, the processor (160) may use both the map and the sensor (140) during wet cleaning. Since the restricted area changes frequently, the processor (160) may check again whether wet cleaning is possible based on the sensing value of the sensor (140) even when reaching a point indicated as the restricted area (20) on the currently stored map. If the restricted area does not change frequently, the processor (160) may use only the map during wet cleaning or may intermittently activate and use the sensor (140).

[0070] The processor (160) can compare multiple accumulated maps to calculate the aforementioned change amount. The change amount can be determined based on various criteria.

[0071] For example, when comparing multiple maps, the processor (160) can recognize the ratio of the number of times the location of the restricted area differs by more than the margin of error as the amount of change. When a total of n maps are stored in the memory (150), the processor (160) can compare each map in chronological order and calculate the number of times the location, area, or shape of the restricted area differs by more than the margin of error. The processor (160) can calculate the ratio of changes using the total number of maps and the number of changes. If the calculated ratio is less than or equal to a preset reference value (e.g., 10%), the processor (160) can determine that the change in the restricted area is not significant. On the other hand, if the calculated ratio exceeds the reference value, the processor can determine that the change in the restricted area is significant.

[0072] As described above, if the processor (160) determines the update cycle based on the amount of change, the processor (160) may set the update cycle of the map to be shorter depending on the degree to which the change rate exceeds the reference value. For example, if it is calculated as 50%, the processor (160) may set the update cycle to generate the map once every two cleanings.

[0073] In addition, if it is determined whether or not to operate the sensor based on the amount of change, if the amount of change is less than a reference value, the processor (160) can turn off the sensors for detecting the floor, the image sensor, the 3D camera, etc., or control them to be activated only at regular time intervals, and perform wet cleaning based on the map while activating the lidar sensor. If the amount of change is greater than the reference value, the processor (160) can perform wet cleaning using both the sensor and the map.

[0074] As another example, the processor (160) may set the update cycle depending on how many maps have changed among a certain number of recently created maps. For example, when comparing a total of five maps, if the locations of the restricted areas in the first and second maps are the same, and the locations of the restricted areas in the third, fourth, and fifth maps are the same, and only the locations of the restricted areas in the second and third maps have changed, the amount of change may be calculated as 1. If the reference value is set to 2 times, this case is when the amount of change is less than the reference value. On the other hand, if it is determined that the locations have changed at least three times in the first, second, third, fourth, and fifth maps, the processor (160) may determine that the amount of change is greater than the reference value.

[0075] Alternatively, the change may be calculated as the difference between the location, area, shape, etc. of the restricted area in the previous map and the location, area, shape, etc. of the restricted area in the current map. That is, the change may be calculated as the difference between the distance between the reference point of the previous restricted area (e.g., the lower left corner point) and the reference point of the current restricted area. In this case, assuming that the reference value is 50 cm and the change is 80 cm, the processor (160) may determine that the change is greater than the reference value.

[0076] Fig. 4 shows examples of multiple maps stored in a robot vacuum cleaner (100). According to Fig. 4, three maps (41, 42, 43) generated at different points in time are shown.

[0077] The processor (160) can create multiple maps by performing multiple dry cleaning operations and store them in the memory (150). At this time, the locations and areas of restricted areas determined to be restricted from wet cleaning in the multiple maps can be slightly moved.

[0078] According to FIG. 4, it can be seen that the positions of the restricted area (20-1) in map 1 (41), the restricted area (20-2) in map 2 (42), and the restricted area (20-3) in map 3 (43) change each time. In such a case, the processor (160) may calculate the amount of change in the restricted area twice, or may calculate the amount of change as a ratio, such as 100%, since a change is detected each time.

[0079] Alternatively, the processor (160) may compare the locations and areas of the restricted areas (20-1, 20-2, 20-3) of each map (41, 42, 43) to identify the area of ​​the common portion. If the area of ​​the common portion is not significantly different from the area of ​​one restricted area, the processor (160) may utilize all three maps when performing the fourth wet cleaning.

[0080] That is, the area of ​​one restricted area is 10m 2 , and the common area of ​​the three restricted areas (20-1, 20-2, 20-3) is 8 m 2 In this case, the processor (160) can determine that the restricted area has not changed significantly. In this case, the processor (150) can recognize the combined areas of the three restricted areas (20-1, 20-2, 20-3) as the restricted area and perform the fourth wet cleaning.

