Robot cleaner and method for controlling system including same

Abstract

The present invention relates to a method for controlling a robot cleaner system including a robot cleaner and a docking station. The method includes: a first heating step of heating water stored in the docking station; a supply step of supplying the water heated in the docking station to the docked robot cleaner; a cleaning step in which the robot cleaner cleans a cleaning area; a second heating step in which a portion of the water stored in the robot cleaner is re-heated when a contaminated area having a high floor contamination level is found during cleaning; and a hot water cleaning step in which the contaminated area is cleaned by using the re-heated water.

Description

Control method for a robot vacuum cleaner and a system including the same

[0001] The present invention relates to a robot vacuum cleaner and a control method for a system including the same.

[0002] A robot vacuum cleaner is a device that cleans by sucking up dust and other foreign substances from the floor or wiping them away. Recently, vacuum cleaners capable of mopping have been developed. Furthermore, robot vacuum cleaners are devices that clean while driving themselves.

[0003] A robot vacuum cleaner capable of moving by means of a mop surface is known as a prior art (Korean Patent Publication No. 10-1654014). In the prior art, the robot vacuum cleaner includes a first rotating member and a second rotating member that secure a pair of mop surfaces arranged in a left-right direction. In the robot vacuum cleaner according to the prior art, the first rotating member and the second rotating member are each detachably connected to the robot body.

[0004] Conventional technology uses cold water when cleaning the floor, which makes it difficult to clean the floor thoroughly if it is heavily contaminated.

[0005] To address these issues, for example, a robot vacuum cleaner can perform steam / hot water cleaning functions in addition to dust cleaning. Therefore, a water tank containing water for generating steam and a heater for heating the water contained in the tank are installed inside the robot vacuum cleaner.

[0006] However, robot vacuum cleaners are powered by internal batteries rather than external power. Therefore, using the battery to generate steam reduces the robot vacuum's operating time. Furthermore, the addition of components for steam generation, such as a water tank and heater, increases the robot vacuum's size.

[0007]

[0008] [Prior Art Literature]

[0009] [Patent Document]

[0010] Korean Patent No. 10-1654014 (registration date: August 30, 2016)

[0011] The problem to be solved by the present invention is that, before a robot cleaner cleans a cleaning area, a docking station heats water, and the robot cleaner, which receives the heated hot water, cleans the cleaning area, thereby reducing the amount of battery used by the robot cleaner and reducing the size of the battery installed in the robot cleaner.

[0012] Another problem to be solved by the present invention is to reduce the battery usage of the robot cleaner and reduce the size of the battery mounted on the robot cleaner by heating water at the docking station before the robot cleaner cleans the cleaning area, and then the robot cleaner, which receives the heated hot water, cleans the cleaning area and, in heavily polluted areas, heats the water stored in the robot cleaner and cleans with hot water or steam.

[0013]

[0014] To solve the above problem, the present invention is characterized in that water is first heated at a docking station and then water is secondarily heated in a contaminated area to clean the contaminated area.

[0015] Specifically, the present invention relates to a control method for a robot cleaner system including a robot cleaner and a docking station, the method comprising: a first heating step of heating water stored in a docking station; a supply step of supplying the water heated in the docking station to a docked robot cleaner; a cleaning step of cleaning a cleaning area by the robot cleaner; a second heating step of reheating a portion of the water stored in the robot cleaner when a contaminated area with a high floor contamination level is found during cleaning; and a hot water cleaning step of cleaning the contaminated area using the reheated water.

[0016] The above hot water cleaning step can spray reheated water onto the contaminated area, and then the robot cleaner can mop the contaminated area.

[0017] The above hot water cleaning step can provide reheated water to the mop of the robot cleaner, and then clean the contaminated area with the mop.

[0018] In the second heating step, the contaminated area can be determined by analyzing the image of the floor.

[0019]

[0020] The docking station may not heat water while the robot vacuum cleaner is cleaning the cleaning area.

[0021] In addition, the present invention may further include a re-watering step in which, when the robot cleaner is cleaning a cleaning area and there is a shortage of water, the docking station heats water, and the robot cleaner is docked to the docking station to receive the heated water.

[0022] In addition, the present invention further includes an input step for receiving a cleaning command from a user, and when a hot water cleaning command is received in the input step, the first heating step, the supply step, the cleaning step, the second heating step, and the hot water cleaning step can be executed.

[0023] In addition, a robot cleaner according to one embodiment of the present invention includes a body, a hot water unit installed in the body and heating stored water to generate and spray hot water, a cleaning unit for cleaning the floor, a driving unit for driving the body, a sensing unit for detecting the surrounding environment of the body and the level of floor contamination, a communication unit for communicating with a docking station, an input unit for receiving a user command, and a control unit for performing overall control of the robot cleaner, wherein the control unit is characterized in that, when a cleaning command is input through the input unit, it outputs a hot water generation command to the docking station, docks to the docking station, receives hot water from the docking station, and cleans a cleaning area, and when a contaminated area with a high level of floor contamination is found during cleaning, it heats the stored water and cleans the contaminated area using the heated water.

[0024] The above control unit can determine the contaminated area by analyzing the image of the floor.

[0025] The control unit can transmit a command to stop generating hot water to the docking station while the robot cleaner is cleaning the cleaning area.

[0026] The control unit can transmit a command to generate hot water to the docking station when the robot cleaner runs out of water while cleaning the cleaning area, and control the robot cleaner to dock to the docking station and receive heated water.

[0027] The above cleaning unit may further include a mop that cleans the floor by rubbing against the floor.

[0028] The above control unit can control the robot cleaner to clean the contaminated area using the mop after spraying reheated water onto the contaminated area.

[0029] The above control unit can control to provide reheated water to the mop and then clean the contaminated area with the mop.

[0030] Another embodiment of the present invention relates to a control method for a robot cleaner system including a robot cleaner and a docking station, the method comprising: a first heating step of heating water stored in a docking station; a supply step of supplying water heated in the docking station to a docked robot cleaner; a cleaning step of cleaning a cleaning area by the robot cleaner; a second heating step of reheating water stored in the robot cleaner when a contaminated area with a high floor contamination level is found during cleaning; and a hot water cleaning step of cleaning the contaminated area using the reheated water.

[0031]

[0032] Through the above solution, the docking station heats water before the robot cleaner cleans the cleaning area, and the robot cleaner, which receives the heated hot water, cleans the cleaning area, thereby reducing the battery usage of the robot cleaner and reducing the size of the battery installed in the robot cleaner, and since the docking station heats water only when necessary, there is an advantage of reducing the energy consumption of the docking station.

