Cleaning robot, and method for controlling same

Abstract

Disclosed are a cleaning robot and a method for controlling same. A cleaning robot according to an embodiment of the present invention comprises: a main body of the cleaning robot; a traveling unit which moves the main body; a cleaning pad which is provided on the lower portion of the main body and to which a detachable mop is fixed; a rotating unit which rotates the cleaning pad; memory which stores map data of a cleaning area; and a processor which moves the main body by the traveling unit on the basis of the map data and rotates the cleaning pad by the rotating unit to perform a cleaning operation, wherein the processor transmits a control signal to a docking station when a cleaning condition of the mop is satisfied while the main body is moving, thereby preheating water to be used for cleaning the mop by the docking station, and can return the main body to the docking station.

Description

Cleaning robot and control method thereof

[0001] The disclosed invention relates to a cleaning robot and a control method thereof.

[0002] The cleaning robot can autonomously navigate its cleaning area and perform wet cleaning by rotating the cleaning pad located at the bottom of the robot. For example, a detachable circular mop can be attached to the cleaning pad, and the motor rotates the cleaning pad to clean the floor using the mop.

[0003] After the cleaning robot completes cleaning, it returns to the docking station, and the docking station can charge the cleaning robot and perform mop cleaning tasks.

[0004] After the cleaning robot docks to the docking station, the docking station supplies water stored in the water tank to a heater, heating it to a preset temperature to wash the mop with hot water. The docking station then supplies hot water to the washing tank to clean the mop. Steam is then sprayed toward the cleaning pad to sterilize the mop, and after cleaning, the mop can be dried.

[0005] In this way, since the cleaning robot previously had to dock at the docking station before proceeding with the process of cleaning the mop, such as heating the water, it took a long time to clean the mop.

[0006] The disclosed invention provides a cleaning robot and a control method thereof, which can shorten the time by preparing hot water used for mop washing in advance and returning the cleaning robot to a docking station to perform mop washing when mop washing conditions are satisfied.

[0007] According to one aspect of the disclosed invention, a cleaning robot comprises: a main body of the cleaning robot; a driving unit that moves the main body; a cleaning pad provided at a lower portion of the main body and having a detachable mop fixed thereto; a rotating unit that rotates the cleaning pad; a memory that stores map data of a cleaning area; and a processor that moves the main body by the driving unit based on the map data and rotates the cleaning pad by the rotating unit to perform a cleaning task; wherein, when a cleaning condition of the mop is satisfied during the movement of the main body, the processor transmits a control signal to a docking station so as to preheat water to be used for cleaning the mop by the docking station and return the main body to the docking station.

[0008] The processor may determine that the cleaning conditions of the mop are satisfied when the area cleaned in the cleaning area exceeds a preset area based on the map data.

[0009] The above processor can determine that the cleaning condition of the mop is satisfied when the usage time of the cleaning pad exceeds the preset usage time.

[0010] The processor may determine that the cleaning conditions of the mop are satisfied when cleaning is completed in the cleaning area based on the map data.

[0011] The processor may determine that the cleaning condition of the mop is satisfied when the mop cleaning command is received through an external means or a user interface.

[0012] The processor may transmit a first control signal to the docking station so that water is preheated by the docking station to reach a first temperature lower than the temperature of water used in washing the mop, and when the main body is docked to the docking station, the processor may transmit a second control signal to the docking station so that water that has reached the first temperature is heated by the docking station to reach a second temperature, which is the temperature of water used in washing the mop, and supply the water that has reached the second temperature to the washing tank so that washing the mop is performed.

[0013] The method further comprises a distance measuring unit that detects the positions of the main body and the docking station on a map of the cleaning area, wherein the distance measuring unit includes at least one of an ultrasonic sensor, a radar, an infrared sensor, and a lidar sensor, and the processor can measure the distance between the main body and the docking station by comparing the positions of the main body and the docking station received from the distance measuring unit.

[0014] The processor can calculate an estimated time required for the main body to arrive at the docking station by using the distance between the main body and the docking station and the moving speed of the main body.

[0015] The processor may transmit a first control signal to the docking station so that water is preheated by the docking station to reach a first temperature lower than the temperature of water used in washing the mop, and when the main body is returning to the docking station, if the distance between the main body and the docking station is less than a preset distance or the expected time required for the main body to arrive at the docking station is less than a preset time, the processor may transmit a second control signal to the docking station so that the water, which has reached the first temperature by the docking station, is heated to reach a second temperature, which is the temperature of water used in washing the mop.