[0081] On the other hand, in the above example, the common area of ​​the three restricted areas (20-1, 20-2, 20-3) is 2 m 2 The reference value (e.g. 5m) 2 ) below, the processor (160) determines that the location of the restricted area is frequently changing, and thus, when performing the fourth wet cleaning, it creates a new map without using the three stored maps, or operates the sensor (140) of the robot cleaner (100) to check the floor surface one by one and perform wet cleaning.

[0082] In Fig. 4, a situation in which a total of three maps are stored is illustrated, but this is not limited thereto, and even in cases where three or more maps are stored, the amount of change in the restricted area for the multiple stored maps can be calculated to determine whether to utilize the multiple maps during wet cleaning.

[0083] Also, although Fig. 4 illustrates a situation in which only the location of the restricted area changes without changing the area of ​​the restricted area, even in cases where not only the location of the restricted area but also the area changes, it is possible to calculate the amount of change in the area and determine whether to utilize multiple maps during wet cleaning.

[0084] FIG. 5 is a drawing illustrating an example of a bottom configuration of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0085] According to FIG. 5, the lower part of the robot cleaner (100) may include a suction opening (111), wheels (121, 122, 123), pad attachment parts (131, 132), and a floor detection sensor (141). The suction opening (111) is an opening for sucking up foreign substances. The suction opening (111) is connected to an air path leading to a dust bin inside the robot cleaner (100). When suction force is generated by the suction motor and the suction fan, foreign substances on the surface to be cleaned are sucked in through the suction opening (111) and enter the dust bin.

[0086] The wheels (121, 122, 123) are configured to drive the robot cleaner (100). Some of the wheels (123) among the wheels (121, 122, 123) may be implemented with a structure to reduce friction with the lower surface regardless of the operation of the motor, but are not necessarily limited thereto.

[0087] The pad attachment portions (131, 132) are configured such that pads for wet cleaning can be detachably attached. In Fig. 5, the two pad attachment portions (131, 132) are each implemented in a rotatable form, but as described above, the pad attachment portions can be implemented in various forms.

[0088] The floor detection sensor (141) is a sensor for detecting the lower floor surface of the robot vacuum cleaner. For example, an infrared sensor may be used, but is not necessarily limited thereto.

[0089] FIG. 6 is a drawing for explaining a method for lifting up a wet cleaning module of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0090] Lift-up refers to an operation of lifting the mop pad of the wet cleaning module (130) upwards using the motor (133) so that it does not touch the floor. The motor (133) may be built into the main body of the robot cleaner (100) and connected to the pad attachment part (131) by a shaft or the like. The motor (133) lifts the wet cleaning module (130) upwards under the control of the processor (160).

[0091] The lift-up action is used in various situations. When the robot cleaner (100) performs dry cleaning, the wet cleaning module (130) is lifted up to prevent the wet cleaning module (130) from touching the surface to be cleaned.

[0092] In addition, even when the robot cleaner (100) is performing wet cleaning and there is a restricted area (20) on the driving path and it is impossible to move around it, the robot cleaner (100) can lift up the wet cleaning module (130).

[0093] The driving method for passing through a restricted area (20) through a lift-up operation of the robot cleaner (100) will be described in detail again in the following section.

[0094] FIGS. 7, 8, and 9 are drawings for explaining a method of moving a robot vacuum cleaner in a restricted area according to one or more embodiments of the present disclosure.

[0095] According to Fig. 7, a state is shown in which a restricted area (20) is located at the entrance of some areas (210) among areas where wet cleaning is possible.

[0096] When the processor (160) encounters a restricted area (20) while performing wet cleaning, it sets a driving path (71) to avoid the restricted area (20). In FIG. 7, since the restricted area (20) does not completely cover the entrance, the processor (160) can set a driving path to avoid the restricted area (20) and enter the entrance. Accordingly, the processor (160) can perform wet cleaning of some areas (210) without a lift-up operation.

[0097] Fig. 8 shows a state where the position of the restricted area (20) has changed, completely covering the entrance to some areas (210). The processor (160) can identify that the entrance to some areas (210) is blocked based on the map generated during dry cleaning. The processor (160) sets a driving path (81) that passes through the restricted area (20) without avoiding it. In this situation, the processor (160) can send a control signal to the motor (133) and the driving unit (120) to lift up the wet cleaning module (130) and pass through the restricted area (20).

