Cleaning robot and method for detecting overheating of cleaning robot

Abstract

Disclosed is a method for detecting overheating of a cleaning robot, the method comprising the steps of: transmitting a charging command to a station when contact between a first charging terminal of the cleaning robot and a second charging terminal of the station is detected through a first voltage detection circuit; obtaining a heat generation amount between the first charging terminal and the second charging terminal when a voltage is supplied from the station to the cleaning robot according to the charging command; and performing a re-docking operation after being separated from the station by a predetermined distance when the obtained heat generation amount exceeds a threshold heat generation amount which is a reference of excessive heat generation.

Description

Cleaning robot and method for detecting overheating of cleaning robot

[0001] An embodiment of the present disclosure relates to a cleaning robot docked to a station and a method for detecting overheating of the cleaning robot.

[0002] A cordless vacuum cleaner is a type of vacuum cleaner that recharges its built-in battery without the need for a corded outlet. Cordless vacuum cleaners incorporate a suction motor that generates suction. This suction power draws dust and other foreign substances from the vacuum head (brush) along with the air, separating these foreign substances from the air and collecting them.

[0003] Compared to corded vacuum cleaners, cordless vacuum cleaners are much more convenient to use because they don't require a power cord. This is why cordless vacuum cleaners are becoming increasingly popular. The cordless vacuum cleaner's main body is separated from the station and performs its cleaning function wirelessly, so a battery is essential. The battery is primarily charged when the cordless vacuum cleaner's main body is electrically connected to the station. If the charging terminal, which electrically connects the cordless vacuum cleaner to the station, overheats, the cordless vacuum cleaner can be damaged.

[0004] Another example of a cordless vacuum cleaner is a cleaning robot that moves automatically, driven by a motor, without user intervention. This robot's body autonomously moves around a designated area, cleaning the floor. These cleaning robots typically feature rechargeable batteries and various sensors that enable them to detect and avoid obstacles while moving.

[0005] At this time, the robot vacuum cleaner's main body is powered wirelessly by a battery. Because the vacuum cleaner body provides various display functions in addition to its cleaning function, continuous battery charging is required. Furthermore, a power converter is required for battery charging. The vacuum cleaner body docks with a station equipped with a power converter to recharge the battery before and after cleaning.

[0006] According to one embodiment of the present disclosure, a cleaning robot docked to a station may include a first charging terminal for charging a battery that supplies power to the cleaning robot; a first voltage detection circuit for detecting a voltage of the first charging terminal; a first communication interface for communicating with the station; a memory for storing one or more instructions; and at least one processor. The at least one processor may, by executing one or more instructions, detect contact between the first charging terminal of the cleaning robot and the second charging terminal of the station through the first voltage detection circuit based on docking of the cleaning robot to the station. The at least one processor may, by executing one or more instructions, transmit a charging command to the station through the first communication interface based on detecting the contact between the first charging terminal and the second charging terminal. The at least one processor may, by executing one or more instructions, obtain a heat generation amount between the first charging terminal and the second charging terminal based on supplying voltage from the station to the cleaning robot in accordance with the charging command. At least one processor may perform a re-docking operation after moving away from the station by a predetermined distance based on determining that the heat generated by executing one or more instructions exceeds a threshold heat generated as a criterion for overheating.

[0007] According to one embodiment of the present disclosure, a wireless vacuum cleaner docked to a station may include a first charging terminal for charging a battery that supplies power to the wireless vacuum cleaner; a first voltage detection circuit for detecting a voltage of the first charging terminal; a first communication interface for communicating with the station; a memory for storing one or more instructions; and at least one processor for performing a plurality of operations by executing the one or more instructions. The operations may include: detecting contact between a first charging terminal of the wireless vacuum cleaner and a second charging terminal of the station through the first voltage detection circuit based on docking of the wireless vacuum cleaner to the station; transmitting a charging command to the station through the first communication interface based on detecting contact between the first charging terminal and the second charging terminal; obtaining a heat generation amount between the first charging terminal and the second charging terminal based on voltage being supplied to the wireless vacuum cleaner from the station in accordance with the charging command; and performing an overheating prevention operation based on determining that the obtained heat generation amount exceeds a threshold heat generation amount that serves as a criterion for overheating.

[0008] A method for detecting overheating of a cleaning robot according to one embodiment of the present disclosure may include: detecting contact between a first charging terminal of the cleaning robot and a second charging terminal of the station through a first voltage detection circuit based on docking of the cleaning robot to a station; transmitting a charging command to the station through a first communication interface of the cleaning robot based on detecting the contact between the first charging terminal and the second charging terminal; obtaining a heat generation amount between the first charging terminal and the second charging terminal based on voltage being supplied to the cleaning robot from the station according to the charging command; and performing a re-docking operation after moving away from the station by a predetermined distance based on determining that the obtained heat generation amount exceeds a threshold heat generation amount that serves as a criterion for overheating.

[0009] FIG. 1 is a drawing for explaining a cleaning system according to one embodiment of the present disclosure.

[0010] FIG. 2 is a drawing for explaining the temperature of a charging terminal when misaligned according to one embodiment of the present disclosure.

[0011] FIG. 3A is a drawing for explaining a cleaning robot according to one embodiment of the present disclosure.

[0012] FIG. 3b is a drawing for explaining a station according to one embodiment of the present disclosure.

[0013] FIG. 4 is a block diagram illustrating the configuration of a cleaning robot and a station according to one embodiment of the present disclosure.

[0014] FIG. 5 is a block diagram illustrating a power conversion device according to one embodiment of the present disclosure.

[0015] FIG. 6 is a flowchart for explaining a method for detecting overheating of a cleaning robot according to one embodiment of the present disclosure.

[0016] FIG. 7 is a circuit diagram used by a cleaning robot according to one embodiment of the present disclosure to detect contact between a first charging terminal and a second charging terminal.

[0017] FIG. 8 is a circuit diagram used to check whether a cleaning robot according to one embodiment of the present disclosure is pressurized.

[0018] FIG. 9 is a circuit diagram for explaining an operation of a cleaning robot according to one embodiment of the present disclosure to calculate the amount of heat generated between a first charging terminal and a second charging terminal.

[0019] FIG. 10 is a drawing for explaining a critical heat generation amount that serves as a criterion for overheating according to one embodiment of the present disclosure.

[0020] FIG. 11 is a diagram for explaining overheating and normal heating according to one embodiment of the present disclosure.

[0021] FIG. 12 is a flowchart illustrating a method for a cleaning robot according to one embodiment of the present disclosure to transmit a charging command to a station.

[0022] FIG. 13 is a flowchart illustrating a method for a cleaning robot to output a notification according to one embodiment of the present disclosure.

[0023] FIG. 14 is a drawing for explaining an operation of a cleaning robot outputting a notification according to one embodiment of the present disclosure.

[0024] FIG. 15 is a flowchart illustrating a method for a cleaning robot according to one embodiment of the present disclosure to perform a re-docking operation.

[0025] FIG. 16 is a drawing for explaining a re-docking operation of a cleaning robot according to one embodiment of the present disclosure.

[0026] FIG. 17 is a drawing for explaining an operation of a cleaning robot in conjunction with a server according to one embodiment of the present disclosure.

[0027] FIG. 18 is a drawing for explaining an operation of a cleaning robot according to one embodiment of the present disclosure to output a notification through a user terminal.

[0028] FIG. 19 is a drawing illustrating a cleaning system including a cordless stick cleaner, which may be generally referred to as a cordless vacuum cleaner, according to one embodiment of the present disclosure.

[0029] FIG. 20 is a drawing for explaining an operation of a wireless stick vacuum cleaner outputting a notification according to one embodiment of the present disclosure.

[0030] The terms used in this disclosure will be briefly explained, and one embodiment of the present disclosure will be specifically described.

[0031] The terms used in this disclosure are selected from widely used, current terms, taking into account the functions of one embodiment of the 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 embodiments of the 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 the disclosure.

[0032] In this disclosure, the expression “at least one of a, b or c” may refer to “a”, “b”, “c”, “a and b”, “a and c”, “b and c”, “all of a, b and c”, or variations thereof.

[0033] Throughout this disclosure, when a part is said to "include" a certain component, this does not mean that other components are excluded, but rather that other components may be included, unless otherwise specifically stated. Furthermore, terms such as "part," "module," etc., used in this disclosure refer to a unit that processes at least one function or operation, and "part" and "module" may be implemented as hardware or software, or as a combination of hardware and software.

[0034] It should be understood that the blocks and combinations of flowcharts in each flowchart can be executed by one or more computer programs containing computer-executable instructions. The one or more computer programs may be stored entirely in a single memory, or may be stored in separate portions across multiple different memories.

[0035] Unless the context clearly dictates otherwise, the singular forms "a," "an," and "the" are to be understood to include plural referents. Thus, for example, the description "a component surface" may also include reference to one or more such surfaces.

[0036] All functions or operations described in this document may be performed by a single processor or a combination of processors. A single processor or a combination of processors is a circuitry that performs processing, and may include circuitry such as an Application Processor (AP), a Communication Processor (CP), a Graphical Processing Unit (GPU), a Neural Processing Unit (NPU), a Microprocessor Unit (MPU), a System on Chip (SoC), or an Integrated Chip (IC).

[0037] Below, with reference to the attached drawings, embodiments of the present disclosure are described in detail so that those skilled in the art can easily implement the present disclosure. However, one embodiment of the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts irrelevant to the description are omitted to clearly describe one embodiment of the present disclosure, and similar parts are designated with similar drawing reference numerals throughout the present disclosure.

[0038] FIG. 1 is a drawing for explaining a cleaning system according to one embodiment of the present disclosure.

[0039] Referring to FIG. 1, a cleaning system according to one embodiment of the present disclosure may include a cleaning robot (1000) and a station (2000), but is not limited thereto. In addition to the cleaning robot (1000) and the station (2000), the cleaning system may further include a server (not shown) and a user terminal (not shown). The cleaning system including the server and the user terminal will be described in detail later with reference to FIG. 17. Meanwhile, according to one embodiment of the present disclosure, the cleaning system may include a cordless stick vacuum cleaner instead of the cleaning robot (1000). The cleaning system including the cordless stick vacuum cleaner will be described in detail later with reference to FIG. 19.

[0040] Hereinafter, an example will be described in which the cleaning system is composed of a cleaning robot (1000) including a battery and a station (2000) including a power conversion device (e.g., an adapter) to charge the battery of the cleaning robot (1000).

[0041] The cleaning robot (1000) may be a robotic device capable of autonomously moving and performing a cleaning function. The cleaning robot (1000) may explore an indoor space and generate an indoor space map using at least one sensor (e.g., a 3D sensor, a lidar sensor, a camera, a fall prevention sensor, etc.). The cleaning robot (1000) may plan a cleaning route or an operating mode using an artificial intelligence (AI) function. For example, the cleaning robot (1000) may use an AI model to adjust the suction strength according to the amount of dust in the room or the material of the floor (e.g., hard floor, carpet). When the cleaning robot (1000) recognizes a carpet, it may automatically lift a mop to prevent moisture and contaminants from the mop from getting on the carpet. The cleaning robot (1000) may also set an intensive cleaning area. For example, if the cleaning robot (1000) recognizes a floor stain during cleaning, it can return to the station (2000), heat the mop with steam, and then focus on cleaning the stained area once more. In addition, the cleaning robot (1000) can change the cleaning path depending on the location of obstacles (e.g., cables, pet peeve pads, socks, etc.), and can return to the station (2000) to charge the battery depending on the remaining battery level or a user command.

[0042] The station (2000) may be a device for charging the battery of the cleaning robot (1000), removing dust, or storing the cleaning robot. The station (2000) may also be expressed as a charger or cleaning station.

[0043] The cleaning robot (1000) and the station (2000) may be electrically coupled via charging terminals. For example, a charging terminal on the cleaning robot (1000) side (hereinafter referred to as a first charging terminal (1010)) and a charging terminal on the station (2000) side (hereinafter referred to as a second charging terminal (2010)) may be electrically coupled. The cleaning robot (1000) may be aligned and docked with the station (2000) so that the first charging terminal (1010) and the second charging terminal (2010) are electrically coupled. When the cleaning robot (1000) is normally docked with the station (2000) and the first charging terminal (1010) of the cleaning robot (1000) and the second charging terminal (2010) of the station (2000) are in direct contact, the battery of the cleaning robot (1000) may be charged through a charging sequence. In this disclosure, the term “charging terminal” refers to the first charging terminal (1010) of the cleaning robot (1000) and the second charging terminal (2010) of the station (2000) collectively, unless otherwise specified.

[0044] When the cleaning robot (1000) is docked to the station (2000) and the first charging terminal (1010) and the second charging terminal (2010) are electrically connected to each other, but the cleaning robot (1000) and the station (2000) are misaligned or a foreign substance exists between the charging terminals, the charging terminals may overheat. For example, when the cleaning robot (1000) and the station (2000) are properly aligned and docked, the contact resistance between the first charging terminal (1010) of the cleaning robot (1000) and the second charging terminal (2010) of the station (2000) may be significantly lower than a predetermined value. However, if the alignment between the cleaning robot (1000) and the station (2000) is not perfect and contact is not properly made between the charging terminals on both sides, this causes the contact resistance between the first charging terminal (1010) of the cleaning robot (1000) and the second charging terminal (2010) of the station (2000) to increase. In this case, when the battery of the cleaning robot (1000) is charged, heat is generated due to the abnormally large contact resistance, which may cause damage to components near the charging terminals or destruction of the charging terminals. Hereinafter, a case in which the alignment between the cleaning robot (1000) and the station (2000) is good and the contact resistance between the charging terminals is considerably low (e.g., almost 0Ω) may be expressed as a 'normal alignment state', and a state in which the alignment between the cleaning robot (1000) and the station (2000) is not perfect and the contact resistance increases may be expressed as a 'misalignment state'.