[0033] In addition, the present invention has the advantage of being able to clean heavily polluted areas while reducing the battery usage of the robot cleaner by heating water at the docking station before the robot cleaner cleans the cleaning area, and the robot cleaner receiving the heated hot water cleans the cleaning area, and then heating the water stored in the robot cleaner to clean with hot water or steam in heavily polluted areas.

[0034] In addition, the present invention has the advantage of reducing cleaning time and improving cleaning efficiency by cleaning the cleaning area according to the degree of contamination by heating the water stored in the robot cleaner in a heavily polluted area and cleaning with hot water or steam.

[0035]

[0036] FIG. 1 is a perspective view showing a robot cleaner constituting a robot cleaner system according to one embodiment of the present invention.

[0037] FIG. 2 is a perspective view showing the internal configuration of a robot cleaner constituting a robot cleaner system according to one embodiment of the present invention.

[0038] FIG. 3 is a bottom perspective view of a robot cleaner constituting a robot cleaner system according to one embodiment of the present invention.

[0039] FIG. 4 is a perspective view of a docking station constituting a robot cleaner system according to one embodiment of the present invention.

[0040] FIG. 5 is a cross-sectional view illustrating a heating unit and a hot water unit constituting a robot cleaner system according to one embodiment of the present invention.

[0041] FIG. 6 is a drawing for explaining the docking form of a hot water unit and a steam unit in a robot cleaner system according to one embodiment of the present invention.

[0042] FIG. 7 is a block diagram showing a control system of a robot vacuum cleaner system according to one embodiment of the present invention.

[0043] Figure 8 is a flowchart for explaining the basic configuration of a control method of a robot vacuum cleaner system according to one embodiment of the present invention.

[0044] The expressions referring to directions such as “front (F) / back (R) / left (Le) / right (Ri) / upper (U) / lower (D)” mentioned below are defined as indicated in the drawings, but this is only for the purpose of explaining so that the present invention can be clearly understood, and it goes without saying that each direction can be defined differently depending on where the reference point is set.

[0045] The use of terms such as "first," "second," and "third" before the components mentioned below is intended solely to avoid confusion regarding the components they refer to, and has no bearing on the order, importance, or dominant-subordinate relationship between the components. For example, an invention can be implemented that includes only a second component without a first component.

[0046] As used herein, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0047] The 'rag' referred to below can be applied in various ways in terms of material, such as fabric or paper, and can be used repeatedly through washing or can be disposable.

[0048]

[0049] A robot cleaning system according to one embodiment of the present invention comprises a hot water unit (400) that generates hot water and / or steam, a robot cleaner (100) that moves in a cleaning area and performs cleaning, and a water supply unit (300) that supplies water to the hot water unit (400), and includes a docking station (200) to which the robot cleaner (100) can be docked, and the hot water unit (400) heats water supplied from the water supply unit (300) to generate hot water and / or steam.

[0050] First, referring to FIGS. 1 to 3, the basic configuration of a robot cleaner (100) constituting a robot cleaner system according to one embodiment of the present invention will be described as an example.

[0051] FIG. 1 is a perspective view showing a robot cleaner according to the present invention, FIG. 2 is a perspective view showing the internal configuration of a robot cleaner according to the present invention, and FIG. 3 is a bottom perspective view of a robot cleaner according to the present invention.

[0052] Here, the vacuum cleaner body (110) forms the exterior of the robot vacuum cleaner (100) and is configured as a cylindrical shape, i.e., a flat cylindrical shape, with a relatively low height compared to its diameter.

[0053] And, inside the vacuum cleaner body (110), a suction device (120), a suction nozzle (130), and a dust collection unit (140) communicating with the suction nozzle (130) are provided.

[0054] A mop (115) that cleans the floor by rubbing against the floor may be attached to the bottom of the vacuum cleaner body (110). The mop (115), suction device (120), and suction nozzle (130) may be collectively referred to as a cleaning unit.

[0055] Meanwhile, a sensor (not shown) for detecting the distance from an indoor wall or obstacle and a bumper (not shown) for cushioning impact in the event of a collision are provided on the outer surface of the vacuum cleaner body (110), and left and right driving wheels (150, 160) for moving the robot vacuum cleaner (100) are provided on the lower sides of both sides of the vacuum cleaner body (110), respectively.

[0056] A camera (1822) is installed on the front of the vacuum cleaner body (110), and a floor detection sensor (1821) is installed on the front lower part of the vacuum cleaner body (110).

[0057] Here, the left and right drive wheels (150, 160) are configured to rotate by the left wheel motor (151) and the right wheel motor (161), respectively, which are controlled by the cleaner control unit (180), so that the robot cleaner (100) performs indoor cleaning by changing direction on its own according to the driving of the left wheel motor (151) and the right wheel motor (161). The left and right drive wheels (150, 160) and the left wheel motor (151) and the right wheel motor (161) may be collectively referred to as a driving unit.

[0058] In addition, at least one auxiliary wheel (170) is provided on the bottom of the main body of the vacuum cleaner (110) to minimize friction between the robot vacuum cleaner (100) and the floor while guiding the movement of the robot vacuum cleaner (100).

[0059] To describe the internal configuration of the robot cleaner (100) in more detail, a cleaner control unit (180) in which various electrical components for controlling the operation of the robot cleaner (100) are arranged is provided at the front of the cleaner body (110), and a dust collector (140) is detachably provided at a dust collector mounting unit (140a) provided at the rear of the suction device (120).

[0060] In addition, a suction nozzle (130) is provided at the bottom of the dust collection unit to suck in foreign substances from the floor together with air.

[0061] Here, the suction device (120) is installed at an angle between the battery (190) and the dust collector (140), and is configured to include a motor (not shown) electrically connected to the battery (190) and a fan (not shown) connected to the rotation shaft of the motor to force the flow of air.

[0062] Meanwhile, the suction nozzle (130) is exposed to the lower side of the cleaner body (110) through an opening (not shown) formed on the bottom surface of the cleaner body (110), thereby coming into contact with the floor surface of the room.

[0063] Detailed descriptions of the unexplained hot water unit (400), steam outlet (450), and second communication unit (250) will be provided later.

[0064] Next, with reference to FIG. 4, the basic configuration of a docking station (200) constituting a robot cleaner system according to one embodiment of the present invention will be described as an example.

[0065] Figure 4 is a perspective view of a docking station (200) according to the present invention.