[0098] FIG. 9, like FIG. 8, shows a state in which a restricted area (20) blocks the entrance to a certain area (210). The processor (160) can use the sensor (140) before passing through the restricted area (20) to identify whether it is possible to pass through the restricted area (20) in a lift-up state.

[0099] For example, if the restricted area (20) is an area where a carpet exists on the floor, the processor (160) can obtain height information of the carpet simulation existing on the floor through the sensor (140).

[0100] The robot cleaner (100) detects the height of an obstacle, such as a carpet, on the floor of the restricted area (20) through a sensor (140) at the bottom. The sensor (140) may include various types of sensors capable of detecting the height of an obstacle, such as an infrared sensor, an ultrasonic sensor, and a vision sensor. For example, the robot cleaner (100) may be equipped with a vision sensor to capture a picture of the floor, and then identify the height of an obstacle on the floor through an analysis algorithm on the captured image. As another example, the robot cleaner (100) may be equipped with an infrared sensor to calculate the height of an obstacle based on the time it takes for infrared rays to reflect off an obstacle on the floor and return.

[0101] In the above description, the restricted area (20) where a carpet exists on the floor surface is used as an example, but this is only one example, and the restricted area (20) may include all cases where various materials such as cushions, wires, and mats that should not be wetted by the wet cleaning module (130) exist on the floor surface.

[0102] The processor (160) compares the height information of the carpet and the height information of the pad in the lift-up state to determine whether the restricted area (20) has been passed, because when a carpet exists on the floor, the pad must be moved upwards higher than the height of the carpet hair so that the pad does not touch the hair of the carpet.

[0103] For example, in a state where the wet cleaning module (130) can move upwards by 10 mm from the floor surface by a lift-up operation, if the carpet height is 8 mm, the processor (160) can perform a lift-up operation to control the carpet to pass through the restricted area (20) existing on the floor surface.

[0104] On the other hand, if the carpet height is 10 mm or more, the robot cleaner cannot drive through the restricted area (20) even with the lift-up operation, so the processor (160) can adjust the driving path (91) to avoid the restricted area (20). As in Fig. 9, if the restricted area (20) completely covers the entrance, the robot cleaner cannot drive through the lift-up operation, so wet cleaning of the area (210) becomes impossible. The processor (160) can output a notification sound regarding this through a speaker (not shown) or output a notification message on a display (not shown). Alternatively, if the robot cleaner (100) further includes a communication unit connected to a user terminal device, the processor (160) can transmit a notification message to the user terminal device through the communication unit.

[0105] FIG. 10 and FIG. 11 are diagrams for explaining a method for setting a safety zone of a robot cleaner according to one or more embodiments of the present disclosure. When the robot cleaner (100) is performing wet cleaning and enters a restricted zone (20) where wet cleaning is restricted, the processor (160) can control the driving unit (120) so that the robot cleaner (100) can escape to a safety zone (220) set around the restricted zone (20).

[0106] Here, the safe area (220) means an area where wet cleaning is not restricted, but is located near a restricted area where wet cleaning is restricted.

[0107] When the robot cleaner (100) is operating normally, entry into the restricted area (20) can be prevented through the operation of the lower sensor (140) and the use of the map stored in the memory (150). However, there may be cases where the sensor (140) malfunctions and the robot cleaner (100) fails to detect the restricted area (20) or an external force is applied to the robot cleaner (100) and the robot cleaner (100) enters the restricted area (20). In such cases, the processor (160) can identify that the robot cleaner has entered the restricted area (20) through the operation of the sensor (140) or the wet cleaning module (130). When it is identified that the processor (160) has entered the restricted area (20), it can identify the closest safe area (220) from the restricted area (20), set a path (13) along which the robot cleaner can move to the safe area (220), and then control the driving unit to move along the path (13).

[0108] Here, the safe area (220) can be automatically set by the processor (160). The processor (160) can analyze multiple maps stored in the memory (150) to confirm the location and area of ​​restricted areas (20) in the multiple maps. The processor (160) can identify areas in the multiple maps where restricted areas have never been located and set one of those areas as the safe area (220).

[0109] If the processor (160) determines that there is no area in the plurality of maps where a restricted area has never been located, the processor (160) may identify the area where the restricted area (20) was least distributed and set it as a safe area (220).