[0045] When the cleaning robot (1000) is normally docked to the station (2000) and starts charging the battery inside the cleaning robot (1000), the station (2000) uses an appropriate amount of power (= voltage X current) to charge the battery depending on the capacity of the power conversion device (also called an adapter or SMPS (Switched Mode Power Supply)) that supplies power to the station (2000). When the cleaning robot (1000) is normally docked to the station (2000) and starts the charging sequence, the contact resistance between the charging terminals is within several mΩ, so that abnormal overheating does not occur at the charging terminals during charging. However, when the cleaning robot (1000) is incompletely docked to the station (2000) for some reason, the contact resistance between the charging terminals increases to several Ω, so that power equivalent to P=I*I*R is released as heat from the charging terminals.

[0046] For example, if the specifications of the power conversion device (also called an adapter or SMPS) of the station (2000) are 25.25V / 2.5A and the cleaning robot (1000) is incompletely docked to the station (2000) and the contact resistance between the charging terminals is 2Ω, 12.5W (=2.5x2.5x2) of the total 63W of battery charging power is converted into heat energy at the charging terminal, causing overheating of the charging terminal.

[0047] Referring to FIG. 2, overheating at the charging terminal may cause the temperature of the charging terminal to rise above 100°C within a few minutes. If overheating occurs, the injection molding material surrounding the charging terminal, components surrounding the charging terminal, and / or the charging terminal itself may become deformed due to the heat, and may also lead to a fire in the cleaning robot (1000) or the station (2000).

[0048] Since the cleaning robot (1000) is used in various environments due to the nature of the product, situations where the charging terminals are misaligned or foreign substances are stuck to the charging terminals may easily occur. Therefore, according to one embodiment of the present disclosure, the cleaning robot (1000) can calculate the heating amount of the charging terminals by applying a charging terminal voltage and current detection algorithm, and perform an overheating prevention operation when the heating amount of the charging terminals exceeds a threshold heating amount that serves as a criterion for overheating. For example, the cleaning robot (1000) can stop charging, move away from the station (2000) by a predetermined distance, and then perform re-docking to re-align the cleaning robot (1000) and the station (2000).

[0049] The operation of the cleaning robot (1000) to detect an overheating state and realign it with the station (2000) will be examined in detail later with reference to FIG. 6, and the configuration of the cleaning robot (1000) will be examined in more detail below with reference to FIG. 3a.

[0050] FIG. 3A is a drawing for explaining a cleaning robot (1000) according to one embodiment of the present disclosure.

[0051] Referring to FIG. 3A, the cleaning robot (1000) may include a first charging terminal (1010) at the rear. When the first charging terminal (1010) is located at the rear, the cleaning robot (1000) can move backward and dock with the station (2000). The first charging terminal (1010) includes a conductor for electrical coupling when coupled with the station (2000). In FIG. 3A, the first charging terminal (1010) according to one embodiment is attached to the rear of the cleaning robot (1000), but is not limited thereto. Depending on the design of the cleaning robot (1000), the first charging terminal (1010) may be attached to the bottom surface of the cleaning robot (1000), the front surface of the cleaning robot (1000), or the side surface of the cleaning robot (1000).

[0052] The cleaning robot (1000) may include a lidar sensor (1021) on the upper surface, an obstacle detection sensor (3D sensor) (1022) on the side, and a fall prevention sensor (1023) on the bottom surface that comes into contact with the surface to be cleaned, but is not limited thereto. Meanwhile, the cleaning robot (1000) may include a PBA (Printed Board Assembly or Printed Circuit Board Assembly) (1011) therein. The PBA (1011) is connected to a first charging terminal (1010) and may include at least one processor, memory, voltage detection circuit, etc. The cleaning robot (1000) may further include a driving wheel (1061), a brush (1064), a battery (1050), etc. A specific description of each component will be described later with reference to FIG. 4.

[0053] FIG. 3b is a drawing for explaining a station (2000) according to one embodiment of the present disclosure.

[0054] Referring to FIG. 3B, a second charging terminal (2010) may be provided within the station (2010). Additionally, a PBA (2210) may be provided between the positive (+) charging terminal and the negative (-) charging terminal. The PBA (2210) is connected to the second charging terminal (2010) and may include a voltage detection circuit, at least one processor, memory, and the like.

[0055] According to one embodiment of the present disclosure, the second charging terminal (2010) may be provided at a location where it can come into contact with the first charging terminal (1010) when the cleaning robot (1000) docks to the station (2000). For example, when the first charging terminal (1010) is located at the rear of the cleaning robot (1000), the second charging terminal (2010) may be positioned to face forward. When the first charging terminal (1010) is located at the bottom of the cleaning robot (1000), the second charging terminal (2010) may be positioned to face upward.

[0056] Meanwhile, according to one embodiment of the present disclosure, the station (2000) may include a status indicator light (2501). The status indicator light (2501) may include a plurality of light emitting diodes (LEDs), but is not limited thereto. The station (2000) may control the blinking cycle, color, etc. of the status indicator light (2501) to display the charging status, docking status, etc. of the cleaning robot (1000). For example, the station (2000) may light the status indicator light (2501) in orange when the battery (1050) of the cleaning robot (1000) is being charged, and may light the status indicator light (2501) in green when the charging of the battery (1050) is complete. Alternatively, the station (2000) may blink the status indicator light (2501) at a predetermined cycle when the battery (1050) of the cleaning robot (1000) is being charged, and stop blinking the status indicator light (2501) when the charging of the battery (1050) is complete.

[0057] Referring to Fig. 4, let us look at the configuration of the cleaning robot (1000) and the station (2000) in more detail.

[0058] FIG. 4 is a block diagram illustrating the configuration of a cleaning robot (1000) and a station (2000) according to one embodiment of the present disclosure.

[0059] The cleaning robot (1000) may include a first processor (1001), a first memory (1002), a first charging terminal (1010), a first switch (1111), a sensor unit (1020), a camera (1040), a battery (1050), a first user interface (1070), a first communication interface (1080), a moving assembly (1062), a cleaning assembly (1063), and a first voltage detection circuit (1100). However, at least one of the components illustrated in FIG. 4 may not be an essential component. The cleaning robot (1000) may be implemented with more components than the components illustrated in FIG. 4, or may be implemented with fewer components. Each component will be described below.

[0060] The first processor (1001) controls the overall operation of the cleaning robot (1000). The first processor (1001) can control components of the cleaning robot (1000) by executing a program stored in the first memory (1002). The first processor (1001) may be at least one processor. For example, the first processor (1001) may be one processor or multiple processors.

[0061] A first processor (1001) according to the present disclosure may include at least one of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), an Accelerated Processing Unit (APU), a Many Integrated Core (MIC), a Digital Signal Processor (DSP), and a Neural Processing Unit (NPU). The first processor (1001) may be implemented in the form of an integrated system on a chip (SoC) including one or more electronic components. The first processor (1001) may also be expressed as a Microprocessor controller (MICOM), a Micro Processor unit (MPU), or a Micro Controller Unit (MCU). The first processor (1001) according to the present disclosure may be implemented as a single core processor or a multicore processor.

[0062] The first processor (1001) may include an analog-to-digital conversion unit according to one embodiment, and although not illustrated in FIG. 4, if the first processor (1001) does not have an analog-to-digital conversion unit, the cleaning robot (1000) may include a separate analog-to-digital conversion IC. If the first processor (1001) includes an analog-to-digital conversion unit, the first processor (1001) may include an analog-to-digital conversion input port for receiving an analog signal for conversion into a digital signal. In one embodiment of the present disclosure, there may be a plurality of analog-to-digital conversion input ports. The analog-to-digital conversion input port may receive an analog value corresponding to a voltage change from, for example, the first voltage detection circuit (1100). The received analog value may be converted into a digital value that can be processed by the first processor (1001). That is, the first processor (1001) may measure the voltage value of the first charging terminal (1010) through the first voltage detection circuit (1100).

[0063] According to one embodiment of the present disclosure, the first processor (1001) can obtain a discharge current value of the battery (1050) or a charge current value of the battery (1050) through a current detection circuit (not shown). The current detection circuit may be located inside the battery (1050) or may be separately provided outside the battery (1050). Hereinafter, a case where the current detection circuit is located inside the battery (1050) will be described as an example. The current detection circuit may include a shunt resistor, but is not limited thereto.

[0064] According to one embodiment of the present disclosure, the first processor (1001) can obtain the amount of heat generated at the charging terminal by using the charging terminal voltage and the charging terminal current. The charging terminal voltage may refer to a voltage applied to a contact resistance formed between the first charging terminal (1010) and the second charging terminal (2010). For example, the charging terminal voltage may be a difference between a voltage value of the first charging terminal (1010) obtained through the first voltage detection circuit (1100) and a voltage value of the second charging terminal received from the station (2000). The charging terminal current may be a sum of a charging current value of the battery (1050) and a discharging current value of the battery (1050). The first processor (1001) can determine whether the first charging terminal (1010) is in an overheating state by comparing the amount of heat generated at the charging terminal with a threshold amount of heat generated as a criterion for overheating.

[0065] If the first processor (1001) determines that the first charging terminal (1010) is in an overheated state, the first processor (1001) may perform a predetermined overheating prevention operation. For example, if the first processor (1001) determines that the first charging terminal (1010) is overheated, the first processor (1001) may perform an overheating prevention operation to drive the cleaning robot (1000) to move away from the station (2000) by a predetermined distance or more. The predetermined distance may be, for example, a distance at which the first charging terminal (1010) can be electrically insulated from the second charging terminal (2010) of the station (2000). After moving the cleaning robot (1000) away from the station (2000) by a predetermined distance or more, the first processor (1001) may perform a docking operation (hereinafter, referred to as a re-docking operation) to electrically reconnect the cleaning robot (1000) to the station (2000).

[0066] According to one embodiment of the present disclosure, the overheating prevention operation of the first processor (1001) may be performed in a different manner. For example, if the first processor (1001) determines that the first charging terminal (1010) is overheated, it may control the first switch (1111) to turn off, thereby cutting off the electrical connection between the first charging terminal (1010) and the battery (1050). By this operation, the electrical connection between the power conversion device (2400) of the station (2000) and the battery (1050) of the cleaning robot (1000) is cut off, thereby preventing damage to components of the cleaning robot (1000) due to overheating of the first charging terminal (1010) (or the second charging terminal (2010) of the station (2000)). Throughout this specification, overheating of the first charging terminal (1010) may also be understood as overheating of the second charging terminal (2010) of the station (2000). This is because at the time when overheating occurs, the first charging terminal (1010) and the second charging terminal (2010) are in fairly close contact.

[0067] According to one embodiment of the present disclosure, when the first processor (1001) determines that the first charging terminal (1010) is in an overheated state, the first processor (1001) may communicate with the second communication interface (2300) of the station (2000) through the first communication interface (1080) to notify the station (2000) that the first charging terminal (1010) (or the second charging terminal (2010) of the station (2000) in contact with the first charging terminal (1010)) is in an overheated state (hereinafter, referred to as an overheating notification).

[0068] In one embodiment of the present disclosure, a station (2000) that receives an overheating notification from a cleaning robot (1000) may perform an overheating prevention operation. For example, a second processor (2200) of the station (2000) may turn off a second switch (2410) of the station (2000) based on the overheating notification received from the cleaning robot (1000). When the second switch (2410) is turned off, the electrical connection between the power conversion device (2400) and the second charging terminal (2010) may be cut off.

[0069] The first memory (1002) can store or memorize programs and / or data for controlling the cleaning robot (1000). The first memory (1002) stores or records various information, data, commands, programs, etc. required for the operation of the cleaning robot (1000). The first memory (1002) can memorize temporary data generated during the process of generating control signals for controlling components included in the cleaning robot (1000). The first memory (1002) can include at least one of volatile memory and non-volatile memory, or a combination thereof.

[0070] The cleaning robot (1000) may include a first charging terminal (1010) electrically connected to a second charging terminal (2010). A battery (1050) may be charged with a direct current voltage transmitted through the first charging terminal (1010). In one embodiment of the present disclosure, a first switch (1111) capable of cutting off power may be included between the first charging terminal (1010) and the battery (1050), but is not essential.

[0071] The sensor unit (1020) senses the moving space so that the cleaning robot (1000) does not reach a state where cleaning is impossible due to obstacles or falling when moving in the space to be cleaned. The sensor unit (1020) may include, but is not limited to, an obstacle detection sensor (3D sensor) (1022), a lidar sensor (1021), a bumper sensor, a fall prevention sensor (1023), an ultrasonic sensor, a driving distance detection sensor (e.g., an encoder), etc. For example, the sensor unit (1020) may include an infrared sensor. The cleaning robot (1000) can detect an infrared signal emitted from the station (2000) using the infrared sensor and dock while aligning with the station (2000).

[0072] The camera (1040) may be an image sensor for acquiring an image of a cleaning space. Depending on the implementation example, multiple cameras (1040) may be placed on the cleaning robot (1000).

[0073] The battery (1050), which may also be referred to as a battery pack, may include a battery cell array (1053) that is charged with electricity and a battery control unit (1055) that controls the battery (1050). The battery control unit (1055) may include a battery management system (BMS). The battery control unit (1055) may perform I2C (Inter-Integrated Circuit) communication with the first processor (1001). According to one embodiment of the present disclosure, the battery (1050) may include a current detection circuit (e.g., a shunt resistor), and the battery control unit (1055) may sense a charging current or a discharging current of the battery cell array (1053) through the current detection circuit. The battery control unit (1055) may transmit a charging current value and a discharging current value of the battery cell array (1053) to the first processor (1001) through I2C communication.