[0066] The docking station (200) may be configured to include a station body (210) having a receiving portion (215) for receiving a robot cleaner (100), a station control portion (not shown) for controlling the operating state of the docking station (200), a guide plate (220) for guiding the robot cleaner (100) to the receiving portion (212), a charging terminal (240) for charging the battery (190) of the robot cleaner (100), a water supply unit (300) for delivering hot water to a hot water unit (400) of the robot cleaner (100), and a second communication portion (250) having a wireless communication function.

[0067] The station body (210) is provided with a shape corresponding to the exterior of the robot cleaner (100) and has a receiving portion (212) that allows the robot cleaner (100) to be coupled to the docking station (200). In general, the robot cleaner (100) is provided with a flat cylindrical shape, and accordingly, the receiving portion (212) is formed with a sunken shape having a predetermined curvature.

[0068] The station control unit is provided inside the station body (210), and various electrical components that control the operation of the docking station (200) are arranged. Here, the docking station (200) and the robot cleaner (100) can transmit control signals to each other through the second communication unit (250) and the first communication unit (184) described later, and it is also possible for the docking station (200) to be controlled by the cleaner control unit (180) without having a separate station control unit.

[0069] However, for convenience of explanation, the robot cleaner system according to one embodiment of the present invention will be described assuming that the docking station (200) is provided with a separate station control unit.

[0070] The guide plate (220) is provided at the lower part of the receiving portion (215) and is formed to protrude toward the front of the docking station (200).

[0071] In addition, the guide plate is formed with a slope having a predetermined slope so that the robot cleaner (100) can easily enter the receiving portion (215).

[0072] In addition, the guide plate (220) further includes a support member (222) that supports the left and right driving wheels (150, 160) accommodated therein so that they do not move while the robot cleaner (100) is seated in the accommodation member (215). Here, the support member (222) is a groove sunken into the guide plate (220), and is preferably formed in a shape corresponding to the shape of the left and right driving wheels (150, 160) of the robot cleaner (100).

[0073] In this way, the left and right driving wheels (150, 160) of the robot cleaner (100) are prevented from sliding down while the robot cleaner (100) is being placed on the docking station (200) by the grooves formed in the shape of the left and right driving wheels (150, 160). Accordingly, for stable coupling, there is no need to continuously supply power to the left and right driving wheels (150, 160) of the robot cleaner (100) to apply separate force in the direction of coupling with the docking station (200).

[0074] The code section (230) is provided on the rear of the station body (210) and supplies power to the docking station (200). The code section (230) is stored in a state inserted into the docking station (200) and is provided so that its length can be adjusted, so that it can be withdrawn and used when needed by the user.

[0075] Meanwhile, the docking station (200) may also function as a charging device for the robot cleaner (100). To perform the charging function, the docking station (200) further includes a charging terminal (240). The charging terminal (240) is provided on one side of the station body (210) and serves to charge the battery (190) of the robot cleaner (100), and is configured to correspond to the shape of the charging socket provided on one side of the robot cleaner (100).

[0076] In order to charge the battery (190) of the robot cleaner (100), the rear of the robot cleaner (100) must be inserted into the receiving portion (215), and when the robot cleaner (100) and the receiving portion (215) are inserted, the charging socket and the charging terminal (240) come into contact at the same time. As a result, the battery (190) of the robot cleaner (100) becomes capable of being charged by the docking station (200).

[0077] Next, a robot vacuum cleaner system according to one embodiment of the present invention will be described with reference to FIGS. 5 and 6.

[0078] FIG. 5 is a cross-sectional view for explaining a water supply unit (300) and a hot water unit (400) constituting a robot cleaner system according to one embodiment of the present invention, and FIG. 6 is a drawing for explaining a docking form of a water supply unit (300) and a hot water unit (400) in a robot cleaner system according to one embodiment of the present invention.

[0079] In order for a robot cleaner (100) to perform steam cleaning, a water tank containing water and a heater capable of heating the water contained in the water tank must be provided inside the robot cleaner (100).

[0080] However, the battery power consumption increases due to factors such as increased weight caused by the installation of a water tank and heater and operation of the heater, which reduces the usage time of the robot cleaner (100). Therefore, countermeasures for this must be considered.

[0081] To solve this problem, a robot cleaner system according to one embodiment of the present invention may include a hot water unit (400) provided in a robot cleaner (100) and a water supply unit (300) provided in a docking station (200) to supply water to the hot water unit (400).

[0082] Here, water for generating hot water and / or steam is supplied from a water supply unit (300) to a hot water unit (400). For convenience of explanation, the specific configuration of the water supply unit (300) will be described first according to the flow of water, and then the specific configuration of the hot water unit (400) will be described.

[0083] The water supply unit (300) is a device provided inside the station body (110) to supply water to the hot water unit (400). When the robot cleaner (100) is docked to the docking station (200), it is connected to the hot water unit (400) and supplies water to the hot water unit (400).

[0084] More specifically, it is preferable that the robot cleaner (100) be provided on the upper part of the receiving part (215) to which the robot cleaner (100) is docked so as to face the upper surface of the robot cleaner (100) in consideration of smooth connection with the hot water unit (400) of the water supply unit (300), but is not limited thereto.

[0085] In addition, the water supply unit (300) may be connected to a water faucet from the outside and supply the water to the hot water unit (400) or may be provided in a receiving space inside and supply the water received therein to the hot water unit (400).

[0086] Here, the water supply unit (300) can supply hot water or lukewarm water to the hot water unit (400) in order to minimize the power required for the hot water unit (400) to generate hot water or / and steam, and in particular, can generate lukewarm water and supply it to the hot water unit (400).

[0087] That is, it is preferable that the hot water supplied from the water supply unit (300) has a lower temperature than the hot water generated from the hot water unit (400). This can be defined as lukewarm water.

[0088] For convenience of explanation, the following description will be based on the assumption that the water supply unit (300) directly generates hot water and delivers it to the hot water unit (400).

[0089] The water supply unit (300) may be configured to include a first water tank (310), a first heater (320), and a discharge unit (330) to generate hot water and supply it to the hot water unit (400).

[0090] The first water tank (310) holds water, and insulation material (312) can be inserted and placed on the outer wall surface to improve insulation performance.

[0091] The first heater (320) is installed inside the first water tank (310) and can heat the water contained in the first water tank (310). Here, it is preferable that the first heater (320) heat the water to a set temperature, for example, about 60°C or higher, in order to minimize the amount of power of the battery (190) required for steam generation.