[0110] Meanwhile, the safety zone (220) may be directly set by the user. If the robot cleaner (100) has its own display, the processor (160) can control the display to display a map. When the user touches a specific point on the map or designates a specific point using a button provided on the robot cleaner (100), the processor (160) can set the corresponding point as the safety zone (220). Alternatively, the map may be transmitted to an external terminal device, thereby enabling the terminal device to set a safety zone.

[0111] According to FIG. 11, the robot cleaner (100) can communicate with the user terminal (300) through the communication unit (180). The robot cleaner (100) can provide at least one of a plurality of maps stored in the memory (150) to the user terminal (300) through the communication unit (180). The user terminal (300) displays the provided map, and the user can directly set a safety area (220) on the map.

[0112] For example, a user can visually confirm where the restricted area (20) is located by viewing multiple maps displayed on a user terminal (300). The user can directly designate an area that is adjacent to the restricted area (20) but not within the restricted area (20) and set it as a safe area (220).

[0113] At this time, if there is a part of the area set by the user as a safe area (220) that overlaps with the restricted area (20), the user terminal (300) may display a notification window such as “Please set the safe area to another location” on the user terminal (300).

[0114] If the user has not set a separate safety zone (220) through the user terminal (300), the location where the charging station of the robot cleaner (100) is located may be set as the safety zone (220) by default.

[0115] In addition, the user can directly set the restricted area (20) through the user terminal (300). The user can check the multiple maps displayed on the user terminal (300) to determine whether the robot cleaner (100) has properly reflected information about the actual space on the map. For example, if the sensor of the robot cleaner (100) malfunctions, a specific area may not be recognized as a restricted area (20) even though wet cleaning is restricted therein, but may be reflected on the map as an area where wet cleaning is possible and stored in the memory (150). At this time, the user can check the map acquired by the user terminal (300) through communication with the robot cleaner (100) through the display of the user terminal (300), and can directly designate an area that is not recognized as a restricted area (20) even though wet cleaning is restricted therein and set it as a restricted area (20).

[0116] The user's operation to set the restricted area (20) and safe area (220) can be performed in various ways, such as touching a specific area of ​​a map displayed on the user terminal (300) or providing information about a specific area by voice, so as to provide the location or characteristics of a specific area to the user terminal (300). For example, if the user is carrying a user terminal (300) equipped with a location sensor such as a UWB sensor or a BLE sensor, and the user moves to an area that he or she wants to set as a safe area (220) while carrying the user terminal (300), and then provides a voice command saying "Set the place where I am as a safe area" to the user terminal (300), the user terminal (300) can identify the user's location through the location sensor and set it as a safe area (220).

[0117] FIG. 12 is a flowchart illustrating a method for determining whether to perform wet cleaning of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0118] According to Fig. 12, the robot cleaner performs dry cleaning and creates a map based on the sensing values ​​of the sensor (S1210).

[0119] Next, an area within the map that can be wet cleaned is identified (S1220).

[0120] Next, the expected battery consumption when performing wet cleaning in an area where wet cleaning is possible is calculated and compared with the remaining battery power to determine whether to perform wet cleaning (S1230).

[0121] For example, if the remaining battery level exceeds the expected battery consumption, the robot vacuum cleaner can perform wet cleaning. If the remaining battery level falls below the expected battery consumption, the robot vacuum cleaner can move to a charging station to recharge the battery. After this, if the battery is charged beyond the expected battery consumption, the robot vacuum cleaner can initiate wet cleaning.

[0122] FIG. 13 is a flowchart illustrating a method for determining whether to use a stored map when performing wet cleaning of a robot vacuum cleaner according to one or more embodiments of the present disclosure.

[0123] According to Fig. 13, the robot cleaner calculates the change in position of the restricted area in the accumulated multiple maps (S1310).

[0124] Next, the robot vacuum cleaner compares the calculated change amount with a reference value to determine whether the change amount is greater than the reference value (S1320). The method for calculating the change amount and comparing it with the reference value has been specifically explained in the above section, so a detailed explanation will be omitted.

[0125] If the amount of change is greater than the reference value, the robot vacuum cleaner rewrites the map or starts wet cleaning using the map and the sensor sensing values ​​together while the sensor is running (S1330, S1340).