[0074] The first user interface (1070) may include a first input interface (1071) for inputting commands to the cleaning robot (1000) and a first output interface (1073) for displaying information to the user. The first input interface (1071) may be a user input interface capable of touch recognition or a microphone capable of voice input. The first output interface (1073) may be, but is not limited to, an LCD or LED display or a speaker. The first output interface (1073) may display various information that may show the status of the cleaning robot (1000) to the user. For example, when the first charging terminal (1010) and / or the second charging terminal (2010) are overheated, the first output interface (1073) may display or output in voice whether the charging terminal is overheated, and according to one embodiment, may also display location information regarding which of the plus (+) charging terminal and the minus (-) charging terminal is overheated. Additionally, the first output interface (1073) can provide information such as the operating status of the cleaning robot (1000), the charge level, and whether it is being charged.

[0075] The first communication interface (1080) can communicate with an external device. For example, the cleaning robot (1000) can communicate with the station (2000) or the server through the first communication interface (1080). According to one embodiment of the present disclosure, the cleaning robot (1000) can transmit a charging command (boost command), a voltage value response command of the second charging terminal (2010), etc. to the station (2000) through the first communication interface (1080). When the first charging terminal (1010) or the second charging terminal (2010) is in an overheated state, the cleaning robot (1000) can also transmit information (re-docking notification) to the server through the first communication interface (1080) that the alignment with the station (2000) is not correct and re-docking is to be performed.

[0076] The first communication interface (1080) may include a short-range communication unit and a long-range communication unit. The short-range wireless communication interface may include an infrared (IrDA, Infrared Data Association) communication unit, a Bluetooth communication unit, a BLE (Bluetooth Low Energy) communication unit, a near field communication interface (NFC, Near Field Communication interface), a WLAN (Wi-Fi) communication unit, a Zigbee communication unit, a WFD (Wi-Fi Direct) communication unit, an UWB (ultra wideband) communication unit, an Ant+ communication unit, etc., but is not limited thereto. The first communication interface (1080) may also include a wired communication unit.

[0077] The moving assembly (1062) moves the main body of the cleaning robot (1000). The moving assembly (1062) may include a pair of wheels that move the cleaning robot (1000) forward, backward, and rotate, a wheel motor that applies a moving force to each wheel, a caster wheel that is installed at the front of the main body and rotates to change an angle according to the condition of the floor surface on which the cleaning robot (1000) moves, etc. The moving assembly (1062) moves the cleaning robot (1000) under the control of the first processor (1001). The first processor (1001) determines a driving path and controls the moving assembly (1062) to move the cleaning robot (1000) along the determined driving path.

[0078] The cleaning assembly (1063) may include a main brush assembly installed at the lower part of the main body to sweep or scatter dust on the floor and to suck up the swept or scattered dust, and a side brush assembly installed at the lower part of the main body but protruding outward to sweep dust from an area different from the area cleaned by the main brush assembly and transfer the dust to the main brush assembly. In addition, the cleaning assembly (1063) may include a vacuum cleaning module that performs vacuum suction or a mop cleaning module that performs mop cleaning.

[0079] The first voltage detection circuit (1100) is a circuit for detecting the voltage value of the first charging terminal (1010). The first voltage detection circuit (1100) may include a voltage distribution circuit. When the cleaning robot (1000) is docked to the station (2000), the first processor (1001) can detect contact between the first charging terminal (1010) and the second charging terminal (2010) by obtaining a predetermined voltage value (e.g., 8 V) through the first voltage detection circuit (1100). When the first processor (1001) transmits a charging command (also referred to as a boost command) to the station (2000), the first voltage detection circuit (1100) can determine whether the supply voltage of the station (2000) has been boosted. For example, the first processor (1001) can determine whether the voltage of the first charging terminal (1010) has been boosted from 8 V to 17 V. The first processor (1001) can periodically measure the voltage value of the first charging terminal (1010) through the first voltage detection circuit (1100) during charging (e.g., at 1.6 second intervals), thereby continuously monitoring the amount of heat generated between the first charging terminal (1010) and the second charging terminal (2010) (hereinafter, charging terminal heat generation).

[0080] The station (2000) may include a second processor (2200), a second memory (2250), a second communication interface (2300), a power conversion device (2400), a second user interface (2500), a second charging terminal (2010), a second switch (2410), and a second voltage detection circuit (2100). However, at least one of the components illustrated in FIG. 4 may not be an essential component. The station (2000) may be implemented with more components than the components illustrated in FIG. 4, or may be implemented with fewer components. For example, the station (2000) may further include a suction motor that generates suction force to discharge dust from the cleaning robot (1000), a collection unit (e.g., a dust bag) that collects dust from the cleaning robot (1000), a filter unit (e.g., a motor filter, a HEPA filter, etc.) that filters ultrafine dust not collected in the collection unit, a steam unit that sprays steam, and a plurality of infrared modules that induce homing and docking of the cleaning robot (1000). Each component will be examined below.

[0081] The second processor (2200) controls the overall operation of the station (2000). The second processor (2200) can control components of the station (2000) by executing a program stored in the second memory (2250). The second processor (2200) may be at least one processor. For example, the second processor (2200) may be one processor or multiple processors.

[0082] The second processor (2200) according to the present disclosure may include at least one of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), an Accelerated Processing Unit (APU), a Many Integrated Core (MIC), a Digital Signal Processor (DSP), and a Neural Processing Unit (NPU). The second processor (2200) may be implemented in the form of an integrated system on a chip (SoC) including one or more electronic components. The second processor (2200) may also be expressed as a Microprocessor controller (MICOM), a Micro Processor unit (MPU), or a Micro Controller Unit (MCU). The second processor (2200) according to the present disclosure may be implemented as a single core processor or a multicore processor.

[0083] The second memory (2250) may store a program (e.g., one or more commands) for the second processor (2200) to control the overall operation of the station (2000), and may also store input / output data. For example, the second memory (2250) may store software related to the control of the station (2000), charging terminal overheating status data, charging terminal overheating history data, charging terminal overheating location information data, error occurrence data (failure history data), types of operation events, battery (1050) charging-related information (e.g., charging interval, recent compensation charging time data, charge level of the battery (1050) at the time of recent compensation charging), etc., but is not limited thereto. The second memory (2250) may also store data received from the cleaning robot (1000). For example, the second memory (2250) can store product information (e.g., identification information, model information, etc.) of the cleaning robot (1000) mounted on the station (2000), version information of software installed in the cleaning robot (1000), error occurrence data (failure history data) of the cleaning robot (1000), information related to battery (1050) charging, etc.

[0084] The second memory (2250) may include at least one type of storage medium among a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), a RAM (Random Access Memory), a SRAM (Static Random Access Memory), a ROM (Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a PROM (Programmable Read-Only Memory), a magnetic memory, a magnetic disk, and an optical disk. Programs stored in the second memory may be classified into a plurality of modules according to their functions.

[0085] The station (2000) may include a second communication interface (2300) for communicating with an external device. For example, the station (2000) may communicate with a cleaning robot (1000), a server (not shown), and / or a user terminal (not shown) through the second communication interface (2300). In this case, the second communication interface (2300) may communicate with the server through a first communication method (e.g., Wi-Fi communication method) and communicate with the cleaning robot (1000) through a second communication method (e.g., infrared communication method).

[0086] The second communication interface (2300) may include a short-range wireless communication interface, a long-range wireless communication interface, etc. The short-range wireless communication interface may include an infrared (IrDA, infrared data association) communication interface, a Bluetooth communication interface, a BLE (Bluetooth low energy) communication interface, a near field communication interface (NFC), a WLAN (Wi-Fi) communication interface, a Zigbee communication interface, a WFD (Wi-Fi direct) communication interface, an UWB (ultra wideband) communication interface, an Ant+ communication interface, etc., but is not limited thereto. The long-range communication interface may be used for the station (2000) to remotely communicate with a server or a user terminal. The long-range communication interface may include the Internet, a computer network (e.g., LAN or WAN), and a mobile communication interface. The mobile communications unit may include, but is not limited to, 3G modules, 4G modules, 5G modules, LTE modules, NB-IoT modules, LTE-M modules, etc.

[0087] The second communication interface (2300) can transmit data to the processor (2200) through, for example, a UART (Universal asynchronous receiver / transmitter) protocol, which is an asynchronous communication, but the communication method is not limited thereto.

[0088] The second user interface (2500) of the station (2000) may include a second output interface and a second input interface. The second input interface may be a means for a user to input a command to the station (2000). The second input interface may include, but is not limited to, a touch screen, a microphone, a physical button, etc. The second input interface may include, but is not limited to, a cleaning start operation button, a dust discharge button, a mode selection button, etc. The second output interface may include, but is not limited to, a display such as an LED, an LCD, a touch screen, or a voice output device (e.g., a speaker). The second output interface may display, but is not limited to, a battery (1050) charge level of the cleaning robot (1000), software update progress information, operation event information, overheating information of the cleaning robot (1000), etc.

[0089] The second voltage detection circuit (2100) is a circuit for detecting the voltage value of the second charging terminal (2010). The second voltage detection circuit (2100) may include a voltage distribution circuit. When the second processor (2200) receives a voltage value response command of the second charging terminal (2010) from the cleaning robot (1000), the second processor (2200) may transmit the voltage value of the second charging terminal (2010) detected through the second voltage detection circuit (2100) to the cleaning robot (1000). The second processor (2200) may continuously detect the voltage value of the second charging terminal (2010) through the second voltage detection circuit (2100) during charging, and periodically transmit the voltage value of the second charging terminal (2010) to the cleaning robot (1000).

[0090] The power conversion device (2400) is a device that receives AC input power and converts it into DC power. The power conversion device (2400) may include a power conversion IC, such as a PWM (pulse width modulation) controller, for power conversion. The power conversion device (2400) may generate a DC voltage that can charge a battery (1050) included in the cleaning robot (1000). When the cleaning robot (1000) is electrically connected to the station (2000), the DC power generated by the power conversion device (2400) is supplied to the battery (1050) of the cleaning robot (1000) through the second charging terminal (2010) on the station (2000) side and the first charging terminal (1010) of the cleaning robot (1000), thereby charging the battery (1050). The second charging terminal (2010) is electrically connected to the first charging terminal (1010) and can be used to charge the battery (1050) included in the cleaning robot (1000). The second charging terminal (2010) is connected to a power conversion device (2400) and can supply a DC voltage (e.g., 17 V) output from the power conversion device (2400) to the battery (1050) through the first charging terminal (1010). For example, when the second processor (2200) receives a charging command (voltage boost command) from the cleaning robot (1000), it can supply the voltage output from the power conversion device (2400) to the battery (1050) through the second charging terminal (2010) and the first charging terminal (1010) by turning on the second switch (2410).

[0091] In one embodiment of the present disclosure, a second switch (2410) capable of blocking the DC voltage generated by the power conversion device (2400) may be included between the power conversion device (2400) and the second charging terminal (2010), but is not essential.

[0092] The power conversion device (2400) can receive input power (10) supplied to the station (2000) as input and convert alternating current (AC) voltage into direct current (DC) voltage. The power conversion device (2400) can include a switching element for alternating current (AC)-direct current (DC) conversion and a PWM controller for driving the switching element. The switching element included in the power conversion device (2400) can be any one of a field effect transistor (FET), a metal oxide field effect transistor (MOSFET), an insulated gate bipolar mode transistor (IGBT), and a transistor (TR), but is not limited thereto. The power conversion device (2400) can be located on the bottom surface of the station (2000) that can be connected to the input power (10), but is not limited thereto and can be located on any surface of the station (2000). The power conversion device (2400) will be described in more detail with reference to FIG. 5.

[0093] FIG. 5 is a block diagram illustrating a power conversion device (2400) according to one embodiment of the present disclosure.

[0094] Referring to Fig. 5, the power conversion device (2400) receives an input power source (10) that is an AC voltage. The AC voltage may vary depending on the specifications, but may be anywhere between 90 V and 210 V. However, some countries use lower or higher AC voltages, so the above figures are only approximate figures and are not intended to limit the AC voltage range.

[0095] The power conversion device (2400) is a device that converts the AC voltage received through the input power source (10) into a DC voltage (e.g., DC (direct current) 5 V and / or DC 17 V). The power conversion device (2400) may also be expressed as an adapter or SMPS (Switched Mode Power Supply).

[0096] The AC voltage from the input power source (10) has noise removed through the EMI filter (11) and is converted into a DC voltage through the rectifier (12). The rectifier (12) is mainly composed of a diode, but is not limited thereto, and may be composed of a switching element such as a thyristor or an IGBT (insulated gate bipolar mode transistor). The DC voltage converted through the rectifier (12) is smoothed through the DC link capacitor (13). The DC voltage across the DC link capacitor (13) can be converted again into an AC voltage of a desired magnitude and frequency by PWM switching of a switch (40) element under the control of a PWM controller (30). The converted AC voltage passes through a transformer (20) for insulation, filtering, and / or voltage magnitude change. The secondary output of the transformer (20) becomes a secondary AC voltage, and the secondary AC voltage is rectified again into a secondary DC voltage through a secondary rectifier (22). The secondary DC voltage is smoothed through a secondary DC link capacitor (23). The smoothed secondary DC voltage passes through a secondary EMI filter (21) to remove noise, and the DC voltage (e.g., DC 17 V) that has passed through the secondary EMI filter (21) can be used to charge the battery (1050) of the cleaning robot (1000) through the charging terminal (1010, 2010).