[0016] The processor may transmit a third control signal to the docking station when the main body is docked to the docking station, so as to supply water reaching the second temperature by the docking station to the washing tank to perform the mop washing.

[0017] The processor may transmit a first control signal to the docking station when the cleaning condition of the mop is satisfied during the movement of the main body, and at the same time, when the distance between the main body and the docking station is less than a preset distance or the expected time required for the main body to arrive at the docking station is less than a preset time, so as to preheat water by the docking station to reach a second temperature, which is a temperature of water used when washing the mop, and when the main body docks to the docking station, transmit a second control signal to the docking station so as to supply water that has reached the second temperature by the docking station to a washing tank to wash the mop.

[0018] A method for controlling a cleaning robot according to another aspect of the disclosed invention may include performing a cleaning task by rotating a cleaning pad on which a mop is fixed while moving the main body of the cleaning robot based on map data, and when it is determined that a cleaning condition of the mop is satisfied during the movement of the main body, transmitting a control signal to a docking station to preheat water to be used for cleaning the mop by the docking station, and returning the main body to the docking station.

[0019] If the area cleaned in the cleaning area based on the map data exceeds a preset area, or the usage time of the cleaning pad exceeds a preset usage time, or if cleaning is completed in the cleaning area based on the map data, or if a mop cleaning command is received through an external means or a user interface, it can be determined that the mop cleaning condition is satisfied.

[0020] If it is determined that the washing condition of the mop is satisfied during the movement of the main body, a first control signal is transmitted to the docking station so that water is preheated by the docking station to reach a first temperature lower than the temperature of water used when washing the mop, and when the main body docks to the docking station, a second control signal is transmitted to the docking station so that water that has reached the first temperature is heated by the docking station to reach a second temperature that is the temperature of water used when washing the mop, and water that has reached the second temperature is supplied to a washing tank so that washing of the mop is performed.

[0021] If it is determined that the cleaning condition of the mop is satisfied during the movement of the main body, a first control signal is transmitted to the docking station so that water is preheated by the docking station to reach a first temperature lower than the temperature of water used when washing the mop, and if the distance between the main body and the docking station is less than a preset distance or the expected time required for the main body to arrive at the docking station is less than a preset time while the main body is returning to the docking station, a second control signal is transmitted to the docking station so that water that has reached the first temperature by the docking station is heated to reach a second temperature that is the temperature of water used when washing the mop.

[0022] When the main body is docked to the docking station, the device may further include transmitting a third control signal to the docking station so that water reaching the second temperature by the docking station is supplied to the washing tank to perform the mop washing.

[0023] The method may further include: when the washing condition of the mop is satisfied while the main body is moving, and at the same time, when the distance between the main body and the docking station is less than a preset distance or the expected time required for the main body to arrive at the docking station is less than a preset time, transmitting a first control signal to the docking station so that water is preheated by the docking station to reach a second temperature, which is a temperature of water used when washing the mop; and when the main body docks to the docking station, transmitting a second control signal to the docking station so that water that has reached the second temperature by the docking station is supplied to a washing tank to wash the mop.

[0024] According to another aspect of the disclosed invention, a control method of a cleaning robot may be configured to perform a cleaning task by moving a main body of the cleaning robot based on map data and rotating a cleaning pad on which a mop is fixed, and when a cleaning condition of the mop is satisfied while the main body is moving, a first control signal may be transmitted to a docking station so that water is supplied from a water tank toward a heater by the docking station, and when the main body is docked to the docking station, a second control signal may be transmitted to the docking station so that the supplied water is heated by the heater so as to reach a second temperature, which is the temperature of water used when washing the mop, and the water reaching the second temperature may be supplied to a washing tank so as to perform the mop washing.

[0025] The disclosed cleaning robot and its control method can perform mop washing by returning the cleaning robot to the docking station when the mop washing conditions are satisfied, and can shorten the time by preparing hot water used for mop washing in advance.

[0026] The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

[0027] FIG. 1 is a block diagram illustrating components of a cleaning robot and a docking station according to one embodiment.

[0028] Figure 2 illustrates the bottom of the cleaning robot of Figure 1.

[0029] Figure 3 illustrates the configuration of a docking station for supplying water to be used for mop washing according to one embodiment.

[0030] Figure 4 illustrates a cleaning robot according to one embodiment docked to a docking station.