[0092] To this end, a temperature sensor (314) may be provided on one side of the first water tank (310) to measure the water temperature and transmit it to the station control unit. Accordingly, the station control unit can control the operation of the first heater (320) to heat the water contained in the first water tank (310) to a set temperature.

[0093] The discharge unit (330) is installed to communicate with the first water tank (310) and can discharge hot water to the outside of the docking station (200).

[0094] As illustrated in Fig. 5, the discharge portion (330) is formed to extend downward so that its upper portion is in communication with the lower portion of the first land tank (410). In addition, the discharge portion (330) protrudes through the upper surface of the receiving portion (215) and into the internal space of the receiving portion (215) so that its lower portion can be connected to the inlet portion (420) of the robot cleaner (100) described later.

[0095] The docking of the discharge portion (330) and the inlet portion (420) and the process of transferring hot water will be described in detail later.

[0096] Additionally, the water supply unit (300) is provided on the discharge portion (330) and may further include a switch member (340) that selectively opens the discharge portion (330) only when the discharge portion (330) and the inlet portion (420) are connected.

[0097] The switch member (340) is installed on the lower part of the discharge part (330) as illustrated in FIG. 5, and opens the discharge part (330) only when it comes into contact with the upper part of the inlet part (420) when the inlet part (420) and the discharge part (330) are connected. In addition, when the docking of the inlet part (420) and the discharge part (330) is released, the discharge part (330) is closed.

[0098] By providing the switch member (340) in this way, hot water can be discharged to the outside of the docking station (200) only when the discharge part (330) and the inlet part (420) are connected, thereby preventing hot water from leaking.

[0099] Additionally, the water supply unit (300) may further include a guide member (350) installed on the outer surface of the lower portion of the discharge portion (330) to guide the inlet portion (420) to the discharge portion (330).

[0100] The guide member (350) is attached to the outer surface of the lower portion of the discharge portion (330) as illustrated in FIG. 5, and may have a shape in which the diameter increases from the upper portion to the lower portion. In addition, the guide member (350) may have an elastic material to prevent the inlet portion (420) from being damaged when the inlet portion (420) and the discharge portion (330) are connected.

[0101] By providing the guide member (350) in this way, when the discharge part (330) and the inlet part (420) are connected, the inlet part (420) can be guided to the discharge part (330), thereby minimizing failure and damage due to incorrect installation.

[0102] Next, the hot water unit (400) may be configured to include a second water tank (410), an inlet (420), a second heater (430), a steam path (440), and a steam outlet (450) to generate steam and / or hot water using lukewarm water supplied from the water supply unit (300) and to supply the generated steam and / or hot water to the outside of the robot cleaner (100).

[0103] Here, the hot water unit (400) is preferably provided at the rear of the cleaner body (110) in consideration of smooth connection with the water supply unit (300) as shown in FIG. 5, but is not limited thereto.

[0104] The second water tank (410) is installed at the lower rear of the main body of the cleaner (110), and the hot water flowing into the inlet (420) is guided and received.

[0105] Here, insulation performance can be improved by inserting and arranging insulation material (412) on the outer wall surface of the second water tank (410).

[0106] The inlet (420) is connected to the discharge (330) so that hot water can flow in from the discharge (330), and in particular, the inlet (420) can be provided so that its length can be adjusted.

[0107] Referring to FIGS. 5 and 6, the lower part of the inlet (420) is connected to the second water tank (410), and the upper part thereof can be connected to the discharge part (330) by penetrating one side of the upper surface of the cleaner body (110).

[0108] Here, it is preferable that the inlet (420) not be exposed to the outside of the robot cleaner (100) when not connected to the discharge (330), so for this purpose, the inlet (420) may have a structure in which the length can be adjusted.

[0109] Referring to FIG. 5, the inlet (420) may be configured to include a first inlet (422) that is fixedly installed to communicate with the upper surface of the second water tank (410), a second inlet (424) that is slidably installed on the inside of the first inlet (422) and connectable to the discharge (330), and a driving device (426) that slides the second inlet (424).

[0110] Here, the driving device (426) is installed on one side of the second inlet (424) to transmit driving force to the second inlet (424), and the rotation direction can be changed clockwise or counterclockwise. Accordingly, the second inlet (424) can be slid upward or downward by the driving device (426).

[0111] When the second inlet (424) moves upward, as illustrated in FIG. 6, the second inlet (424) and the discharge (330) are connected, and furthermore, the second inlet (424) and the switch member (340) come into contact, allowing the discharge (330) to be opened. As a result, hot water generated in the first water tank (310) can sequentially pass through the discharge (330) and the inlet (420) and be delivered to the second water tank (410).

[0112] When the second inlet (424) moves downward, the docking between the second inlet (424) and the discharge (330) is released, and the switch member (340) can close the discharge (330).

[0113] As the inlet (420) is provided in this way, in the robot cleaner system according to one embodiment of the present invention, the robot cleaner (100) can be supplied with water from the docking station (200) at any time, thereby reducing the volume of the second water tank (410).

[0114] As a result, the volume and weight of the robot cleaner (100) can be reduced, so that the internal space of the robot cleaner (100) can be utilized more effectively, and the amount of power consumed during operation can be reduced, so that the usage time of the cleaner can be increased.

[0115] Meanwhile, a pump (428) that provides pumping power so that hot water can be quickly supplied from the water supply unit (300) to the hot water unit (400) can be installed on the inlet (420) as shown in FIG. 5.

[0116] The second heater (430) is installed inside the second water tank (410) as shown in FIG. 5, and can heat the water contained in the second water tank (410) to generate steam or / and hot water.

[0117] Here, when steam is generated by the second heater (430), the temperature and pressure of the first water tank (310) increase. Therefore, when a predetermined amount of steam is generated, it is preferable that the generated steam be discharged to the outside of the first water tank (310).

[0118] To this end, a discharge valve (414) for selectively discharging steam to the outside of the second water tank (410), a temperature sensor (416) for detecting the temperature of the steam, a pressure sensor for detecting the pressure of the steam, etc. may be installed in the second water tank (410).

[0119] A discharge valve (414) is provided on one side of the second water tank (410) and can be selectively connected to a steam passage (440) to be described later to discharge steam into the steam passage (440). In particular, the discharge valve (414) is preferably formed at a predetermined distance from the inlet (420) to prevent steam from flowing back into the inlet (420), but is not limited thereto.

[0120] As another example, the second heater (430) can be installed in the steam passage (440) to heat water passing through the steam passage (440).