[0097] In Fig. 5, the CC / CV IC (24) is a circuit or an integrated circuit (IC) that controls the conversion to CC (constant current) mode or CV (constant voltage) mode when charging the battery (1050). When the discharge amount of the battery (1050) increases, the voltage may drop below the full charge voltage. Therefore, when charging the battery (1050), charging is performed in CC mode under the control of the CC / CV IC (24) up to a certain % (e.g., 80% of full charge) compared to full charge, and thereafter, the battery (1050) is charged in CV mode. The CC / CV IC (24) is responsible for this conversion to CC (constant current) mode or CV (constant voltage) mode.

[0098] The feedback circuit (25) can monitor the output terminal (e.g., 17 V) for charging the battery (1050) and provide feedback to the PWM controller (30) so that the charging output to the battery (1050) is constant. For example, when the charging voltage to the battery (1050) is 17 V and the current charging voltage is 20 V, the feedback circuit (25) provides overvoltage feedback to the PWM controller (30). The PWM controller (30) receiving the overvoltage feedback reduces the switching of the switch (40) to control the output voltage of the power converter (2400) to decrease. Conversely, when the charging voltage to the battery (1050) is currently 15 V, the feedback circuit (25) provides low voltage feedback to the PWM controller (30). The PWM controller (30) receiving the low voltage feedback increases the switching of the switch (40) to control the output voltage of the power converter (2400) to increase.

[0099] The PWM controller (30) is responsible for controlling the output of the power conversion device (2400) and may mainly have an IC form manufactured by a chip manufacturer. The PWM controller (30) controls the switch (40) to enable PWM switching.

[0100] Hereinafter, with reference to FIG. 6, a method for the cleaning robot (1000) to detect overheating of the charging terminal will be described in detail.

[0101] FIG. 6 is a flowchart for explaining a method for detecting overheating of a cleaning robot (1000) according to one embodiment of the present disclosure.

[0102] Referring to FIG. 6, a method for detecting overheating by a cleaning robot (1000) may include steps S610 to S650. In one embodiment of the present disclosure, steps S610 to S650 may be executed by at least one processor included in the cleaning robot (1000). The method for detecting overheating by a cleaning robot (1000) is not limited to that illustrated in FIG. 6, and in one or more embodiments, additional steps not illustrated in FIG. 6 may be included, or some steps may be omitted.

[0103] In step S610, the cleaning robot (1000) according to one embodiment of the present disclosure can detect contact between the first charging terminal (1010) of the cleaning robot (1000) and the second charging terminal (2010) of the station (2000) through the first voltage detection circuit (1100) as the cleaning robot (1000) is docked to the station (2000).

[0104] According to one embodiment of the present disclosure, the cleaning robot (1000) may dock with the station (2000) based on a user command to stop cleaning and return to the station (2000) or a remaining battery level. For example, the cleaning robot (1000) may detect an infrared signal emitted from the station (2000) (e.g., a first infrared signal emitted from the left infrared module, a second infrared signal emitted from the center infrared module, and a third infrared signal emitted from the right infrared module) and perform a docking operation while aligning with the station (2000). The docking operation may mean that the cleaning robot (1000) is electrically coupled to the station (2000). For example, the docking operation may mean an operation in which the cleaning robot (1000) contacts a first charging terminal (1010) of the cleaning robot (1000) with a second charging terminal (2010) of the station (2000) to charge a battery (1050). Meanwhile, the user can also manually dock the cleaning robot (1000) to the station (2000).

[0105] According to one embodiment of the present disclosure, if the voltage value detected by the first voltage detection circuit (1100) after performing a docking operation is equal to or greater than a first threshold voltage value, the cleaning robot (1000) may determine that the first charging terminal (1010) of the cleaning robot (1100) and the second charging terminal (2010) of the station (2000) are in contact. The first threshold voltage value may be a preset voltage value and may be the magnitude of the voltage supplied by the station (2000) through the second charging terminal (2010) before a charging command is transmitted to the station (2000). The first threshold voltage value may be 8 V, but is not limited thereto. Referring to FIG. 7, an operation of the cleaning robot (1000) detecting contact between charging terminals will be described in more detail.

[0106] FIG. 7 is a circuit diagram used by a cleaning robot (1000) according to one embodiment of the present disclosure to detect contact between a first charging terminal (1010) and a second charging terminal (2010).

[0107] Referring to FIG. 7, when the first charging terminal (1010) and the second charging terminal (2010) are in contact, a preset voltage (e.g., 8 V) can be applied from the station (2000) to the cleaning robot (1000). That is, since the second switch (2410) between the power conversion device (2400) (e.g., adapter) and the second charging terminal (2010) is in an off state, instead of the voltage (e.g., 17.54 V) output from the power conversion device (2400), 8 V can be supplied to the cleaning robot (1000) through the second charging terminal (2010) and the first charging terminal (1010). The first processor (1001) of the cleaning robot (1000) can determine that the first charging terminal (1010) and the second charging terminal (2010) are in contact when a preset voltage (e.g., 8 V) is detected through the first voltage detection circuit (1100).

[0108] Returning to FIG. 6 again, in step S620, the cleaning robot (1000) according to one embodiment of the present disclosure may transmit a charging command upon detecting contact between the first charging terminal (1010) and the second charging terminal (2010). For example, the cleaning robot (1000) may transmit a charging command to the station (2000) via the first communication interface (1080) to initiate a charging sequence.

[0109] The charging command may be a command to supply a voltage output from the power conversion device (2400) to charge the battery (1050). Since the voltage output from the power conversion device (2400) (e.g., 17.54 V) is higher than the preset voltage (e.g., 8 V) for detecting contact between the charging terminals, the charging command may also be expressed as a voltage boost command.

[0110] According to one embodiment of the present disclosure, the cleaning robot (1000) can transmit a charging command via wireless communication or wired communication. For example, the cleaning robot (1000) can transmit a charging command via infrared communication. When the cleaning robot (1000) is docked to the station (2000), the infrared transmitter and the infrared receiver can face each other, so the cleaning robot (1000) can transmit a charging command via infrared communication. Meanwhile, the cleaning robot (1000) can also transmit a charging command via various wireless communication methods other than infrared communication (e.g., BLE, Wi-Fi Direct, UWB, Zigbee, etc.). In addition, the cleaning robot (1000) can provide a communication terminal separate from the charging terminal and transmit the charging command via wired communication.

[0111] According to one embodiment of the present disclosure, when the cleaning robot (1000) transmits a charging command to the station (2000), the station (2000) can turn on the second switch (2410) to supply the voltage output from the power conversion device (2400) to the cleaning robot (1000). At this time, the cleaning robot (1000) can check whether the voltage output from the power conversion device (24000) is supplied to the cleaning robot (1000) by checking the voltage value supplied from the station (2000) through the first voltage detection circuit (1100). Refer to FIG. 8.

[0112] FIG. 8 is a circuit diagram used to check whether a cleaning robot (1000) according to one embodiment of the present disclosure is pressurized.

[0113] Referring to FIG. 8, when the cleaning robot (1000) detects contact between the charging terminals, it can transmit a charging command (voltage boosting command) to the station (2000). At this time, the second processor (2200) of the station (2000) can turn on the second switch (2410) according to the charging command (voltage boosting command). When the second switch (2410) is turned on, a voltage (e.g., 17.54 V) output from the power conversion device (2400) instead of 8 V can be supplied to the cleaning robot (1000). The cleaning robot (1000) can detect the voltage value increased from 8 V to 17.54 V through the first voltage detection circuit (1100).

[0114] Returning to FIG. 6 again, in step S630, the cleaning robot (1000) according to one embodiment of the present disclosure can obtain the amount of heat generated between the first charging terminal (1010) and the second charging terminal (2010) when voltage is supplied to the cleaning robot (1000) from the station (2000) according to a charging command. Hereinafter, the amount of heat generated between the first charging terminal (1010) and the second charging terminal (2010) can be expressed as the amount of heat generated at the charging terminal.

[0115] For example, when the cleaning robot (1000) detects a voltage higher than a second threshold voltage value (e.g., 17 V) through the first voltage detection circuit (1100), the cleaning robot can calculate the amount of heat generated between the first charging terminal (1010) and the second charging terminal (2010). The amount of heat generated between the first charging terminal (1010) and the second charging terminal (2010) can be expressed as the amount of heat generated at the first charging terminal (1010) or the amount of heat generated at the second charging terminal (2010).

[0116] According to one embodiment of the present disclosure, the cleaning robot (1000) can calculate the amount of heat generated between the first charging terminal (1010) and the second charging terminal (2010) using the charging terminal voltage and the charging terminal current (charging terminal heat generation). Here, the charging terminal voltage may refer to the voltage applied to the contact resistance formed between the charging terminals when the first charging terminal (1010) and the second charging terminal (2010) are in contact, and may be expressed as a voltage value between the first charging terminal (1010) and the second charging terminal (2010). The charging terminal current may refer to the sum of the charging current of the battery (1050) and the discharging current of the battery (1050). The operation of the cleaning robot (1000) to calculate the amount of heat will be described in detail with reference to FIG. 9.

[0117] FIG. 9 is a circuit diagram for explaining an operation of a cleaning robot according to one embodiment of the present disclosure to calculate the amount of heat generated between a first charging terminal and a second charging terminal.

[0118] Referring to FIG. 9, the cleaning robot (1000) can obtain the heat generation amount (P) of the charging terminal using Equations 1 to 3. That is, the first processor (1001) of the cleaning robot (1000) can obtain the heat generation amount between the first charging terminal (1010) and the second charging terminal (2010) based on the voltage value (v2) of the first charging terminal (1010), the voltage value (v1) of the second charging terminal (2010), the discharge current value (I_leak) of the battery (1050), and the charge current value (I_chg) of the battery (1050).

[0119] Equation 1: Charging terminal voltage (V) = Second charging terminal voltage (v1) - First charging terminal voltage (v2)

[0120] Equation 2: Charging terminal current (I) = I_chg (variable part) + I_leak (fixed part)

[0121] Equation 3: Charging terminal heat generation (P) = Charging terminal voltage (V) * Charging terminal current (I)

[0122] According to one embodiment of the present disclosure, the cleaning robot (1000) may obtain a first voltage value (v2) of the first charging terminal (1010) and receive information about a second voltage value (v1) of the second charging terminal (2010) from the station (2000) to detect the charging terminal voltage (V) of Equation 1. In addition, the cleaning robot (1000) may obtain the difference between the first voltage value (v2) of the first charging terminal (1010) and the second voltage value (v1) of the second charging terminal (2010) as the charging terminal voltage (V).

[0123] For example, referring to FIG. 9, the cleaning robot (1000) can read the v2_sense value input to the input port of the first processor (1001) through the first voltage detection circuit (1100). The station (2000) can read the v1_sense value input to the input port of the second processor (2200) through the second voltage detection circuit (2100). At this time, the second voltage value (v1) of the second charging terminal (2010) and the first voltage value (v2) of the first charging terminal (1010) can be calculated as follows.

[0124] v1 = (R1 + R2) * (v1_sense / R2)

[0125] v2 = (R3 + R4) * (v2_sense / R4)

[0126] The cleaning robot (1000) communicates with the station (2000), and the cleaning robot (1000) can read the v1 value or the v1_sense value from a given packet and calculate the charging terminal voltage (V) as in Equation 1 (V=v1-v2). The operation of the cleaning robot (1000) acquiring the second voltage value (v1) of the second charging terminal (2010) from the station (2000) will be discussed in more detail later with reference to FIG. 12.

[0127] According to one embodiment of the present disclosure, the cleaning robot (1000) can obtain a first current value detected through a current detection circuit before charging starts after docking as a discharge current value of the battery (1050). The discharge current value of the battery (1050) may be a fixed value and may be expressed as a leakage current value (I_leak). Since current flows from the battery (1050) to the load (1052) before charging starts, a processor (e.g., MCU) included in a battery management system (BMS) can detect the charge current of the battery (1050) through a current detection circuit (e.g., a shunt resistor).

[0128] The cleaning robot (1000) can obtain the second current value detected through the current detection circuit after charging starts as the charging current value of the battery (1050). The charging current value of the battery (1050) can vary depending on the state of charge (SoC) of the battery (1050). For example, the lower the charge amount of the battery (1050), the higher the charge current value can be, and the higher the charge amount of the battery (1050), the lower the charge current value can be. This is because the power conversion device (2400) detects the charge amount of the battery (1050) when the cleaning robot (1000) is docked to the station (2000) and adjusts the charging current according to the charge amount of the battery (1050).

[0129] According to one embodiment of the present disclosure, when the current detection circuit is located inside the battery (1050), the first processor (1001) of the cleaning robot (1000) can obtain the charging current value (I_chg) of the battery (1050) and the discharging current value (I_leak) of the battery (1050) by performing I2C (Inter-Integrated Circuit) communication with the battery control unit (1055) (e.g., BMS (Battery Management System)). When the first processor (1001) of the cleaning robot (1000) obtains the charging current value and the discharging current value of the battery (1050) from the battery control unit (1055), the first processor (1001) of the cleaning robot (1000) can calculate the charging terminal current (I) using Equation 2 (I=I_chg+I_leak).

[0130] According to one embodiment of the present disclosure, when the cleaning robot (1000) detects the charging terminal voltage (V) and the charging terminal current (I), the cleaning robot can calculate the charging terminal heat generation amount (P) using Equation 3 (P=V*I). When the cleaning robot (1000) is misaligned with the station (2000) and the resistance (contact resistance) formed between the charging terminals increases, the charging terminal voltage (V) increases, so the voltage value (v2) of the first charging terminal (1010) measured through the first voltage detection circuit (1100) decreases, and the charging terminal heat generation amount (P) calculated by the first processor (1001) may increase.