[0031] Figure 5 is a flowchart illustrating a control method of a cleaning robot according to one embodiment.

[0032] Fig. 6 is a flowchart showing a control method of a cleaning robot according to another embodiment.

[0033] Fig. 7 is a flowchart illustrating a method for controlling a cleaning robot according to another embodiment.

[0034] Fig. 8 is a flowchart illustrating a control method of a cleaning robot according to another embodiment.

[0035] It should be understood that the various embodiments and terms used in this document are not intended to limit the technical features described in this document to specific embodiments, but rather to include various modifications, equivalents, or substitutes of the embodiments.

[0036] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0037] The singular form of a noun corresponding to an item may include one or more of said items, unless the relevant context clearly indicates otherwise.

[0038] In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof.

[0039] The term "and / or" includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0040] The terms "part," "module," and "member" may be implemented in hardware or software. Depending on the embodiments, multiple "parts," "modules," or "members" may be implemented as a single component, or a single "part," "module," or "member" may include multiple components.

[0041] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0042] When a component (e.g., a first component) is referred to as being "coupled" or "connected" to another component (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0043] The terms "include" or "have" are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in this document, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0044] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0045] When we say that a component is "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0046] Below, displays according to various embodiments are specifically described with reference to the attached drawings.

[0047] FIG. 1 is a block diagram illustrating components of a cleaning robot and a docking station according to one embodiment, and FIG. 2 illustrates a bottom view of the cleaning robot of FIG. 1.

[0048] Referring to FIGS. 1 and 2, the cleaning robot (100) may include a main body (101), a driving unit (110), a cleaning pad (120), a rotating unit (130), a first communication unit (140), a distance measuring unit (150), a memory (160), and a processor (170). Although not shown, the cleaning robot (100) may include a drum brush that scatters dust, a dust suction fan that sucks in the scattered dust, a dust bin that stores the sucked dust, various sensors that detect surrounding objects (e.g., ultrasonic sensors, infrared sensors, RF sensors, etc.), a camera for acquiring images, etc.

[0049] The main body (101) may be formed in a circular shape, for example, and may travel through the cleaning area by means of a driving unit (110).

[0050] The driving unit (110) may include a wheel (103) that moves the main body (101) and a motor (not shown) that drives the wheel (103).

[0051] A cleaning pad (120) is provided at the bottom of the main body (101), and a detachable mop (105) can be fixed thereto. The mop (105) fixed to the cleaning pad (120) can wet clean the floor surface by making contact with the floor surface of the cleaning area. For this purpose, moisture can be supplied to the mop (105) fixed to the cleaning pad (120) from a moisture supply means provided in the cleaning robot (100), although not shown.

[0052] The rotating part (130) may include a motor (not shown) that rotates the cleaning pad (120). As the cleaning pad (120) rotates by the rotating part (130), contaminants on the floor surface can be effectively removed.

[0053] The first communication unit (140) can perform wireless communication with external means such as a remote control, a user terminal, and a docking station (200). For example, wireless communication methods may include wireless Internet technologies such as wireless LAN (WLAN), Wi-Fi, Wibro (Wibro), WiMAX (World Interoperability for Microwave Access), HSDPA (High Speed ​​Downlink Packet Access), IEEE 802.16, Long Term Evolution (LTE), and Wireless Mobile Broadband Service (WMBS). In addition, short-range communication technologies such as Bluetooth, RFID (Radio Frequency Identification), IrDA (Infrared Data Association), UWB (Ultra Wideband), and ZigBee may be used. The first communication unit (140) may be included in a processor (170) described below.

[0054] The distance measuring unit (150) can detect the positions of the main body (101) and the docking station (200) on the map of the cleaning area. The distance measuring unit (150) can include an ultrasonic sensor, radar, infrared sensor, lidar sensor, etc.

[0055] At this time, the processor (170) can measure the distance between the main body (101) and the docking station (200) based on the above-described detected information received from the distance measuring unit (150). That is, the processor (170) can measure the distance between the main body (101) and the docking station (200) by comparing the position of the main body (101) and the position of the docking station (200) received from the distance measuring unit (150).

[0056] In another example, the distance measuring unit (150) may include a processor. In this case, the distance measuring unit (150) may detect the positions of the main body (101) and the docking station (200) on the map of the cleaning area or transmit and receive signals with the docking station (200), thereby measuring the distance between the main body (101) and the docking station (200).