[0121] A temperature sensor (416) and a pressure sensor (418) are installed adjacent to a discharge valve (414) through which steam is discharged, and the temperature and pressure inside the second water tank (410) measured by the temperature sensor (416) and the pressure sensor (418) are transmitted to the cleaner control unit (180). The cleaner control unit (180) can selectively open the discharge valve (414) by determining whether steam is generated and the amount of steam generated based on the temperature and pressure transmitted from the temperature sensor (416) and the pressure sensor (418).

[0122] Accordingly, when a predetermined amount of steam is generated in the first water tank (310), the discharge valve (414) opens and the steam is discharged into the steam passage (440). Here, the steam passage (440) extends from the discharge valve (414) to the steam discharge port (450) formed in a slit shape on the bottom surface of the robot cleaner (100). (See Fig. 3)

[0123] Additionally, a steam nozzle (460) that sprays steam can be installed on the steam outlet (450) as shown in FIG. 5.

[0124] Accordingly, the robot cleaner (100) can perform a steam cleaning or hot water cleaning function by spraying steam or hot water discharged through the steam euro (440) onto the surface to be cleaned by the steam nozzle (460).

[0125] FIG. 7 is a block diagram illustrating a control system of a robot cleaner system according to one embodiment of the present invention. Hereinafter, with reference to FIG. 7, the transmission of control signals between the robot cleaner and the docking station (200) will be described.

[0126] As described above, the robot cleaner system according to one embodiment of the present invention is a system in which the robot cleaner (100) receives water from a docking station (200), and therefore, a structure must be provided in which the robot cleaner (100) and the docking station (200) can exchange control signals with each other.

[0127] To this end, the robot cleaner (100) further includes a cleaner control unit (180) that controls the operating state as illustrated in FIG. 7, and a first communication unit (184) that has a wireless communication function and is connected to the cleaner control unit (180).

[0128] In addition, the docking station (200) may further include a station control unit that controls its operating state as illustrated in FIG. 7, and a second communication unit (250) that has a wireless communication function and is connected to the station control unit.

[0129] In addition, the robot cleaner system according to one embodiment of the present invention may further include a remote control (500) for remotely controlling the robot cleaner (100) and the docking station (200).

[0130] The robot cleaner (100) and the docking station (200) can exchange signals such as a hot water generation signal, a water shortage signal, a return signal, and a steam cleaning completion signal through the first communication unit (184) and the second communication unit (250).

[0131] The hot water generation signal is a control signal transmitted from the first communication unit (184) to the second communication unit (250) to generate hot water in the water supply unit (300) when the steam or hot water cleaning function is selected in the robot cleaner (100). The hot water generation signal transmitted to the second communication unit (250) is then input to the station control unit connected to the second communication unit (250). Accordingly, the station control unit operates the water supply unit (300).

[0132] Here, the steam cleaning function can be selected by a remote control (500) that remotely controls the robot cleaner (100), or automatically selected by the robot cleaner (100) depending on the condition of the surface to be cleaned.

[0133] The robot cleaner (100) may further include a foreign substance detection sensor (not shown) installed on the bottom surface of the cleaner body (110) to automatically recognize the state of the surface to be cleaned in order to detect the state of the surface to be cleaned (floor). Accordingly, the cleaner control unit (180) may receive the state of the surface to be cleaned from the foreign substance detection sensor and automatically select the steam cleaning function if the amount of foreign substances exceeds a predetermined amount.

[0134] In this way, by transmitting a hot water generation signal from the first communication unit (184) to the second communication unit (250), the first heater (320) can heat the water contained in the first water tank (310) to a set temperature to generate hot water.

[0135] Next, the return signal is a signal that returns the robot cleaner (100) to the docking station (200) to deliver hot water generated in the water supply unit (300) to the hot water unit (400). Here, the question arises as to at what point the return signal is delivered to the first communication unit (184).

[0136] First, the second communication unit (250) can transmit a return signal to the first communication unit (184) at the point where the water contained in the first water tank (310) is heated to the set temperature. In this case, the time that the robot cleaner (100) must wait while docked at the docking station (200) is minimized, so there is an advantage in that dust cleaning and other tasks can be performed to the maximum extent possible before hot water is supplied.

[0137] Secondly, the second communication unit (250) can transmit a return signal to the first communication unit (184) before the hot water is heated to the set temperature. In this case, the robot cleaner (100) can receive the water as soon as it is heated to the set temperature, thus having the advantage of being able to start steam cleaning as quickly as possible.

[0138] The hot water stored in the second water tank (410) may be consumed and may be insufficient. In this case, the robot cleaner (100) may return to the docking station (200) so that the hot water unit (400) can be re-supplied with hot water.

[0139] The robot vacuum cleaner (100) further includes a sensing unit (182) that detects various information related to the operation or status of the robot vacuum cleaner (100) or external situations.

[0140] The sensing unit (182) may include an obstacle detection sensor that detects an external obstacle away from the robot cleaner (100). A plurality of obstacle detection sensors may be provided. The obstacle detection sensor includes an obstacle detection sensor that detects an obstacle in front. The obstacle detection sensor includes an obstacle detection sensor that detects obstacles in the left and right directions. The obstacle detection sensor may be arranged on the body (30). The obstacle detection sensor may include an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, a PSD (Position Sensitive Device) sensor, etc.

[0141] The sensing unit (182) may include a position signal sensor that receives an identification signal from an external source to determine a location. For example, the position signal sensor may be an Ultra Wide Band (UWB) sensor that utilizes UWB signals. The control unit may determine the location of the robot cleaner (100) based on the signal received from the position signal sensor.

[0142] The identification signal from the outside is a signal transmitted by a signal generator, such as a beacon, placed outside. A plurality of signal generators may be provided, and each may be placed in a plurality of remote locations. The position signal sensor can receive the identification signal transmitted from the signal generators placed in different locations.

[0143] The sensing unit (182) may include a floor detection sensor (1821) that detects the presence of a cliff on the floor or the distance from the floor. The floor detection sensor (1821) may detect the presence of a cliff in front and / or behind the robot cleaner (100). The floor detection sensor (1821) detects the distance from the floor, and the control unit may determine that the distance from the floor is greater than a preset distance and perform a corresponding operation.

[0144] For example, the floor detection sensor (1821) may include a light sensor, and the light sensor may include a laser sensor or an infrared sensor. The floor detection sensor (1821) may include a light emitter (not shown) that emits light toward the floor and a light receiver (not shown) that receives light reflected from the floor. The floor detection sensor (1821) may measure distance based on the time difference between the light returning to the light receiver.