[0131] Meanwhile, the amount of heat generated between the first charging terminal (1010) and the second charging terminal (2010) may vary depending on the charging state of the battery (1050). As the charging rate of the battery (1050) increases, the charging current value decreases, and thus the amount of heat generated (P) at the charging terminal may decrease.

[0132] For example, let's assume that the station (2000) and the cleaning robot (1000) are slightly misaligned, forming a contact resistance of 0.5 ohm between the charging terminals, and the charge rate of the battery (1050) is 0%. The values ​​obtained from the cleaning robot (1000) may be v1 = 17 V, v2 = 15.8 V, I_chg = 2 A, and I_leak = 0.5 A. At this time, the calculated heat generation (P) may be as follows.

[0133] Heat output (P) = (17V-15.8V)*(2A+0.5A)=3W=3000mW

[0134] On the other hand, let us assume that the station (2000) and the cleaning robot (1000) are slightly misaligned, forming a contact resistance of 0.5 ohm between the charging terminals, and that the charge rate of the battery (1050) is 90%. The v1 obtained from the cleaning robot (1000) may be 17 V, v2 = 16 V, I_chg = 0.4 A, and I_leak = 0.5 A. At this time, the calculated heat generation (P) may be as follows.

[0135] Heat output (P) = (17V-16V)*(0.4A+0.5A)=0.9W=900mW

[0136] In step S640, the cleaning robot (1000) according to one embodiment of the present disclosure can determine whether the heat generation amount obtained in step S630 exceeds a critical heat generation amount (hereinafter, also referred to as an overheating standard value) that serves as a standard for overheating.

[0137] The critical heat generation (critical heat generation) that serves as the standard for overheating may be the maximum value of the normal heat generation, but is not limited thereto. The normal heat generation may refer to the heat generation generated at the charging terminal when the battery (1050) of the cleaning robot (1000) is charged from 0% to 100% under normal circumstances where there is no misalignment of the cleaning robot (1000) or foreign matter between the charging terminals. As in Equation 1, the charging terminal heat generation (P) can be calculated as the product of the charging terminal voltage (V) and the charging terminal current (I), and the maximum value of the normal heat generation (critical heat generation that serves as the standard for overheating) can be calculated as follows.

[0138] Maximum value of normal heat generation = I(Adapter maximum current specification) * V{I(Adapter maximum current specification) * R(Resistance of the first charging terminal [fixed value] + Resistance of the second charging terminal [fixed value] + Contact resistance [variable value])}

[0139] Here, the contact resistance may vary depending on the misalignment between the charging terminals or the presence of foreign matter between the charging terminals. Since the normal heat generation is the heat generation generated at the charging terminals in a normal situation where there is no misalignment of the cleaning robot (10001) (or foreign matter in the charging terminals), the contact resistance may approach 0Ω when calculating the maximum value of the normal heat generation. With reference to Fig. 10, let's take a closer look at the critical heat generation that serves as the criterion for overheating.

[0140] FIG. 10 is a drawing for explaining a critical heat generation amount that serves as a criterion for overheating according to one embodiment of the present disclosure.

[0141] FIG. 10 shows actual measured values ​​of the charging terminal voltage (V), charging terminal current (I), and charging terminal heat generation (P) during the charging process of the battery (1050) of the cleaning robot (1000). Referring to the graph (101) of the charging terminal heat generation (P), the maximum heat generation during the normal charging process is 711 mW, so the cleaning robot (1000) can define 0 mW to 711 mW as the normal heat generation, and define the heat generation greater than 711 mW as the overheating. That is, the critical heat generation (overheating standard value) that serves as the criterion for overheating may be 711 mW, but is not limited thereto. The critical heat generation that serves as the criterion for overheating may vary depending on the specifications of the cleaning robot (1000), the specifications of the station (2000), etc. In the following, for the convenience of explanation, a case in which the critical heat generation that serves as the criterion for overheating is 711 mW will be described as an example.

[0142] According to one embodiment of the present disclosure, when the cleaning robot (1000) and the station (2000) are misaligned so that the contact resistance between the charging terminals is 0.5 ohm and the charge rate of the battery (1050) is 0%, v1 may be 17 V, v2 may be 15.8 V, I_chg may be 2 A, and I_leak may be 0.5 A. At this time, the calculated heat generation (P) may be 3000 mW (=(17 V - 15.8 V) * (2 A + 0.5 A) = 3 W). The cleaning robot (1000) may determine that the charging terminal is in an overheating state because the calculated heat generation (3000 mW) exceeds the overheating reference value (e.g., 711 mW).

[0143] According to one embodiment of the present disclosure, when a foreign substance exists between the charging terminals, the contact resistance between the charging terminals is 0.5 ohm, and the charge rate of the battery (1050) is 90%, v1 = 17 V, v2 = 16 V, I_chg = 0.4 A, I_leak = 0.5 A. At this time, the calculated heat generation (P) may be 900 mW (=(17 V - 16 V) * (0.4 A + 0.5 A) = 0.9 W). Since the calculated heat generation (e.g., 900 mW) exceeds the overheating reference value (e.g., 711 mW), the cleaning robot (1000) may determine that the charging terminals are in an overheating state.

[0144] According to one embodiment of the present disclosure, when the alignment of the cleaning robot (1000) and the station (2000) is well matched so that the contact resistance between the charging terminals is close to 0 ohm and the charging rate of the battery (1050) is 90%, v1 may be 17 V, v2 may be 16.8 V, I_chg may be 0.4 A, and I_leak may be 0.5 A. At this time, the calculated heat generation (P) may be 180 mW (= (17 V - 16.8 V) * (0.4 A + 0.5 A) = 0.18 W). Since the calculated heat generation (180 mW) is smaller than the overheating reference value (e.g., 711 mW), the cleaning robot (1000) may determine that the charging terminal is in a normal heating state.

[0145] In conclusion, referring to FIG. 11, the cleaning robot (1000) can determine that an overheating state exists when the heat generation of the charging terminal exceeds the overheating reference value (e.g., 711 mW), and can determine that a normal heat generation state exists when the heat generation of the charging terminal is lower than the overheating reference value (e.g., 711 mW). Meanwhile, as can be seen in FIG. 11, the higher the charging rate of the battery (1050), the less the heat generation of the charging terminal can exist. Therefore, even if the contact resistance between the charging terminals is the same, if the charging rate of the battery (1050) is high, it can be determined that a normal heat generation state exists, and if the charging rate of the battery (1050) is low, it can be determined that an overheating state exists.

[0146] According to one embodiment of the present disclosure, if the heat generation amount obtained in step S630 is lower than or equal to the critical heat generation amount that serves as the criterion for overheating (No in S640), the cleaning robot (1000) may transmit a charging command (boost command) to the station (2000) at predetermined time intervals to continue charging. For example, the cleaning robot (1000) may transmit a charging command (boost command) to the station (2000) at 0.8 second intervals via wireless communication. In addition, the cleaning robot (1000) may continuously monitor whether the charging terminal heat generation amount exceeds the overheating criterion value during charging by periodically calculating the charging terminal heat generation amount.

[0147] In step S650, if the heat generation amount obtained in S630 exceeds the critical heat generation amount that serves as an overheating criterion (Yes in S640), the cleaning robot (1000) can perform a re-docking operation after moving away from the station (2000) by a predetermined distance.

[0148] When the moving assembly (1062) is controlled so that the cleaning robot (1000) moves away from the station (2000) by a predetermined distance, the contact between the first charging terminal (1010) and the second charging terminal (2010) is released, and the power supply from the station (2000) to the cleaning robot (1000) is stopped, so that the overheating state can be released. Accordingly, the cleaning robot (1000) can prevent damage to parts or a fire from occurring due to overheating.

[0149] When the overheating state is resolved, the cleaning robot (1000) can dock with the station (2000) while aligning itself to recharge the battery (1050). For example, when the cleaning robot (1000) moves away from the station (2000) by a predetermined distance, the wireless communication connection (e.g., infrared communication connection) between the cleaning robot (1000) and the station (2000) may be interrupted. When the wireless communication connection with the cleaning robot (1000) is interrupted, the station (2000) may emit an infrared signal for docking the cleaning robot (1000). For example, the station (2000) may control each of the left infrared module, the central infrared module, and the right infrared module to emit infrared signals. The cleaning robot (1000) may detect a first infrared signal emitted from the left infrared module, a second infrared signal emitted from the central infrared module, and a third infrared signal emitted from the right infrared module, respectively. The cleaning robot (1000) can dock with the station (2000) by aligning with the station (2000) using the angles of incidence of each of the first infrared signal, the second infrared signal, and the third infrared signal.

[0150] According to one embodiment of the present disclosure, the cleaning robot (1000) may return to step S610 after performing the re-docking operation. That is, the cleaning robot (1000) may detect contact between the first charging terminal (1010) and the second charging terminal (2010) while performing the re-docking operation, and transmit a charging command (boost command) to the station (2000). When power is supplied to the cleaning robot (1000) from the station (2000) according to the charging command (boost command), the cleaning robot (1000) calculates the amount of heat generated between the first charging terminal (1010) and the second charging terminal (2010), and when the calculated amount of heat generated exceeds a threshold amount of heat generated, it is an overheating state, and thus the docking operation may be performed again. That is, according to one embodiment of the present disclosure, the cleaning robot (1000) may perform re-docking multiple times when it is not aligned with the station (2000). Meanwhile, if the heat generation amount calculated after re-docking does not exceed the critical heat generation amount, it is a normal heat generation state, so the cleaning robot (1000) can charge the battery (1050) while periodically transmitting a charging command (boost command) to the station (2000).

[0151] Hereinafter, the operation of the cleaning robot (1000) transmitting a charging command (boost command) and a response command for the second voltage value of the second charging terminal (2010) to the station (2000) will be examined in more detail with reference to FIG. 12.

[0152] FIG. 12 is a flowchart illustrating a method for a cleaning robot (1000) according to one embodiment of the present disclosure to transmit a charging command to a station (2000).

[0153] In step S1210, the cleaning robot (1000) according to one embodiment of the present disclosure may perform a docking operation. For example, the cleaning robot (1000) may perform a docking operation when the battery (1050) requires charging or when a docking command is received from a user.

[0154] According to one embodiment of the present disclosure, the cleaning robot (1000) can detect at least one infrared signal emitted from the station (2000) and dock while aligning with the station (2000). For example, the cleaning robot (1000) can perform a docking operation while aligning with the station (2000) by using the angles of incidence of each of the first infrared signal emitted from the right infrared module, the second infrared signal emitted from the center infrared module, and the third infrared signal emitted from the left infrared module.

[0155] Meanwhile, the user may lift the cleaning robot (1000) from the floor and manually dock the cleaning robot (1000) to the station (2000).

[0156] In step S1220, when the cleaning robot (1000) according to one embodiment of the present disclosure docks to the station (2000), the cleaning robot (1000) may detect contact between the charging terminals. For example, when the voltage value detected through the first voltage detection circuit (1100) is equal to or higher than a first threshold voltage value (e.g., 8 V, see FIG. 7), the cleaning robot (1000) may determine that the first charging terminal (1010) of the cleaning robot (1000) and the second charging terminal (2010) of the station (2000) are in contact. Since step S1220 corresponds to step S610 of FIG. 6, a detailed description thereof will be omitted.

[0157] According to one embodiment of the present disclosure, when contact between charging terminals is not detected during a docking operation, the cleaning robot (1000) can move while adjusting the position of the cleaning robot (1000) so that the first charging terminal (1010) comes into contact with the second charging terminal (2010).

[0158] In step S1230, the cleaning robot (1000) according to one embodiment of the present disclosure may stop its movement if it detects contact between charging terminals. For example, if the first charging terminal (1010) makes contact with the second charging terminal (2010), the cleaning robot (1000) may determine that docking with the station (2000) has been completed normally and stop its movement.

[0159] In step S1240, the cleaning robot (1000) according to one embodiment of the present disclosure may transmit a charging command (boost command) to the station (2000) when docking with the station (2000) is completed.

[0160] According to one embodiment of the present disclosure, when the cleaning robot (1000) detects contact between the first charging terminal (1010) and the second charging terminal (2010), the cleaning robot (1000) can transmit a charging command (boost command) to the station (2000) via wireless or wired communication. For example, the cleaning robot (1000) can transmit the charging command via infrared communication.

[0161] Step S1240 corresponds to step S620 of Fig. 6, so a detailed description thereof will be omitted.

[0162] In step S1250, the station (2000) according to one embodiment of the present disclosure can receive a charging command (boost command) from the cleaning robot (1000). For example, the station (2000) can receive the charging command (boost command) from the cleaning robot (1000) through the second communication interface (2300). The station (2000) can periodically receive the charging command (boost command) from the cleaning robot (1000) when the cleaning robot (1000) is docked. The station (2000) can check the communication connection status with the cleaning robot (1000) through the charging command received periodically.

[0163] In step S1260, the station (2000) according to one embodiment of the present disclosure can turn on the second switch (2410, see FIG. 8) to increase the voltage supplied to the cleaning robot (1000). For example, the station (2000) can turn on the second switch (2410) to supply the voltage output from the power conversion device (2400) to the cleaning robot (1000). When the second switch (2410) is turned on, instead of a voltage of a predetermined size (e.g., 8 V) for detecting contact between charging terminals, a voltage (e.g., 17.54 V, see FIG. 8) output from the power conversion device (2400) can be supplied to the cleaning robot (1000).

[0164] In step S1270, the cleaning robot (1000) according to one embodiment of the present disclosure can check whether the voltage supplied from the station (2000) is increased.