[0057] The distance between the main body (101) and the docking station (200) described above and the current moving speed of the main body (101) can be used by the processor (170) to calculate the expected time required for the main body (101) (or cleaning robot (100)) to arrive at the docking station (200).

[0058] The memory (160) can store programs, applications, and data for the operation of the cleaning robot (100), and can store data generated by the processor (170). The memory (160) can store cleaning algorithms, map data of the cleaning area, various user interfaces (UI, User Interface), the movement path of the cleaning robot (100) during cleaning operation, the cleaning algorithm used for each path, various setting values, control signals, etc.

[0059] The memory (160) may include non-volatile memory such as ROM (Read Only Memory) and flash memory for long-term storage of data. The memory may include volatile memory such as S-RAM (Static Random Access Memory) and D-RAM (Dynamic Random Access Memory) for temporarily storing data.

[0060] The processor (170) can control the overall operation and function of the cleaning robot (100), and the functions of the cleaning robot (100) can be processed by one processor (170) or performed by a combination of multiple processors (170).

[0061] The processor (170) may be implemented as a digital signal processor (DSP), a microprocessor, or the like. However, the present invention is not limited thereto, and may include at least one of a central processing unit (CPU), a micro controller unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a communication processor (CP), or an ARM processor, or may be defined by the terms thereof. In addition, the processor (170) may be implemented in the form of a system on chip (SoC), a large scale integration (LSI), or a field programmable gate array (FPGA) having a built-in processing algorithm.

[0062] The processor (170) may include logic circuits and arithmetic circuits as hardware. The processor (170) may control electrically connected components of the cleaning robot (100) using programs, instructions, and data stored in the memory (160) for the operation of the cleaning robot (100). The processor (170) and the memory (160) may be implemented as separate chips or as a single chip.

[0063] The processor (170) can move the main body (101) by the driving unit (110) based on the map data of the cleaning area and rotate the cleaning pad (120) by the rotating unit (130) to perform the cleaning task.

[0064] The map data of the cleaning area may be stored as data by mapping the cleaning area using sensors or cameras of the cleaning robot (100). Specifically, the cleaning robot (100) may use infrared sensors, contact sensors, laser scanners, accelerometers and gyroscopes, cameras, etc. to collect and process data in real time while moving around the cleaning area to generate map data. Simultaneous Localization and Mapping (SLAM) technology may be used to estimate the location of the cleaning robot (100) and generate map data using sensor data.

[0065] The processor (170) can determine whether the cleaning conditions of the mop (105) are satisfied while the main body (101) is moving.

[0066] The processor (170) can determine that the cleaning conditions of the mop (105) are satisfied if the area cleaned in the cleaning area exceeds a preset area based on map data of the cleaning area. For example, if the preset area is 20 square meters and the cleaning robot (100) has currently cleaned an area of ​​25 square meters, the processor (170) can detect this and determine that the cleaning conditions of the mop (105) are satisfied.

[0067] The processor (170) can determine that the cleaning condition of the mop (105) is satisfied when the usage time of the cleaning pad (120) exceeds the preset usage time. For example, if the preset usage time is 30 minutes and the current usage time of the cleaning pad (120) is 35 minutes, the processor (170) can detect this and determine that the cleaning condition of the mop (105) is satisfied.

[0068] The processor (170) can determine that the cleaning conditions of the mop (105) have been satisfied when cleaning is completed in the cleaning area based on the map data of the cleaning area. The map data of the cleaning area can be used by the cleaning robot (100) to understand the surrounding environment and determine a movement path. For example, when the cleaning robot (100) performs cleaning by circling the cleaning area based on the map data, the processor (170) can analyze the map data to determine whether all cleaning is completed.

[0069] When the processor (170) receives a cleaning command for the mop (105) through an external means or a user interface (not shown), it can determine that the cleaning conditions for the mop (105) have been satisfied. For example, a user can transmit a mop cleaning command to the cleaning robot (100) by voice or pressing a button through a user terminal. In addition, the user can transmit a mop cleaning command by voice or pressing a button through a user interface provided on the cleaning robot (100).

[0070] When the cleaning conditions of the mop (105) are satisfied during the movement of the main body (101), the processor (170) generates a control signal and transmits it to the docking station (200), so that the water to be used for cleaning the mop (105) can be preheated by the docking station (200).

[0071] Here, the control signal may include a command to preheat water to be used for washing the mop (105) by the docking station (200). When the docking station (200) receives the control signal, it may perform an operation based on the control signal.