[0145] In addition, the floor detection sensor (1821) can detect the amount of light reflected from the floor. Specifically, the light receiving unit can measure the amount of light, illuminance, etc. of the returned light to obtain the reflectance compared to the light irradiated from the light emitting unit. The floor detection sensor (1821) detects the amount of light reflected from the floor, thereby providing the control unit with a means to detect the material of the floor and the level of contamination of the floor.

[0146] The sensing unit (182) may include an optical flow sensor (not shown) that detects the amount of movement of the mobile robot based on an image of the floor.

[0147] The sensing unit (182) may include a camera (1822) that detects external images. The camera (1822) may be placed on the body (30). The camera (1822) may acquire forward and upward image information of the robot cleaner at regular intervals.

[0148] The sensing unit (182) may include a 3D sensor that detects 3D position information of the external environment. The 3D sensor acquires upper image information at regular time intervals.

[0149] For example, a 3D sensor may include a light irradiation unit (not shown) that irradiates infrared rays and a 3D camera (3D Depth Camera) (not shown) that detects infrared rays reflected from an external object. The light irradiation unit may irradiate infrared rays having a predetermined pattern. The 3D camera may be an IR camera or an RGB-Depth camera. Such a 3D sensor (25) may be implemented using a TOF (Time of Flight) method.

[0150] As another example, a 3D sensor may be implemented in a stereo vision manner by having two or more cameras and combining two or more images acquired from the two or more cameras to generate three-dimensional coordinate information.

[0151] The sensing unit (182) may include a tilt information acquisition unit (not shown) that acquires tilt information about the bottom of the main body. For example, the tilt information acquisition unit may include a gyro sensor. The tilt information acquisition unit may include a processing module (not shown) that converts a detection signal of the gyro sensor into tilt information. The processing module may be implemented as an algorithm or a program as part of the control unit. As another example, the tilt information acquisition unit may include a magnetic field sensor and acquire tilt information based on detection information about the Earth's magnetic field.

[0152] Here, the floor means a horizontal plane, meaning a plane perpendicular to the direction of gravity. The gyro sensor can obtain information on the rotational angular velocity of the main body with respect to the horizontal plane. Specifically, the gyro sensor can detect the rotational angular velocity around the X-axis and Y-axis, which are parallel to the horizontal plane and orthogonal to each other. The rotational angular velocity with respect to the horizontal plane can be calculated by synthesizing the rotational angular velocity (roll) with respect to the X-axis and the rotational angular velocity (pitch) with respect to the Y-axis through the processing module. The rotational angular velocity can be integrated through the processing module to calculate the inclination value.

[0153] The gyro sensor can detect a set reference direction. The tilt information acquisition unit can acquire tilt information based on the reference direction.

[0154] The gyro sensor may be equipped with a gyro sensing function for three axes of a mutually orthogonal spatial coordinate system. The information collected from the gyro sensor may be roll, pitch, and yaw information. The processing module can calculate the direction angle of the robot cleaner (100) by integrating the roll, pitch, and yaw angular velocities.

[0155] The gyro sensor is preferably positioned on the main body. The sensing unit (182) may include a magnetic field sensor that detects a magnetic field. The magnetic field sensor may have a magnetic field sensing function for three axes of a mutually orthogonal spatial coordinate system. The magnetic field sensor may measure a direction angle (azimuth angle). The magnetic field sensor may be implemented as a separate sensor or as a part of the IMU sensor described below.

[0156] The sensing unit (182) may include an acceleration sensor installed in the main body to detect the acceleration of the robot cleaner (100). The acceleration sensor may be equipped with an acceleration sensing function for three axes of a mutually orthogonal spatial coordinate system. The acceleration sensor may be implemented as a separate sensor or as a part of the function of an IMU sensor described below.

[0157] The robot cleaner (100) may include an inertial sensor unit (IMU) (not shown). Based on information from the inertial sensor unit, the robot cleaner (100) may stabilize its driving motion. The inertial sensor unit (IMU) may have the functions of a gyro sensor, a magnetic field sensor, and an acceleration sensor.

[0158] The robot vacuum cleaner (100) includes an input unit (181) for inputting various user instructions. The input unit (181) may include buttons, dials, a touch-type display, etc. The input unit (181) may include a microphone (not shown) for voice recognition. The input unit (16) may include a power switch (not shown) for inputting ON / OFF of the power supply.

[0159] The vacuum cleaner control unit (180) outputs a hot water generation command to the docking station (200) when a cleaning command, a hot water cleaning command, or a steam cleaning command is input through the input unit, and controls the robot vacuum cleaner to dock to the docking station (200) and receive hot water from the docking station (200) to clean the cleaning area.

[0160] When the vacuum cleaner control unit (180) discovers a contaminated area with a high level of floor contamination during cleaning, it can control the robot vacuum cleaner to heat the stored water and clean the contaminated area using the heated water.

[0161] That is, when the cleaner control unit (180) discovers a contaminated area with a high floor contamination level during cleaning, it can operate the second heater (430) to heat at least a portion of the stored water, spray steam or hot water onto the contaminated area through the steam outlet (450), and control the robot cleaner so that the robot cleaner can pass over the contaminated area where the steam has been sprayed.

[0162] The cleaner control unit (180) can transmit a command to stop generating hot water to the docking station (200) while the robot cleaner is cleaning the cleaning area. Specifically, the cleaner control unit (180) can transmit a command to turn off the first heater (320) of the docking station (200) while the robot cleaner is cleaning the cleaning area.

[0163] Here, various methods can be used to determine whether a robot vacuum cleaner is in a contaminated area. For example, the vacuum cleaner control unit (180) can analyze an image of the floor to determine a contaminated area.

[0164] Specifically, the vacuum cleaner control unit (180) can determine whether a certain area is a contaminated area by analyzing an image of the floor in front of the vacuum cleaner body obtained by a camera (1822) or by analyzing an image of the floor in front of the vacuum cleaner body obtained by a floor detection sensor (1821).

[0165] The image of the floor in front of the vacuum cleaner body acquired by the camera (1822) and the image of the floor in front of the vacuum cleaner body acquired by the floor detection sensor (1821) are compared with the stored reference floor image, and the difference in color, brightness, texture, etc. is comprehensively judged to measure the contamination level, and if the contamination level exceeds a certain standard, it can be determined to be a contaminated area.