[0165] According to one embodiment of the present disclosure, the cleaning robot (1000) can detect the supply voltage of the station (2000) through the first voltage detection circuit (1100). Since the first switch (1111, see FIG. 4) of the cleaning robot (1000) is in an off state before checking whether the voltage is increased, the cleaning robot (1000) can detect the voltage supplied from the station (2000) through the first voltage detection circuit (1100), regardless of whether there is misalignment. For example, when the station (2000) turns on the second switch (2410), the cleaning robot (1000) can detect an increased voltage value from 8 V to 17.54 V through the first voltage detection circuit (1100).

[0166] According to one embodiment of the present disclosure, if the voltage supplied from the station (2000) is not boosted (No in S1270), the cleaning robot (1000) can transmit a recharge command (boost command) to the station (2000).

[0167] Meanwhile, according to one embodiment of the present disclosure, when the voltage supplied from the station (2000) is boosted, the cleaning robot (1000) can turn on the first switch (1111) to allow current to flow to the cleaning robot (1000). In addition, the cleaning robot (1000) can detect the first voltage value of the first charging terminal (1010) through the first voltage detection circuit (1100) to calculate the amount of heat generated at the charging terminal.

[0168] In step S1280, the cleaning robot (1000) according to one embodiment of the present disclosure may request information about the second voltage value of the second charging terminal (2010) from the station (2000) if the voltage supplied from the station (2000) is boosted (Yes in S1270). For example, the cleaning robot (1000) may command the station (2000) to send a response about the second voltage value of the second charging terminal (2010) in order to calculate the amount of heat generated by the charging terminal if the voltage supplied from the station (2000) is boosted.

[0169] According to one embodiment of the present disclosure, the cleaning robot (1000) can request information on the second voltage value of the second charging terminal (2010) from the station (2000) via wireless or wired communication. For example, the cleaning robot (1000) can request information on the second voltage value of the second charging terminal (2010) from the station (2000) via infrared communication.

[0170] In step S1290, the station (2000) according to one embodiment of the present disclosure may transmit information about the second voltage value of the second charging terminal (2010) in response to a request (reply command) received from the cleaning robot (1000).

[0171] According to one embodiment of the present disclosure, the station (2000) can detect the second voltage value of the second charging terminal (2010) through the second voltage detection circuit (2100). For example, referring to FIG. 9, the station (2000) can read the v1_sense value input to the input port of the second processor (2200) through the second voltage detection circuit (2100). At this time, the second voltage value (v1) of the second charging terminal (2010) can be calculated as follows.

[0172] v1 = (R1 + R2) * (v1_sense / R2)

[0173] The station (2000) can transmit information (e.g., v1 value or v1_sense value) about the second voltage value of the second charging terminal (2010) to the cleaning robot (1000) via wireless communication or wired communication.

[0174] According to one embodiment of the present disclosure, when the cleaning robot (1000) receives information about the second voltage value of the second charging terminal (2010) from the station (2000), the cleaning robot (1000) can calculate the heat generation amount of the charging terminal (see step S630 of FIG. 6). For example, the first processor (1001) of the cleaning robot (1000) can detect the first voltage value (v2) of the first charging terminal (1010), obtain the charging current value (I_chg) of the battery (1050) and the discharge current value (I_leak) of the battery (1050) from the battery (1050), receive the second voltage value (v1) of the second charging terminal (2010) from the station (2000), and calculate the heat generation amount using the following equation.

[0175] Charging terminal heat generation (P) = Charging terminal voltage (V) * Charging terminal current (I)

[0176] = [v1 -v2] * [I_chg+ I_leak]

[0177] According to one embodiment of the present disclosure, the cleaning robot (1000) can request and receive information on the second voltage value of the second charging terminal (2010) from the station (2000) at predetermined time intervals (e.g., 1.6 second intervals), and calculate the amount of heat generated by the charging terminal at predetermined time intervals (e.g., 1.6 second intervals).

[0178] When the calculated heat generation exceeds the overheating standard value, the cleaning robot (1000) performs a re-docking operation after moving away from the station (2000) by a predetermined distance, thereby preventing damage to parts or fire caused by overheating.

[0179] Meanwhile, the cleaning robot (1000) may output a notification via the first output interface (1073) when the calculated heat generation exceeds the overheating threshold value. Hereinafter, with reference to FIG. 13, a method for the cleaning robot (1000) to output a notification will be described in detail.

[0180] FIG. 13 is a flowchart illustrating a method for a cleaning robot (1000) according to one embodiment of the present disclosure to output a notification.

[0181] In step S1310, the cleaning robot (1000) according to one embodiment of the present disclosure can detect overheating of the charging terminal by comparing the heating amount of the charging terminal with a critical heating amount (overheating reference value) that serves as a criterion for overheating. For example, the cleaning robot (1000) can determine that the charging terminal is in an overheating state if the heating amount of the charging terminal exceeds the overheating reference value.

[0182] Step S1310 corresponds to step S640 of FIG. 6, so redundant description will be omitted.

[0183] In step S1320, the cleaning robot (1000) according to one embodiment of the present disclosure may output a notification through the first output interface (1073) if overheating is detected. For example, the cleaning robot (1000) may output a notification message in voice through a speaker.

[0184] Referring to FIG. 14, for example, if the amount of heat generated at the charging terminal exceeds the overheating threshold, the cleaning robot (1000) may output a voice message (1401) through the speaker indicating that the alignment is incorrect and re-docking is to be performed. In addition, the cleaning robot (1000) may also output a preset music sound to notify the re-docking. Meanwhile, although not illustrated in FIG. 14, according to one embodiment of the present disclosure, if the cleaning robot (1000) includes a display, the cleaning robot (1000) may display a notification message indicating that the alignment is incorrect and re-docking is to be performed on the display. The user can confirm the reason why the cleaning robot (1000) performs re-docking through the notification output from the cleaning robot (1000).

[0185] Meanwhile, the cleaning robot (1000) may also output a notification through a user terminal connected to the server. The operation of the cleaning robot (1000) outputting a notification through a user terminal will be discussed in detail later with reference to FIG. 18.

[0186] In step S1330, the cleaning robot (1000) according to one embodiment of the present disclosure may output a notification and then perform re-docking when detecting overheating of the charging terminal.

[0187] According to one embodiment of the present disclosure, the cleaning robot (1000) can perform a re-docking operation after being spaced a predetermined distance from the station (2000). When the moving assembly (1062) is controlled so that the cleaning robot (1000) is spaced a predetermined distance from the station (2000), the contact between the first charging terminal (1010) and the second charging terminal (2010) is released, and the power supply from the station (2000) to the cleaning robot (1000) is stopped, thereby resolving the overheating state. Accordingly, the cleaning robot (1000) can prevent damage to components or a fire from occurring due to overheating.

[0188] Step S1330 corresponds to step S650 of FIG. 6, so redundant description will be omitted.

[0189] According to one embodiment of the present disclosure, the cleaning robot (1000) can perform re-docking even when contact between charging terminals is not detected, other than when overheating is detected while docked to the station (2000). A method for the cleaning robot (1000) to perform re-docking when contact between charging terminals is not detected will be described in detail with reference to FIG. 15.

[0190] FIG. 15 is a flowchart illustrating a method for a cleaning robot (1000) according to one embodiment of the present disclosure to perform a re-docking operation.

[0191] In step S1510, the cleaning robot (1000) according to one embodiment of the present disclosure may transmit a charging command (boost command) to the station (2000). For example, when the cleaning robot (1000) detects contact between the first charging terminal (1010) and the second charging terminal (2010), the cleaning robot (1000) may transmit a charging command (boost command) to the station (2000) via wireless communication (e.g., infrared communication).

[0192] In step S1520, the cleaning robot (1000) according to one embodiment of the present disclosure can detect whether the voltage is increased through the first voltage detection circuit (1100).

[0193] According to one embodiment of the present disclosure, when the station (2000) receives a charging command (voltage boost command) from the cleaning robot (1000), the station (2000) can turn on the second switch (2410) so that the voltage (e.g., 17.54 V) output from the power conversion device (2400) is supplied to the cleaning robot (1000). At this time, the cleaning robot (1000) can detect the supply voltage of the station (2000) increased from 8 V to 17.54 V through the first voltage detection circuit (1100).

[0194] If the voltage supplied from the station (2000) is not boosted (No of S1520), the cleaning robot (1000) can transmit a recharge command (boost command) to the station (2000) again.

[0195] In step S1530, the cleaning robot (1000) according to one embodiment of the present disclosure can detect that the contact between the charging terminals is released after confirming the boost.

[0196] According to one embodiment of the present disclosure, if the cleaning robot (1000) confirms that the supply voltage of the station (2000) is increased, but the alignment of the cleaning robot (1000) and the station (2000) becomes misaligned due to an external impact, the cleaning robot (1000) may no longer detect contact between the first charging terminal (1010) and the second charging terminal (2010). That is, if the cleaning robot (1000) can no longer detect the supply voltage of the station (2000) through the first voltage detection circuit (1100), the cleaning robot (1000) may identify that the contact between the charging terminals has been released.

[0197] In step S1540, the cleaning robot (1000) according to one embodiment of the present disclosure may perform a re-docking operation if contact between the charging terminals is not detected (Yes in S1530). For example, refer to FIG. 16.

[0198] FIG. 16 is a drawing for explaining a re-docking operation of a cleaning robot (1000) according to one embodiment of the present disclosure.

[0199] Referring to 1610 of FIG. 16, when the cleaning robot (1000) is normally docked to the station (2000), a companion animal (1601) may impact the station (2000) or the cleaning robot (1000). The impact of the companion animal (1601) may cause the contact between the second charging terminal (2010) of the station (2000) and the first charging terminal (1010) of the cleaning robot (1000) to be broken. In this case, the cleaning robot (1000) can no longer detect the supply voltage of the station (2000) through the first voltage detection circuit (1100), and thus can identify that the contact between the first charging terminal (1010) and the second charging terminal (2010) has been broken.

[0200] Referring to 1620 of FIG. 16, if the cleaning robot (1000) identifies that the contact between the first charging terminal (1010) and the second charging terminal (2010) is broken, the cleaning robot (1000) may perform a re-docking operation to charge the battery (1050). For example, the cleaning robot (1000) may perform re-docking by detecting infrared signals emitted from the station (2000) after moving away from the station (2000) by a predetermined distance. If the cleaning robot (1000) successfully re-docking to the station (2000), the cleaning robot (1000) may detect contact between the first charging terminal (1010) and the second charging terminal (2010) through the first voltage detection circuit (1100).

[0201] Returning to FIG. 15 again, in step S1550, the cleaning robot (1000) according to one embodiment of the present disclosure may transmit a second voltage value response command of the second charging terminal (2010) to the station (2000) if the contact between the charging terminals is well maintained (No in S1530). For example, the cleaning robot (1000) may transmit the second voltage value response command to the station (2000) via wireless communication (e.g., infrared communication) at a predetermined interval (e.g., every 1.6 seconds).

[0202] In step S1560, the cleaning robot (1000) according to one embodiment of the present disclosure can obtain a second voltage value from the station (2000). For example, when the station (2000) provides information on the second voltage value to the cleaning robot (1000) in response to a second voltage value reply command, the cleaning robot (1000) can receive information on the second voltage value from the station (2000). The station (2000) can detect the second voltage value of the second charging terminal (2010) through the second voltage detection circuit (2100).

[0203] According to one embodiment of the present disclosure, the cleaning robot (1000) can receive a second voltage value of the second charging terminal (2010) from the station (2000) through wireless communication (e.g., infrared communication) every predetermined period (e.g., 1.6 seconds).

[0204] In step S1570, when the cleaning robot (1000) receives the second voltage value of the second charging terminal (2000), it can obtain the heating amount of the charging terminal.

[0205] For example, the first processor (1001) of the cleaning robot (1000) can detect a first voltage value (v2) of the first charging terminal (1010), obtain a charging current value (I_chg) of the battery (1050) and a discharge current value (I_leak) of the battery (1050) from the battery (1050), receive a second voltage value (v1) of the second charging terminal (2010) from the station (2000), and calculate the amount of heat generated at the charging terminal using the following equation.

[0206] Charging terminal heat generation (P) = Charging terminal voltage (V) * Charging terminal current (I)

[0207] = [v1 -v2] * [I_chg+ I_leak]

[0208] Meanwhile, steps S1530 and S1540 may be performed after step S1550, after step S1560, or after step S1570. That is, if the cleaning robot (1000) detects that the contact between the first charging terminal (1010) and the second charging terminal (2010) is released at any point during the charging of the battery (1050), it may perform a re-docking operation to bring the first charging terminal (1010) back into contact with the second charging terminal (2010).

[0209] FIG. 17 is a drawing for explaining the operation of a cleaning robot (1000) in conjunction with a server (3000) according to one embodiment of the present disclosure.

[0210] Referring to FIG. 17, a cleaning system according to one embodiment of the present disclosure may include a server (3000) and a user terminal (4000) in addition to a cleaning robot (1000) and a station (2000). Since the cleaning robot (1000) and the station (2000) have been described in FIG. 1, the server (3000) and the user terminal (4000) will be described herein.

[0211] A server (3000) according to one embodiment of the present disclosure may be a device for managing a cleaning robot (1000). For example, the server (3000) may be a home appliance management server. The server (3000) may manage user account information and information on home appliances linked to the user account. For example, a user may access the server (3000) via a user terminal (4000) and create a user account. The user account may be identified by an ID and password set by the user. The server (3000) may register a station (2000) or a cleaning robot (1000) to the user account according to a set procedure. For example, the server (3000) may link identification information (e.g., serial number or MAC address) of the station (2000) or identification information of the cleaning robot (1000) to the user account, thereby registering the station (2000) or the cleaning robot (1000). When a station (2000) or a cleaning robot (1000) is registered in the server (3000), the server (3000) can manage the status of the station (2000) or the status of the cleaning robot (1000) by periodically receiving status information of the station (2000) or the status information of the cleaning robot (1000) from the station (2000) or the cleaning robot (1000).