[0072] The processor (170) can generate a control signal and transmit it to the docking station (200), and then return the main body (101) to the docking station (200).

[0073] The processor (170) can calculate an estimated time required for the main body (101) (or cleaning robot (100)) to arrive at the docking station (200) by using the distance between the main body (101) and the docking station (200) and the current moving speed of the main body (101).

[0074] As described above, the processor (170) can measure the distance between the main body (101) and the docking station (200) by comparing the position of the main body (101) and the position of the docking station (200) received from the distance measuring unit (150).

[0075] The docking station (200) may include a second communication unit (210), a water tank (220), a heater (230), a washing tank (240), and a control unit (250). Here, the control unit (250) may control the overall operation and function of the docking station (200) and may include at least one processor.

[0076] Hereinafter, to aid understanding, the docking station (200) will be described first, followed by the processor (170).

[0077] FIG. 3 illustrates a configuration of a docking station for supplying water to be used for mop washing according to one embodiment, and FIG. 4 illustrates a cleaning robot according to one embodiment docked to the docking station.

[0078] Referring to FIGS. 3 and 4, the water tank (220) of the docking station (200) is connected to a heater (230) through a first connection line (L1), and the heater (230) can be connected to a washing tank (240) through a hot water line (L10).

[0079] Additionally, the water tank (220) can be connected to the washing tank (240) through the second connecting line (L2).

[0080] During general washing, water from the water tank (220) can be supplied to the washing tank (240) through the second connecting line (L2).

[0081] When washing with hot water, water in the water tank (220) is supplied to the heater (230) through the first connection line (L1), and after being heated by the heater (230) to a temperature suitable for washing the mop (105), it can be supplied to the washing tank (240) through the hot water line (L10). In the disclosed embodiment, it is assumed that the mop (105) is washed with hot water.

[0082] Selective water supply to the first connection line (L1) or the second connection line (L2) can be performed by valve (202) control.

[0083] The control unit (250) can receive a control signal from the cleaning robot (100) through the second communication unit (210). Based on the control signal, the control unit (250) can supply water stored in the water tank (220) to the heater (230), and heat the water to be used for washing the mop (105) by the heater (230). In addition, the control unit (250) can supply the water heated by the heater (230) to the washing tank (240) to wash the mop (105).

[0084] Although not shown, a washing plate may be provided in the washing tank (240), and after the cleaning robot (100) docks to the docking station (200), the cleaning pad (120) of the cleaning robot (100) rotates to cause the mop (105) to rub against the washing tank (240), thereby washing the mop.

[0085] In one embodiment, when the cleaning condition of the mop (105) is satisfied while the main body (101) is moving, the processor (170) described above transmits a first control signal to the docking station (200), so that the water is preheated by the docking station (200) to reach a first temperature (e.g., 30°C to 40°C) lower than the temperature of water (e.g., 45°C to 50°C) used when cleaning the mop (105). That is, the first control signal may include a command to heat the water to reach the first temperature by the docking station (200).

[0086] In this case, the docking station (200) receives a first control signal through the second communication unit (210), and then supplies water stored in the water tank (220) to the heater (230) based on the first control signal, and heats the water to reach a first temperature by the heater (230).

[0087] In addition, when the main body (101) of the cleaning robot (100) docks to the docking station (200), the processor (170) can transmit a second control signal to the docking station (200). Based on the second control signal, the docking station (200) can further heat the water, which has reached the first temperature described above, to a second temperature (e.g., 45°C to 50°C), which is the temperature of water used when washing the mop (105), by the heater (230). In addition, the docking station (200) can supply the water, which has reached the second temperature, to the washing tank (240) to wash the mop (105).

[0088] In another example, when the cleaning condition of the mop (105) is satisfied while the main body (101) is moving, the processor (170) transmits a first control signal to the docking station (200), so that the water is preheated by the docking station (200) to reach a first temperature (e.g., 30°C to 40°C) lower than the temperature of the water used when cleaning the mop (105) (e.g., 45°C to 50°C).

[0089] And, when the main body (101) is returning to the docking station (200), if the distance between the main body (101) and the docking station (200) is less than a preset distance or the expected time required for the main body (101) to arrive at the docking station (200) is less than a preset time, the processor (170) can transmit a second control signal to the docking station (200).

[0090] The docking station (200) can further heat the water, which has reached the first temperature described above based on the second control signal, to reach a second temperature (e.g., 45°C to 50°C), which is the temperature of water used when washing the mop (105), by means of the heater (230).