[0166] When the robot cleaner runs out of water while cleaning the cleaning area, the vacuum cleaner control unit (180) can transmit a command to generate hot water to the docking station (200), and control the robot cleaner to dock to the docking station (200) and receive heated water. At this time, the docking station (200) that transmitted the command to generate hot water turns on the first heater (320).

[0167]

[0168] So far, a robot cleaner system according to an embodiment of the present invention has been described, and below, a control method of a robot cleaner system according to an embodiment of the present invention will be described with reference to FIGS. 8 and 9.

[0169] Figure 8 is a flowchart for explaining the basic configuration of a control method of a robot vacuum cleaner system according to one embodiment of the present invention.

[0170] Here, any content overlapping with the robot cleaner system according to the above-described embodiment of the present invention will be omitted or briefly mentioned, and the same components will be designated by the same drawing reference numerals.

[0171] Referring to FIG. 8, a control method of a robot cleaner system according to an embodiment of the present invention includes a first heating step (S20) of heating water stored in a docking station (200), a supply step (S30) of supplying water stored in the docking station (200) to a docked robot cleaner, a cleaning step (S40) of cleaning a cleaning area by the robot cleaner, a second heating step (S50, 60) of reheating part or all of the water stored in the robot cleaner when a contaminated area with a high floor contamination level is found during cleaning, and a hot water cleaning step (S70) of cleaning the contaminated area using the reheated water.

[0172] A more specific description of a control method of a robot vacuum cleaner system according to one embodiment of the present invention is as follows.

[0173] First, a step of receiving a user's cleaning command is performed. (S10) The user's cleaning command can receive various cleaning commands, and in the case of the present embodiment, hot water cleaning or steam cleaning can be executed.

[0174] When a hot water cleaning command is input at the input stage, the first heating stage, supply stage, cleaning stage, second heating stage, and hot water cleaning stage can be executed.

[0175] Selection of the steam cleaning function can be performed by inputting the steam cleaning function to the robot cleaner through the input unit, or can be performed automatically depending on the condition of the surface to be cleaned.

[0176] Meanwhile, the water supply unit (300) can generate hot water and supply it to the hot water unit (400) (S20). In this case, when a cleaning command is input, the robot cleaner (100) can transmit a hot water generation signal to the docking station (200).

[0177] The water supply unit (300) of the docking station (200) can supply water brought in from the outside to the hot water unit (400) of the robot cleaner (100) after heating it through the first heater (320).

[0178] That is, the robot cleaner (100) and the docking station (200) are each equipped with a first communication unit (184) and a second communication unit (250) having a wireless communication function, and when a cleaning command is input, the first communication unit (184) transmits a hot water generation signal to the second communication unit (250).

[0179] When a hot water generation signal is transmitted to the second communication unit (250), the water supply unit (300) is operated by the station control unit to start producing hot water. If the water contained in the water supply unit (300) is less than the appropriate amount, the station control unit stops the operation of the water supply unit (300), and also outputs a water shortage signal and transmits it to the vacuum cleaner control unit (180) via the second communication unit (250) and the first communication unit (184).

[0180] The vacuum cleaner control unit (180) transmits a water shortage signal and can notify the user of a steam cleaning impossibility due to water shortage through at least one of the display unit and the alarm unit.

[0181] Next, a step is performed to determine whether the robot cleaner (100) needs to dock to the docking station (200).

[0182] The supply of hot water to the hot water unit (400) is performed while the robot cleaner (100) is docked to the docking station (200). Therefore, it must be determined whether the robot cleaner (100) is docked to the docking station (200). Whether the robot cleaner (100) is docked can be determined by a sensor provided in the docking station (200).

[0183] Accordingly, if the robot cleaner (100) is not docked with the docking station (200) when a cleaning command is input, a step of moving the robot cleaner (100) to the docking station (200) and docking with the docking station (200) may be further performed.

[0184] The first communication unit (184) of the docking station (200) can transmit a return signal to the second communication unit (250) of the robot cleaner (100) to induce docking of the robot cleaner (100).

[0185] Next, a step is performed to determine whether the hot water generated in the water supply unit (300) is above the set temperature.

[0186] The temperature is measured through a temperature sensor (416) provided on one side of the water supply unit (300), so that it can be determined whether the hot water is above the set temperature.

[0187] Accordingly, if the hot water generated in the water supply unit (300) is below the set temperature, a step of heating the hot water to the set temperature can be further performed.

[0188] Next, a step is performed in which the water supply unit (300) supplies hot water to the hot water unit (400). (S30)

[0189] In the step of supplying hot water to the hot water unit (400), the length of the inlet (420) of the hot water unit (400) is extended and connected to the outlet (330) of the water supply unit (300), so that hot water is supplied from the water supply unit (300) to the hot water unit (400).

[0190] Next, a step is performed in which the robot cleaner cleans the cleaning area (S40).

[0191] The robot cleaner cleans the floor while moving around the cleaning area. As the robot cleaner moves around the cleaning area, it performs general cleaning. That is, when the robot cleaner moves around the cleaning area, it can clean the cleaning area by operating only the suction device (120) without using the water stored in the robot cleaner. Of course, when the robot cleaner moves around the cleaning area, it can also perform water cleaning by supplying the hot water stored in the robot cleaner to the mop (130) without reheating it.

[0192] Next, the robot cleaner determines whether the floor in front of the robot cleaner is a highly contaminated area during its cleaning operation (S50). As described above, the cleaner control unit (180) determines the contaminated area by analyzing the floor image.

[0193] Next, if the robot cleaner discovers a contaminated area during cleaning, it reheats at least a portion of the water stored in the robot cleaner (S60). At this time, the temperature at which the robot cleaner reheats the water is preferably higher than the temperature at which the docking station (200) initially heats the water.

[0194] If the robot cleaner determines that the floor in front of the robot cleaner is a contaminated area, it stores this on the map and operates the second heater (430) to heat all or part of the stored water.

[0195] Next, a hot water cleaning step is performed to clean the contaminated area using reheated water (S70).

[0196] The warm water cleaning step refers to the robot cleaner cleaning the contaminated area using reheated water. For example, the warm water cleaning step may involve the robot cleaner spraying reheated water onto the contaminated area, and then cleaning the contaminated area using a mop (130).

[0197] As another example, the hot water cleaning step may be one in which the robot cleaner uses reheated water to spray steam onto the contaminated area, and then the robot cleaner uses a suction device (120) to clean the contaminated area.