[0212] The server (3000) may include a communication module capable of communicating with another server, a cleaning robot (1000), an external device, or a user terminal (4000), at least one processor capable of processing data received from another server, a cleaning robot (1000), an external device, or a user terminal (4000), and at least one memory capable of storing a program for processing data or processed data. The server (3000) may be implemented as various computing devices such as a workstation, a cloud, a data drive, or a data station. The server (3000) may be implemented as one or more servers that are physically or logically separated based on function, detailed configuration of function, or data, and may transmit and receive data and process the transmitted and received data through communication between each server.

[0213] The server (3000) may receive information about the operation or status of the cleaning robot (1000) or information about the user of the user terminal (4000), process the received information using technology such as artificial intelligence, and transmit a processing result or a control command to the cleaning robot (1000) based on the processing result.

[0214] The user terminal (4000) may be a device registered to the server (3000) with the same account as the cleaning robot (1000) or the station (2000). The user terminal (4000) may be carried by the user or placed in the user's home or office, etc. The user terminal (4000) may be, but is not limited to, a smart phone, a laptop computer, a tablet PC, a digital camera, an e-book terminal, a digital broadcasting terminal, a PDA (Personal Digital Assistant), a PMP (Portable Multimedia Player), a wearable device, a device including a display, etc. For the convenience of explanation, the following description will be made using a smart phone as an example of the user terminal (4000).

[0215] According to one embodiment of the present disclosure, a user terminal (4000) can communicate with at least one of a server (3000), a cleaning robot (1000), and a station (2000). The user terminal (4000) can directly communicate with the cleaning robot (1000) or the station (2000) via short-range wireless communication, or can indirectly communicate with the cleaning robot (1000) or the station (2000) via the server (3000).

[0216] The user terminal (4000) may include a communication module capable of communicating with an external device, a user interface for receiving user input or outputting information to the user, at least one processor for controlling the operation of the user terminal (4000), and at least one memory in which a program for controlling the operation of the user terminal (4000) is stored.

[0217] At least one memory of the user terminal (4000) may store a program, i.e., an application, for controlling a home appliance (e.g., a cleaning robot (1000)). The application may be sold installed on the user terminal (4000) or downloaded and installed from an external server.

[0218] A user can access a server (3000) by executing an application installed on a user terminal (4000), create a user account, and perform communication with the server (3000) based on the logged-in user account to register a cleaning robot (1000) or a station (2000). For example, if the cleaning robot (1000) is operated so that the cleaning robot (1000) can access the server (3000) according to a procedure guided by an application installed on the user terminal (4000), the cleaning robot (1000) can be registered in the user account by registering identification information (e.g., serial number or MAC address) of the cleaning robot (1000) in the corresponding user account on the server (3000).

[0219] A user can control a cleaning robot (1000) or a station (2000) using an application installed on a user terminal (4000). For example, when a user logs into a user account using an application installed on a user terminal (4000), a cleaning robot (1000) registered in the user account appears, and when a control command for the cleaning robot (1000) is input, the control command can be transmitted to the cleaning robot (1000) via a server (3000). The cleaning robot (1000) can operate according to the control command received from the user terminal (4000) or the server (3000). For example, if the cleaning robot (1000) has obtained prior approval from the user to operate according to the control command of the server (3000) even without a user input, the cleaning robot (1000) can operate according to the control command received from the server (3000). Here, the control command received from the server (3000) may include, but is not limited to, a control command input by the user through the user terminal (4000) or a control command based on preset conditions.

[0220] According to one embodiment of the present disclosure, a user terminal (4000) may execute a specific application (e.g., a home appliance management application) provided by a server (3000) based on a user input. At this time, the user terminal (4000) may provide information on the status of the cleaning robot (1000) or the status of the station (2000) through the execution window of the application. In addition, the user terminal (4000) may output a notification related to the cleaning robot (1000) in the execution window of the application. The operation of the user terminal (4000) outputting a notification related to the cleaning robot (1000) will be described in more detail with reference to FIG. 18.

[0221] FIG. 18 is a drawing for explaining an operation of a cleaning robot (1000) according to one embodiment of the present disclosure to output a notification through a user terminal (4000).

[0222] According to one embodiment of the present disclosure, the cleaning robot (1000) can detect overheating by comparing the heating amount of the charging terminal with a critical heating amount (overheating threshold value) that serves as a criterion for overheating. For example, the cleaning robot (1000) can determine that the charging terminal is in an overheating state if the heating amount of the charging terminal exceeds the overheating threshold value.

[0223] If the cleaning robot (1000) detects overheating, it can output a notification to the user terminal (4000) to perform re-docking before performing re-docking. For example, the cleaning robot (1000) can transmit information to the user terminal (4000) that re-docking is to be performed due to misalignment with the station (2000). The cleaning robot (1000) can transmit the information to the user terminal (4000) to perform re-docking via the server (3000) or can directly transmit the information to the user terminal (4000) via wireless communication.

[0224] When the user terminal (4000) receives information that the cleaning robot (1000) is performing re-docking due to misalignment with the station (2000), the user terminal (4000) may display a notification message indicating that the cleaning robot (1000) is performing re-docking in the execution window of an application for managing home appliances. For example, the user terminal (4000) may output a notification message (1801) stating, "Misalignment, re-docking." The user can confirm the reason for the cleaning robot (1000) performing re-docking through the notification message displayed in the execution window of the application.

[0225] FIG. 19 is a drawing for explaining a cleaning system including a cordless stick cleaner (1000-1), which may be generally referred to as a cordless vacuum cleaner, according to one embodiment of the present disclosure.

[0226] A cleaning system according to one embodiment of the present disclosure may include a cordless stick cleaner (1000-1) instead of a cleaning robot (1000). Accordingly, the cleaning system according to one embodiment of the present disclosure may include a cordless stick cleaner (1000-1) and a station (2000-1). Furthermore, the cleaning system may include a server (3000) or a user terminal (4000) in addition to the cordless stick cleaner (1000-1) and the station (2000-1).

[0227] A cordless stick vacuum cleaner (1000-1) may refer to a vacuum cleaner that has a built-in rechargeable battery (1050) and does not need to connect a power cord to an outlet when cleaning. A user may use a handle mounted on the main body of the cleaner to move the cordless stick vacuum cleaner (1000-1) back and forth, allowing the brush device (cleaner head) to suck up foreign substances (e.g., dust, hair, trash) from the surface to be cleaned. Foreign substances sucked from the surface to be cleaned through the brush device may be collected in a dust bin of the main body of the cleaner. The cordless stick vacuum cleaner (1000-1) may include a suction motor that forms a vacuum inside the cordless stick vacuum cleaner (1000-1). Hereinafter, for convenience of explanation, the suction motor of the cordless stick vacuum cleaner (1000-1) may be expressed as a first suction motor. The cordless stick vacuum cleaner (1000-1) may include a communication interface for communicating with the station (2000-1). For example, a wireless stick vacuum cleaner (1000-1) can transmit and receive data with a station (2000-1) via a wireless personal area network (WPAN) (e.g., BLE).

[0228] The station (2000-1) may be a device for dust discharge, battery charging, or storage of the cordless stick vacuum cleaner (1000-1). According to one embodiment of the present disclosure, the station (2000-1) may communicate with the cordless stick vacuum cleaner (1000-1) or the server (3000) through a network. For example, the station (2000-1) may transmit and receive data with the cordless stick vacuum cleaner (1000-1) through a wireless local area network (WPAN) that does not use an access point (AP). The station (2000-1) may also transmit and receive data with the server (3000) through an access point (AP) that connects a local area network (LAN) to which the station (2000-1) is connected to a wide area network (WAN) to which the server (3000) is connected. For example, the station (2000-1) can be connected to a wireless stick vacuum cleaner (1000-1) through BLE (Bluetooth Low Energy) communication, and can be connected to a server (3000) through Wi-Fi (Wi-Fi, IEEE 802.11) communication, but is not limited thereto.

[0229] Referring to 1910 of FIG. 19, a user can dock the cordless stick cleaner (1000-1) to the station (2000-1) after using the cordless stick cleaner (1000-1). When the distance between the cordless stick cleaner (1000-1) and the station (2000-1) becomes short, the cordless cleaner (1000-1) and the station (2000-1) can establish a short-range wireless communication channel and transmit and receive data. When the cordless stick cleaner (1000-1) is docked to the station (2000-1), the cordless stick cleaner (1000-1) and the station (2000-1) can be electrically coupled through the charging terminal. For example, the first charging terminal (1010) of the cordless stick cleaner (1000-1) and the second charging terminal (2010) of the station (2000-1) can be in contact.

[0230] Referring to 1920 of FIG. 19, the cordless stick cleaner (1000-1) is docked to the station (2000-1) and the first charging terminal (1010) and the second charging terminal (2010) are electrically connected to each other. However, if the cordless stick cleaner (1000-1) and the station (2000-1) are misaligned or a foreign substance exists between the charging terminals, the charging terminals may overheat. For example, if the cordless stick cleaner (1000-1) and the station (2000-1) are not properly aligned, the contact resistance between the first charging terminal (1010) of the cordless stick cleaner (1000-1) and the second charging terminal (2010) of the station (2000-1) increases. In this case, heat is generated due to abnormally large contact resistance when charging the battery (1050) of the cordless stick vacuum cleaner (1000-1), which may result in damage to components near the charging terminal or damage to the charging terminal.

[0231] Accordingly, according to one embodiment of the present disclosure, the cordless stick cleaner (1000-1) can calculate the heat generation amount of the charging terminal by applying a charging terminal voltage and current detection algorithm, and when the heat generation amount of the charging terminal exceeds a threshold heat generation amount that serves as a criterion for overheating, perform an overheating prevention operation. For example, when the cordless stick cleaner (1000-1) detects contact between the first charging terminal (1010) and the second charging terminal (2010), the cordless stick cleaner (1000-1) can transmit a charging command to the station (2000-1) via wireless communication (e.g., BLE communication). When voltage is supplied to the cordless stick cleaner (1000-1) from the station (2000-1) according to the charging command, the cordless stick cleaner (1000-1) can obtain the heat generation amount between the first charging terminal (1010) and the second charging terminal (2010). For example, a cordless stick vacuum cleaner (1000-1) can detect a first voltage value (v2) of a first charging terminal (1010) through a first voltage detection circuit (1100), obtain a charging current value (I_chg) of a battery (1050) and a discharge current value (I_leak) of the battery (1050) from the battery (1050), receive a second voltage value (v1) of a second charging terminal (2010) obtained through a second voltage detection circuit (2100) at the station (2000-1), and calculate a charging terminal heat generation amount using the following equation.

[0232] Charging terminal heat generation (P) = Charging terminal voltage (V) * Charging terminal current (I)

[0233] = [v1 -v2] * [I_chg+ I_leak]

[0234] The cordless stick vacuum cleaner (1000-1) can output a notification to the user to re-dock the cordless stick vacuum cleaner (1000-1) when the heat generation of the charging terminal exceeds the critical heat generation (overheating standard value) that serves as the standard for overheating. The cordless stick vacuum cleaner (1000-1) can output the notification through the display or the user terminal (4000). The operation of the cordless stick vacuum cleaner (1000-1) to output the notification will be examined in more detail with reference to FIG. 20.

[0235] FIG. 20 is a drawing for explaining an operation of a wireless stick vacuum cleaner (1000-1) according to one embodiment of the present disclosure to output a notification.

[0236] Referring to 2011 of FIG. 20, if the amount of heat generated at the charging terminal exceeds the overheating standard value, the cordless stick cleaner (1000-1) can output a notification (2001) on the display of the cordless stick cleaner (1000-1). For example, the cordless stick cleaner (1000-1) can output a notification (2001) such as "Please check the charging status" on the display. At this time, the user can check the notification (2001) output on the display, detach the cordless stick cleaner (1000-1) from the station (2000-1), align the charging terminals, and then place the cordless stick cleaner (1000-1) on the station (2000-1) again.

[0237] Referring to 2012 of FIG. 20, when the amount of heat generated at the charging terminal exceeds the overheating reference value, the cordless stick vacuum cleaner (1000-1) can transmit information that the charging terminal is in an overheating state to the station (2000-1). When the station (2000-1) receives information that the charging terminal is in an overheating state from the cordless stick vacuum cleaner (1000-1), the station can transmit information that the charging terminal is in an overheating state to the server (3000). At this time, the server (3000) can transmit information that the charging terminal is in an overheating state to the user terminal (4000). Accordingly, when a user executes an application on the user terminal (4000), the user terminal (4000) can output a notification (2002) such as "Please check the charging status" in the execution window of the application.

[0238] Meanwhile, the wireless stick vacuum cleaner (1000-1) or station (2000-1) may transmit information that the charging terminal is in an overheated state to the user terminal (4000) through D2D (device to device) communication, without going through the server (3000).

[0239] According to one embodiment of the present disclosure, a cleaning robot (1000) may be provided that detects an overheating state by using the amount of heat generated between a first charging terminal (1010) and a second charging terminal (2010), and prevents damage to components or occurrence of fire by performing a re-docking operation X when an overheating state is detected.