[0126] If the change is not greater than the reference value, the robot vacuum cleaner begins wet cleaning based on the map (S1340). In this case, sensors equipped on the robot vacuum cleaner, such as lidar sensors for location recognition, are activated and used, while other sensors for floor detection can be deactivated or intermittently activated.

[0127] The restricted areas described above may include cases where there are various materials on the floor that should not be wetted by the wet cleaning module, such as carpets, cushions, wires, mats, etc.

[0128] FIG. 14 is a flowchart illustrating a method of driving a robot vacuum cleaner through a restricted area according to one or more embodiments of the present disclosure.

[0129] According to Fig. 14, the robot cleaner determines the driving path to move during wet cleaning (S1410).

[0130] Next, if there is a restricted area on the driving path, the robot cleaner identifies whether it is possible to pass through the restricted area with the wet cleaning module lifted up (S1420).

[0131] If the robot cleaner can pass through the restricted area in a lifted-up state, the robot cleaner lifts up the wet cleaning module and passes through the restricted area (S1430).

[0132] If the robot cleaner cannot pass through the restricted area in the lifted-up state, it drives while avoiding the restricted area (S1440).

[0133] Cases where the restricted area can be passed through in a lift-up state include cases where the height of an obstacle existing on the floor of the restricted area is lower than the height at which the wet cleaning module can be lifted through the lift-up.

[0134] Cases where the restricted area cannot be passed through in a lift-up state include cases where the height of an obstacle existing on the floor of the restricted area is greater than the height at which the wet cleaning module can be lifted through the lift-up.

[0135] Meanwhile, the methods according to the various embodiments of the present disclosure described above can be implemented in the form of an application that can be installed on an existing robot vacuum cleaner.

[0136] Additionally, the methods according to the various embodiments of the present disclosure described above can be implemented only with a software upgrade or a hardware upgrade for an existing robot vacuum cleaner.

[0137] Additionally, the various embodiments of the present disclosure described above may be performed through an embedded server provided in a robot cleaner, or at least one external server.

[0138] Meanwhile, according to a temporary example of the present disclosure, the various embodiments described above can be implemented as software including instructions stored in a machine-readable storage medium that can be read by a machine (e.g., a computer). The device is a device that can call instructions stored in the storage medium and operate according to the called instructions, and may include an electronic device according to the disclosed embodiments. When an instruction is executed by a processor, the processor can perform a function corresponding to the instruction directly or under the control of the processor by using other components. The instruction may include code generated or executed by a compiler or interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' means that the storage medium does not contain a signal and is tangible, but does not distinguish between whether data is stored semi-permanently or temporarily in the storage medium.

[0139] Furthermore, according to one embodiment of the present disclosure, the method according to the various embodiments described above 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 online through an application store (e.g., Play Store™). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily generated in a storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0140] In addition, each of the components (e.g., modules or programs) according to the various embodiments described above may be composed of a single or multiple entities, and some of the corresponding sub-components described above may be omitted, or other sub-components may be further included in various embodiments. Alternatively or additionally, some components (e.g., modules or programs) may be integrated into a single entity, which may perform the same or similar functions as those performed by each of the corresponding components prior to integration. Operations performed by modules, programs or other components according to various embodiments may be executed sequentially, in parallel, iteratively or heuristically, or at least some operations may be executed in a different order, omitted, or other operations may be added.

[0141] Although the preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above, and various modifications may be made by a person having ordinary skill in the art to which the present disclosure pertains without departing from the gist of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical idea or prospect of the present disclosure.

Claims

1. In robot vacuum cleaners, A driving unit for moving the position of the above robot cleaner; Suction unit for suctioning foreign substances; A wet cleaning module for performing wet cleaning; At least one sensor; battery; memory; and Processor; including; The processor controls the driving unit and the suction unit to perform dry cleaning while moving within a space where the robot cleaner is located, and creates a map of the space based on a sensing value sensed by at least one sensor during the dry cleaning and stores the map in the memory. Identify an area within the above map where wet cleaning is possible, and calculate the expected battery consumption when performing wet cleaning for the identified area. A robot vacuum cleaner that compares the remaining battery capacity and the expected battery consumption to determine whether to perform wet cleaning.