[0091] In this way, since the water is preheated to the temperature of the water used for washing the mop (105) before the main body (101) of the cleaning robot (100) docks to the docking station (200), the time for washing the mop (105) can be shortened.

[0092] Thereafter, the processor (170) can transmit a third control signal to the docking station (200) when the main body (101) docks to the docking station (200). The third control signal includes a command to supply water that has reached the second temperature described above to the washing tank (240) by the docking station (200) to wash the mop (105).

[0093] Specifically, the docking station (200) can supply water heated by the heater (230) based on the third control signal and reaching the second temperature to the washing tank (240) through the hot water line (L10). The docking station (200) can perform cleaning by rotating the cleaning pad (120) for a set period of time while communicating with the cleaning robot (100), thereby causing the mop (105) to rub against a cleaning plate (not shown) provided in the washing tank (240), thereby washing the mop (105). Although not shown, the docking station (200) can perform mop sterilization by spraying steam toward the cleaning pad (120), and after washing, can perform mop drying and contaminated water draining operations in the washing tank (240).

[0094] In another example, when the cleaning condition of the mop (105) is satisfied while the main body (101) is moving, and at the same time, the distance between the main body (101) and the docking station (200) is less than a preset distance or the expected time required for the main body (101) to arrive at the docking station (200) is less than a preset time, the processor (170) may generate a first control signal and transmit it to the docking station (200), so as to preheat water to a second temperature, which is the temperature of water used when cleaning the mop (105) by the docking station (200).

[0095] In this way, if a certain condition is satisfied before the main body (101) docks to the docking station (200), the process for washing the mop (105) can be simplified by heating the water in advance to the water temperature (e.g., 45°C to 50°C) used for washing the mop (105) by the docking station (200) without going through the process of heating the water to the first temperature as described above.

[0096] Afterwards, when the main body (101) docks to the docking station (200), the processor (170) generates a second control signal and transmits it to the docking station (200), so that water that has reached a second temperature by the docking station (200) can be supplied to the washing tank (240) to wash the mop (105).

[0097] In another example, when the cleaning condition of the mop (105) is satisfied while the main body (101) is moving, the processor (170) may transmit a first control signal to the docking station (200) to supply water to be used for cleaning the mop (105) from the water tank (220) toward the heater (230).

[0098] In this case, the first control signal does not include a command to heat water by the docking station (200), but only includes a command to supply water to be used for washing the mop (105) from the water tank (220) toward the heater (230).

[0099] Afterwards, when the main body (101) docks to the docking station (200), the processor (170) transmits a second control signal to the docking station (200), so that water is heated by the heater (230) to reach a second temperature, which is the temperature of water used when washing the mop (105) by the docking station (200), and the water that has reached the second temperature is supplied to the washing tank (240) to wash the mop (105).

[0100] For example, in a case where water can be heated at a high speed depending on the capacity and material of the heater (230), the water can be maintained in a state where only water is supplied to the heater (230) without being heated in advance by the heater (230) as described above. In addition, when the main body (101) is docked to the docking station (200), the water is quickly heated to the second temperature described above by the heater (230) to perform washing of the mop (105), thereby reducing energy consumption and minimizing washing time.

[0101] Figure 5 is a flowchart illustrating a control method of a cleaning robot according to one embodiment.

[0102] Referring to FIG. 5, the cleaning robot (100) performs cleaning work by rotating the cleaning pad (120) on which the mop (105) is fixed while moving based on map data (501).

[0103] When the cleaning robot (100) satisfies the cleaning conditions of the mop (105) while the main body (101) is moving, it transmits a first control signal to the docking station (200), thereby heating the water in advance by the docking station (200) to reach a first temperature lower than the temperature of the water used when washing the mop (105) (511).

[0104] The cleaning robot (100) can determine that the cleaning condition of the mop (105) is satisfied when at least one of the following occurs: the area cleaned in the cleaning area based on map data exceeds a preset area, the usage time of the cleaning pad (120) exceeds a preset usage time, cleaning is completed in the cleaning area based on map data, or a cleaning command for the mop (105) is received through a user interface.

[0105] After receiving the first control signal, the docking station (200) can supply water stored in the water tank (220) to the heater (230) based on the first control signal and heat the water to reach a first temperature by the heater (230).