[0240] A cleaning robot (1000) according to one embodiment of the present disclosure may include: a battery (1050) charged with a voltage supplied from a station (2000); a first charging terminal (1010) for charging the battery (1050) that supplies power to the cleaning robot (1000); a first voltage detection circuit (1100) for detecting a voltage of the first charging terminal (1010); a first communication interface (1080) for communicating with the station (2000); a memory (1002) for storing one or more instructions; and at least one processor. The at least one processor may detect contact between the first charging terminal (1010) of the cleaning robot (1000) and the second charging terminal (2010) of the station (2000) by executing one or more instructions, as the cleaning robot (1000) is docked to the station (2000). At least one processor may transmit a charging command to the station (2000) through the first communication interface (1080) based on detecting contact between the first charging terminal (1010) and the second charging terminal (2010). At least one processor may obtain a heat generation amount between the first charging terminal (1000) and the second charging terminal (2000) based on voltage being supplied to the cleaning robot (1000) from the station (2000) according to the charging command. At least one processor may perform a re-docking operation after moving away from the station (2000) by a predetermined distance based on determining that the obtained heat generation amount exceeds a threshold heat generation amount that serves as a criterion for overheating.

[0241] At least one processor according to one embodiment of the present disclosure may output a notification to perform re-docking through a user terminal (4000) or a speaker connected through a server (3000) based on determining that the acquired heat generation exceeds a threshold heat generation.

[0242] At least one processor according to one embodiment of the present disclosure may determine that the first charging terminal (1010) of the cleaning robot (1000) and the second charging terminal (2010) of the station (2000) are in contact based on determining that the voltage value detected through the first voltage detection circuit (1100) is equal to or greater than a first threshold voltage value.

[0243] At least one processor according to one embodiment of the present disclosure can obtain a heat generation amount between the first charging terminal (1010) and the second charging terminal (2010) based on a voltage value between the first charging terminal (1010) and the second charging terminal (2010), a discharge current value of the battery (1050), and a charge current value of the battery (1050).

[0244] At least one processor according to one embodiment of the present disclosure can measure a first voltage value of a first charging terminal (1010) through a first voltage detection circuit (1100). At least one processor can receive information about a second voltage value of a second charging terminal (2010) from a station (2000). At least one processor can obtain a difference between the first voltage value of the first charging terminal (1010) and the second voltage value of the second charging terminal (2010) as a voltage value between the first charging terminal (1010) and the second charging terminal (2010).

[0245] At least one processor according to one embodiment of the present disclosure may transmit a signal requesting a second voltage value of the second charging terminal (2010) to the station (2000) based on determining that a voltage value detected through the first voltage detection circuit (1100) after transmitting a charging command is equal to or greater than a second threshold voltage value. The at least one processor may receive information about the second voltage value of the second charging terminal (2010) from the station (2000).

[0246] The second threshold voltage value according to one embodiment of the present disclosure may be greater than the first threshold voltage value for detecting contact between the first charging terminal (1010) and the second charging terminal (2010).

[0247] At least one processor according to one embodiment of the present disclosure may transmit a signal requesting a second voltage value of a second charging terminal (2010) to the station (2000) at predetermined time intervals.

[0248] The amount of heat generated between the first charging terminal and the second charging terminal according to one embodiment of the present disclosure may vary depending on the charging state of the battery (1050).

[0249] At least one processor according to one embodiment of the present disclosure may obtain a first current value detected through a current detection circuit before charging starts after docking as a discharge current value of the battery (1050). At least one processor may obtain a second current value detected through a current detection circuit after charging starts as a charge current value of the battery (1050).

[0250] At least one processor according to one embodiment of the present disclosure can obtain a charging current value of the battery (1050) and a discharging current value of the battery (1050) from the battery (1050), if the current sensing circuit is included in the battery (1050).

[0251] At least one processor according to one embodiment of the present disclosure may transmit a charging command to the station (2000) via wireless communication at predetermined time intervals when the acquired heat generation amount is less than or equal to a threshold heat generation amount.

[0252] In one embodiment of the present disclosure, a cordless vacuum cleaner, such as another cordless stick vacuum cleaner (1000-1), may be configured to dock to a station (2000-1). The cordless vacuum cleaner may include a first charging terminal configured to charge a battery that supplies power to the cordless vacuum cleaner, a first voltage detection circuit configured to detect a voltage of the first charging terminal, a first communication interface configured to communicate with the station (2000-1), a memory configured to store one or more instructions, and at least one processor configured to execute one or more instructions to perform a plurality of operations. The operations may include an operation of detecting contact between a first charging terminal of the wireless vacuum cleaner and a second charging terminal of the station (2000-1) through a first voltage detection circuit as the wireless vacuum cleaner is docked to the station (2000-1); an operation of transmitting a charging command to the station (2000-1) through a first communication interface based on the detection of the contact between the first charging terminal and the second charging terminal; an operation of obtaining a heat generation amount between the first charging terminal and the second charging terminal based on the voltage being supplied to the wireless vacuum cleaner from the station (2000-1) according to the charging command; and an operation of performing an overheating prevention operation based on determining that the obtained heat generation amount exceeds a threshold heat generation amount that serves as a criterion for overheating.A method for detecting overheating of a cleaning robot (1000) in a station (2000) according to one embodiment of the present disclosure comprises: a step of detecting contact between a first charging terminal (1010) of the cleaning robot (1000) and a second charging terminal (2010) of the station (2000) through a first voltage detection circuit (1100) based on the cleaning robot (1000) being docked to the station (2000); a step of transmitting a charging command to the station (2000) through a first communication interface (1080) of the cleaning robot (1000) based on the detection of the contact between the first charging terminal (1010) and the second charging terminal (2010); a step of obtaining a heat generation amount between the first charging terminal (1010) and the second charging terminal (2010) based on the voltage being supplied to the cleaning robot (1000) from the station (2000) according to the charging command; And, based on determining that the obtained heat generation exceeds the critical heat generation that serves as the criterion for overheating, it may include a step of performing a re-docking operation after moving away from the station (2000) by a predetermined distance.

[0253] A method for detecting overheating of a cleaning robot (1000) according to one embodiment of the present disclosure may include a step of outputting a notification to perform re-docking through a user terminal (4000) or a speaker connected through a server (3000) based on determining that the acquired heat generation exceeds a threshold heat generation.

[0254] In a step of detecting contact between a first charging terminal (1010) of a cleaning robot (1000) and a second charging terminal (2010) of a station (2000) according to one embodiment of the present disclosure, it may be determined that the first charging terminal (1010) of the cleaning robot (1000) and the second charging terminal (2010) of the station (2000) are in contact based on determining that a voltage value detected through a first voltage detection circuit (1100) is equal to or greater than a first threshold voltage value.

[0255] The step of obtaining the amount of heat generated between the first charging terminal (1010) and the second charging terminal (2010) according to one embodiment of the present disclosure may include the step of obtaining the amount of heat generated between the first charging terminal (1010) and the second charging terminal (2010) based on a voltage value between the first charging terminal (1010) and the second charging terminal (2010), a discharge current value of the battery (1050), and a charge current value of the battery (1050).

[0256] The step of obtaining the amount of heat generated between the first charging terminal (1010) and the second charging terminal (2010) according to one embodiment of the present disclosure may include the step of measuring a first voltage value of the first charging terminal (1010) through the first voltage detection circuit (1100); the step of receiving information about a second voltage value of the second charging terminal (2010) from the station (2000); and the step of obtaining a difference between the first voltage value of the first charging terminal (1010) and the second voltage value of the second charging terminal (2010) as the voltage value between the first charging terminal (1010) and the second charging terminal.

[0257] The step of receiving information about the second voltage value of the second charging terminal (2010) according to one embodiment of the present disclosure may include the step of transmitting a signal requesting the second voltage value of the second charging terminal (2010) to the station (2000) based on determining that the voltage value detected by the first voltage detection circuit (1100) after transmitting the charging command is equal to or greater than the second threshold voltage value; and the step of receiving information about the second voltage value of the second charging terminal (2010) from the station (2000). The second threshold voltage value according to one embodiment of the present disclosure may be greater than the first threshold voltage value for detecting contact between the first charging terminal (1010) and the second charging terminal (2010).

[0258] The step of transmitting a signal requesting a second voltage value of the second charging terminal (2010) to the station (2000) according to one embodiment of the present disclosure may include the step of transmitting a signal requesting a second voltage value of the second charging terminal (2010) to the station (2000) at predetermined time intervals.

[0259] A method for detecting overheating of a cleaning robot (1000) according to one embodiment of the present disclosure may include a step of obtaining a first current value detected through a current detection circuit before charging starts after docking as a discharge current value of the battery (1050); and a step of obtaining a second current value detected through the current detection circuit after charging starts as a charging current value of the battery (1050).

[0260] 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.

[0261] 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 commodity between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., a compact disc read-only memory (CD-ROM) or a Universal Serial Bus (USB) flash drive), or may be distributed online (e.g., downloaded or uploaded) through an application 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.

Claims

1. In a cleaning robot (1000) docked to a station (2000), A first charging terminal (1010) for charging a battery that supplies power to the above cleaning robot (1000); A first voltage detection circuit (1100) for detecting the voltage of the first charging terminal; A first communication interface (1080) for communicating with the above station; A memory (1002) storing one or more instructions; and comprising at least one processor (1001), The at least one processor, by executing the one or more instructions, Based on the cleaning robot being docked to the station, contact between the first charging terminal of the cleaning robot and the second charging terminal of the station is detected through the first voltage detection circuit, Based on detecting contact between the first charging terminal and the second charging terminal, a charging command is transmitted to the station through the first communication interface, Based on the voltage being supplied to the cleaning robot from the station according to the charging command, the amount of heat generated between the first charging terminal and the second charging terminal is obtained, A cleaning robot that performs a re-docking operation after moving away from the station at a predetermined distance based on determining that the obtained calorific value exceeds a critical calorific value that serves as a criterion for overheating.

2. In the first paragraph, the at least one processor executes the one or more instructions, A cleaning robot that outputs a notification that re-docking is performed through a speaker of a user terminal (4000) or the cleaning robot connected through a server (3000) based on the determination that the obtained calorific value exceeds the threshold calorific value.

3. In the first paragraph, the at least one processor executes the one or more instructions, A cleaning robot, wherein it is determined that the first charging terminal of the cleaning robot and the second charging terminal of the station are in contact based on determining that the voltage value detected through the first voltage detection circuit is equal to or higher than the first threshold voltage value.

4. In the first paragraph, the at least one processor executes the one or more instructions, A cleaning robot that obtains the amount of heat generated between the first charging terminal and the second charging terminal by multiplying the voltage value between the first charging terminal and the second charging terminal by the sum of the discharge current value of the battery and the charge current value of the battery.

5. In the fourth paragraph, the at least one processor executes the one or more instructions, The first voltage value of the first charging terminal is measured through the first voltage detection circuit, Receive information about the second voltage value of the second charging terminal from the above station, A cleaning robot that obtains the difference between the first voltage value of the first charging terminal and the second voltage value of the second charging terminal as the voltage value between the first charging terminal and the second charging terminal.

6. In the fifth paragraph, the at least one processor executes the one or more instructions, After transmitting the charging command, based on determining that the voltage value detected by the first voltage detection circuit is equal to or higher than the second threshold voltage value, a signal requesting the second voltage value of the second charging terminal is transmitted to the station, A cleaning robot that receives information about a second voltage value of the second charging terminal from the station.

7. In the 6th paragraph, the cleaning robot, wherein the second threshold voltage value is greater than the first threshold voltage value for detecting contact between the first charging terminal and the second charging terminal.

8. In the sixth paragraph, the at least one processor executes the one or more instructions, A cleaning robot that transmits a signal requesting a second voltage value of the second charging terminal to the station at predetermined time intervals.

9. In the fourth paragraph, the amount of heat generated between the first charging terminal and the second charging terminal is A cleaning robot that varies depending on the charge status of the above battery.

10. In the fourth paragraph, the at least one processor executes the one or more instructions, The first current value detected through the current detection circuit before charging starts after the above docking is acquired as the discharge current value of the battery, A cleaning robot that acquires a second current value detected through the current detection circuit after charging starts as the charging current value of the battery.

11. In the 10th paragraph, the at least one processor executes the one or more instructions, A cleaning robot that obtains a charging current value of the battery and a discharging current value of the battery from the battery when the current detection circuit is included in the battery.

12. In the first paragraph, the at least one processor executes the one or more instructions, A cleaning robot that transmits a charging command to the station at predetermined time intervals via wireless communication based on determining that the obtained calorific value is lower than or equal to the critical calorific value.

13. A method for detecting overheating of a cleaning robot at a station, A step (S610) of detecting contact between a first charging terminal of the cleaning robot and a second charging terminal of the station through a first voltage detection circuit of the cleaning robot based on the cleaning robot being docked to the station; A step (S620) of transmitting a charging command to the station through the first communication interface of the cleaning robot based on detecting contact between the first charging terminal and the second charging terminal; Step (S630) of obtaining the amount of heat generated between the first charging terminal and the second charging terminal based on the voltage being supplied to the cleaning robot from the station according to the charging command; and A method including a step (S650) of performing a re-docking operation after moving away from the station by a predetermined distance based on determining that the obtained calorific value exceeds a critical calorific value that serves as a criterion for overheating.

14. In the 13th paragraph, the method, A method further comprising the step of outputting a notification that re-docking is performed through a speaker of a user terminal connected through a server or the cleaning robot based on determining that the obtained calorific value exceeds the threshold calorific value.

15. In the 13th paragraph, the step of detecting contact between the first charging terminal of the cleaning robot and the second charging terminal of the station is, A method comprising a step of determining that the first charging terminal of the cleaning robot and the second charging terminal of the station are in contact based on determining that the voltage value detected through the first voltage detection circuit is equal to or greater than a first threshold voltage value.

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