[0198] Another example is that the warm water cleaning step of a robot vacuum cleaner may be to provide reheated water to the robot vacuum cleaner's mop, and then use the mop to clean the contaminated area.

[0199] If the robot cleaner determines that the floor in front of the robot cleaner is not a contaminated area, it can store this on the map and clean the floor in front of the robot cleaner using the stored water without operating the second heater (430).

[0200] As steam is generated in the hot water unit (400), the robot cleaner (100) performs steam cleaning by spraying steam onto the surface to be cleaned while moving through the cleaning area. Here, there are cases where the hot water supplied from the water supply unit (300) is consumed and becomes insufficient.

[0201] Accordingly, a step of determining whether the amount of hot water contained in the second water tank (410) is appropriate can be further performed by the vacuum cleaner control unit (180) through a load sensor (not shown) installed in the second water tank (410) (S80).

[0202] In addition, if the robot cleaner runs out of water while cleaning the cleaning area, the docking station (200) can heat water, and the robot cleaner can be docked to the docking station (200) to execute a re-watering step (S90, 20, 30) in which the water is supplied with heated water.

[0203] In a situation where additional steam generation is required and the hot water contained in the hot water unit (400) is insufficient, the robot cleaner (100) can return to the docking station (200) (S90) to re-supply hot water.

[0204] For this purpose, the water supply unit (400) can be kept in operation until cleaning is completed so that hot water can be immediately re-supplied to the hot water unit (400).

[0205] Here, the water supply unit (300) can immediately resupply hot water to the hot water unit (400) without additional heating time by continuously heating hot water and maintaining it at a set temperature until a steam cleaning completion signal is received.

[0206]

[0207] According to one embodiment of the present invention, a robot cleaner system having such a configuration and a control method thereof, the robot cleaner can repeatedly receive water used for steam generation from the docking station (200), thereby reducing the volume of the water tank installed in the robot cleaner. Accordingly, the overall volume and weight of the robot cleaner can be reduced, thereby realizing a slim design of the robot cleaner and reducing battery power consumption.

[0208] Furthermore, the robot cleaner can generate steam by receiving hot water heated to a set temperature from the docking station (200), thereby reducing the power consumption required to generate steam.

[0209] Furthermore, since the docking station (200) continuously generates hot water heated to a set temperature until steam cleaning is completed, the robot cleaner can immediately be re-supplied with hot water without a separate heating time.

[0210] Furthermore, if the water contained in the docking station (200) is insufficient to supply water to the robot cleaner, an alarm unit provided in the robot cleaner may warn that steam cleaning is not possible due to a lack of water, thereby improving user convenience.

[0211] The robot vacuum cleaner system and its control method described above are not limited to the configurations and methods of the embodiments described above, but rather, the embodiments may be configured by selectively combining all or part of each embodiment so that various modifications can be made.

Claims

1. A method for controlling a robot vacuum cleaner system including a robot vacuum cleaner and a docking station, A first heating step for heating water stored in a docking station; A supply step for supplying heated water from the above docking station to the docked robot cleaner; A cleaning step in which the above robot cleaner cleans the cleaning area; A second heating step for reheating a portion of the water stored in the robot cleaner when a highly contaminated area is found during cleaning; and A control method for a robot cleaner system comprising a hot water cleaning step for cleaning the contaminated area using reheated water.

2. In paragraph 1, The above hot water cleaning step is, A control method for a robot cleaner system in which the robot cleaner sprays reheated water onto the contaminated area and then mops the contaminated area.

3. In paragraph 1, The above hot water cleaning step is, A control method for a robot cleaner system that provides reheated water to a mop of the robot cleaner and then cleans a contaminated area with the mop.

4. In paragraph 1, In the second heating step, A control method for a robot vacuum cleaner system that determines the above-mentioned contaminated area by analyzing an image of the floor.

5. In paragraph 1, A control method for a robot cleaner system, characterized in that the docking station does not heat water while the robot cleaner is cleaning the cleaning area.

6. In paragraph 1, If the above robot vacuum cleaner runs out of water while cleaning the cleaning area, A control method for a robot cleaner system further comprising a re-watering step in which the docking station heats water, and the robot cleaner is docked to the docking station and supplied with heated water.

7. In paragraph 1, It further includes an input step for receiving a cleaning command from the user, A control method for a robot cleaner system that executes the first heating step, the supply step, the cleaning step, the second heating step, and the hot water cleaning step when a hot water cleaning command is input in the above input step.

8. Body; A hot water unit installed in the above body to heat stored water and generate and spray hot water; A cleaner cleaning the floor; A driving unit that drives the above body; A sensing unit that detects the surrounding environment of the above body and the level of floor contamination; and A communication unit communicating with the docking station; An input section for receiving user commands; and Includes a control unit that performs overall control of the robot vacuum cleaner, The above control unit, When a cleaning command is input through the above input unit, a hot water generation command is output to the above docking station, By docking to the above docking station and supplying hot water from the above docking station, it cleans the cleaning area. A robot vacuum cleaner that heats stored water when it discovers a highly contaminated area during cleaning and uses the heated water to clean the contaminated area.

9. In paragraph 8, The above control unit, A robot vacuum cleaner that analyzes images of the floor to determine the contaminated area.

10. In paragraph 8, The above control unit, A robot cleaner that transmits a command to stop generating hot water to the docking station while the robot cleaner is cleaning the cleaning area.

11. In paragraph 10, The above control unit, If the above robot vacuum cleaner runs out of water while cleaning the cleaning area, A robot cleaner that transmits a command to generate hot water to the above-mentioned docking station and controls the robot cleaner to dock to the above-mentioned docking station and receive heated water.

12. In paragraph 8, The above cleaning unit is a robot vacuum cleaner further including a mop that cleans the floor by rubbing against the floor.

13. In paragraph 12, The above control unit, A robot cleaner that sprays reheated water on the contaminated area and then controls the robot cleaner to clean the contaminated area using the mop.

14. In paragraph 12, The above control unit, A robot vacuum cleaner that provides reheated water to the mop and then controls the mop to clean a contaminated area.

15. A method for controlling a robot vacuum cleaner system including a robot vacuum cleaner and a docking station, A first heating step for heating water stored in a docking station; A supply step for supplying heated water from the above docking station to the docked robot cleaner; A cleaning step in which the above robot cleaner cleans the cleaning area; A second heating step for reheating the water stored in the robot cleaner when a highly contaminated area on the floor is discovered during cleaning; and A control method for a robot cleaner system comprising a hot water cleaning step for cleaning the contaminated area using reheated water.

Images