[0106] When the cleaning robot (100) docks to the docking station (200), it transmits a second control signal to the docking station (200), heats the water that has reached the first temperature described above by the docking station (200), so that it reaches a second temperature, which is the temperature of water used when washing the mop (105), and supplies the water that has reached the second temperature to the washing tank (240) to wash the mop (105) (521).

[0107] Fig. 6 is a flowchart showing a control method of a cleaning robot according to another embodiment.

[0108] Referring to Fig. 6, the cleaning robot (100) performs cleaning work by rotating the cleaning pad (120) on which the mop (105) is fixed while moving based on map data (601).

[0109] The cleaning robot (100) transmits a first control signal to the docking station (200), so that the water is heated by the docking station (200) to reach a first temperature lower than the temperature of the water used when washing the mop (105) (611).

[0110] When the cleaning robot (100) returns to the docking station (200), if the distance between the main body (101) and the docking station (200) is less than a preset distance or the expected time required for the main body (101) to arrive at the docking station (200) is less than a preset time, the cleaning robot (100) transmits a second control signal to the docking station (200), thereby heating the water that has reached the first temperature described above by the docking station (200) to reach a second temperature, which is the temperature of the water used when washing the mop (105) (621).

[0111] When the cleaning robot (100) docks to the docking station (200), it transmits a third control signal to the docking station (200), so that water reaching the second temperature described above by the docking station (200) is supplied to the washing tank (240) to wash the mop (105) (631).

[0112] Fig. 7 is a flowchart illustrating a method for controlling a cleaning robot according to another embodiment.

[0113] Referring to Fig. 7, the cleaning robot (100) performs cleaning work by rotating the cleaning pad (120) on which the mop (105) is fixed while moving based on map data (701).

[0114] When the cleaning robot (100) is moving and the cleaning condition of the mop (105) is satisfied, and at the same time, the distance between the main body (101) and the docking station (200) is less than a preset distance or the expected time required for the main body (101) to arrive at the docking station (200) is less than a preset time, the cleaning robot (100) transmits a first control signal to the docking station (200) to preheat water to a second temperature, which is the temperature of water used when washing the mop (105) by the docking station (200) (711).

[0115] When the cleaning robot (100) docks to the docking station (200), it transmits a second control signal to the docking station (200), so that water that has reached a second temperature by the docking station (200) is supplied to the washing tank (240) to wash the mop (105) (721).

[0116] Fig. 8 is a flowchart illustrating a control method of a cleaning robot according to another embodiment.

[0117] The cleaning robot (100) performs cleaning work by rotating a cleaning pad (120) with a mop (105) fixed thereon while moving based on map data (801).

[0118] When the cleaning robot (100) is moving and the cleaning condition of the mop (105) is satisfied, it transmits a first control signal to the docking station (200), so that water is supplied from the water tank (220) to the heater (230) by the docking station (200) (811).

[0119] When the cleaning robot (100) docks to the docking station (200), it transmits a second control signal to the docking station (200), so that the water is heated to a second temperature, which is the temperature of water used when washing a mop (105), by the heater (230), and the water that has reached the second temperature is supplied to the washing tank to perform mop washing (821).

[0120] The methods according to various embodiments disclosed in this document may be provided as included in a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) through an application store (e.g., Play Store™) or directly between multiple 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.

[0121] The above illustrates and describes specific embodiments. However, the present invention is not limited to the aforementioned embodiments, and those skilled in the art will appreciate that various modifications and implementations can be made without departing from the spirit and scope of the invention as set forth in the claims below.

Claims

1. Main body of the cleaning robot; A driving unit that moves the above main body; A cleaning pad provided at the lower part of the main body and to which a detachable mop is fixed; A rotating part for rotating the above cleaning pad; Memory for storing map data of the cleaning area; and A processor that moves the main body by the driving unit based on the map data and rotates the cleaning pad by the rotating unit to perform a cleaning task; The above processor, When the cleaning conditions of the mop are satisfied during the movement of the main body, a control signal is transmitted to the docking station, so that the water to be used for cleaning the mop is preheated by the docking station. A cleaning robot that returns the above main body to the above docking station 2. In paragraph 1, The above processor, A cleaning robot that determines that the cleaning conditions of the mop are satisfied when the area cleaned in the cleaning area exceeds a preset area based on the above map data.

3. In paragraph 1, The above processor, A cleaning robot that determines that the cleaning conditions of the mop are satisfied when the usage time of the above cleaning pad exceeds the preset usage time.