2. In paragraph 1, The above processor, If the remaining battery capacity is greater than the expected battery consumption, the driving unit and the wet cleaning module are controlled to perform the wet cleaning while moving the position of the robot cleaner within the space. If the above battery level is less than the expected battery consumption, move to the charging station and charge the battery. A robot cleaner, which controls the driving unit and the wet cleaning module to perform the wet cleaning while moving the position of the robot cleaner within the space when the battery is charged more than the expected battery consumption.

3. In paragraph 1 or 2, The above processor, Calculate the amount of change in the restricted area where the wet cleaning is restricted within the plurality of maps generated for the above space, If the above change amount is greater than a preset reference value, the wet cleaning is performed while operating a sensor for detecting the floor surface among at least one sensor, A robot cleaner that performs wet cleaning based on the map when the above change amount is smaller than the reference value.

4. In paragraph 1, The above processor, A robot cleaner, which calculates the amount of change in a restricted area in which wet cleaning is restricted within a plurality of maps previously generated for the space, determines the validity period of the map based on the amount of change, and when the validity period expires, regenerates a map for the space and updates it in the memory.

5. In paragraph 1, It further includes a motor for lifting up the above wet cleaning module; The above processor, A robot cleaner, wherein, when a restricted area in which wet cleaning is restricted is located on the driving path of the robot cleaner, the motor is controlled to lift up the wet cleaning module when passing through the restricted area.

6. In paragraph 5, The above processor, Based on the sensing value of at least one sensor, it is identified whether the wet cleaning module can pass through the restricted area while being lifted up, A robot vacuum cleaner that readjusts the driving path to avoid the restricted area if passage is impossible.

7. In paragraph 6, The above processor, A robot cleaner, which controls the driving unit to move to a preset safe area within the map when it is identified that the robot cleaner is located within the restricted area while passage through the restricted area is impossible.

8. In paragraph 7, The above processor, A robot vacuum cleaner that cumulatively compares a plurality of maps previously generated for the above space, identifies an area in which the restricted area is not formed within the map as the safe area, and stores information about the safe area in the memory.

9. In paragraph 7, including the Department of Communications; The above processor, Receiving user input for setting the safe area within the above map from a user terminal connected to the above communication unit, A robot vacuum cleaner that stores information about the safety area in the memory according to the user input.

10. In the cleaning method of the robot vacuum cleaner, A step of performing dry cleaning while moving within a space where the robot cleaner is located, and generating a map of the space based on a sensing value sensed by at least one sensor included in the robot cleaner; A step of identifying an area within the above map where wet cleaning is possible; and A cleaning method, comprising: a step of calculating an expected battery consumption when performing the wet cleaning for the identified area, comparing the remaining battery capacity and the expected battery consumption to determine whether to perform the wet cleaning.

11. In Article 10, If the remaining battery capacity is greater than the expected battery consumption, a step of performing wet cleaning; and A cleaning method further comprising: a step of moving to a charging station and performing battery charging if the remaining battery amount is less than the expected battery consumption amount, and performing wet cleaning while moving the position of the robot cleaner within the space if the battery is charged more than the expected battery consumption amount.

12. In paragraph 10, A step of calculating a change amount of a restricted area in which wet cleaning is restricted within a plurality of maps generated for the above space; A step of performing wet cleaning based on the map while driving a sensor for detecting a floor surface among at least one sensor when the amount of change is greater than a preset value; and A cleaning method further comprising: a step of performing wet cleaning based on the map when the amount of change is smaller than the preset value.

13. In paragraph 10, A step of calculating a change amount of a restricted area in which wet cleaning is restricted within a plurality of maps generated for the space; and A cleaning method further comprising: a step of determining the validity period of the map according to the amount of change.

14. In paragraph 10, When a restricted area where wet cleaning is restricted is located on the driving path of the robot cleaner, a step of lifting up the wet cleaning module when passing through the restricted area; and A cleaning method further comprising: a step of identifying whether the restricted area can be passed through while the wet cleaning module is lifted up based on the sensing value of at least one sensor, and if passage is impossible, readjusting the driving path to avoid the restricted area.

15. In paragraph 14, A step of accumulating and comparing multiple maps generated for the above space, and identifying and storing an area in which the restricted area is not formed within the map as a safe area; and A cleaning method further comprising: a step of moving to a location designated as the safe area when it is identified that the robot cleaner has entered the restricted area while passage through the restricted area is impossible.

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