4. In paragraph 1, The above processor, A cleaning robot that determines that the cleaning conditions of the mop are satisfied when cleaning is completed in the cleaning area based on the above map data.

5. In paragraph 1, The above processor, A cleaning robot that determines that the cleaning conditions of the mop are satisfied when the mop washing command is received through an external means or a user interface.

6. In paragraph 1, The above processor, By transmitting a first control signal to the docking station, the water is preheated by the docking station to reach a first temperature lower than the temperature of the water used when washing the mop, A cleaning robot that, when the main body is docked to the docking station, transmits a second control signal to the docking station, heats water that has reached the first temperature by the docking station to reach a second temperature, which is the temperature of water used when washing the mop, and supplies water that has reached the second temperature to a washing tank to perform the mop washing.

7. In paragraph 1, Further comprising a distance measuring unit for detecting the positions of the main body and the docking station on the map of the cleaning area, The above distance measuring unit includes at least one of an ultrasonic sensor, a radar, an infrared sensor, and a lidar sensor, The above processor, A cleaning robot that measures the distance between the main body and the docking station by comparing the position of the main body and the position of the docking station received from the distance measuring unit.

8. In paragraph 7, The above processor, A cleaning robot that calculates an estimated time required for the main body to arrive at the docking station by using the distance between the main body and the docking station and the moving speed of the main body.

9. In paragraph 8, The above processor, By transmitting a first control signal to the docking station, the water is preheated by the docking station to reach a first temperature lower than the temperature of the water used when washing the mop, When the distance between the main body and the docking station is less than a preset distance or the expected time required for the main body to arrive at the docking station is less than a preset time while the main body is returning to the docking station, A cleaning robot that transmits a second control signal to the docking station to heat water that has reached the first temperature by the docking station so that the water reaches a second temperature, which is the temperature of water used when washing the mop.

10. In paragraph 9, The above processor, A cleaning robot that, when the main body is docked to the docking station, transmits a third control signal to the docking station, thereby supplying water that has reached the second temperature by the docking station to the washing tank to perform the mop washing.

11. In paragraph 8, The above processor, If the cleaning condition of the mop is satisfied during the movement of the main body, and at the same time, the distance between the main body and the docking station is less than a preset distance or the expected time required for the main body to arrive at the docking station is less than a preset time, By transmitting a first control signal to the docking station, the water is preheated by the docking station to reach a second temperature, which is the temperature of the water used when washing the mop. A cleaning robot that, when the main body is docked to the docking station, transmits a second control signal to the docking station, so that water reaching the second temperature by the docking station is supplied to the washing tank to perform the mop washing.

12. The cleaning robot moves its main body based on map data and rotates the cleaning pad with the mop fixed to perform the cleaning task. If it is determined that the cleaning conditions of the mop are satisfied during the movement of the main body, a control signal is transmitted to the docking station so that the water to be used for cleaning the mop is preheated by the docking station. A control method for a cleaning robot, comprising returning the main body to the docking station.

13. In paragraph 12, If the area cleaned in the cleaning area based on the above map data exceeds the preset area, If the usage time of the above cleaning pad exceeds the preset usage time, Based on the above map data, cleaning is completed in the above cleaning area, or A control method for a cleaning robot that determines that the cleaning condition of the mop is satisfied when the mop washing command is received through an external means or a user interface.

14. In paragraph 12, When it is determined that the cleaning conditions of the mop are satisfied during the movement of the main body, a first control signal is transmitted to the docking station, so that the water is preheated by the docking station to reach a first temperature lower than the temperature of the water used when washing the mop. A control method for a cleaning robot further comprising, when the main body is docked to the docking station, transmitting a second control signal to the docking station, heating water that has reached the first temperature by the docking station to reach a second temperature, which is the temperature of water used when washing the mop, and supplying water that has reached the second temperature to a washing tank to perform the mop washing.

15. In paragraph 12, When it is determined that the cleaning conditions of the mop are satisfied during the movement of the main body, a first control signal is transmitted to the docking station, so that the water is preheated by the docking station to reach a first temperature lower than the temperature of the water used when washing the mop. When the distance between the main body and the docking station is less than a preset distance or the expected time required for the main body to arrive at the docking station is less than a preset time while the main body is returning to the docking station, A control method for a cleaning robot further comprising transmitting a second control signal to the docking station to heat water that has reached the first temperature by the docking station so that the water reaches a second temperature, which is the temperature of water used when washing the mop.

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